Transport vehicle, transfer station, work station and picking system for optimized loading of loading aids

Abstract

The invention relates to an unmanned transport vehicle (1) having a support frame (2), a chassis (3), a control unit (4) and a loading platform (5) with a floor (6). The bottom (6) is fixedly fastened to the support frame (2) and is inclined at an angle of inclination (cc) with respect to a horizontal plane. The invention further relates to a transfer station (43, 43 ') for transferring a loading aid (18) between a transport vehicle (1) and a receiving point (44), said transfer station having a parking point (46) for the transport vehicle (1) and a transfer device (47) with a pusher (50) that can be moved relative to the receiving point (44) for moving the loading aid (18). The invention further relates to a work station (11) for loading a loading aid (18) on a transport vehicle (1) with goods (12), in which a first transport system (16) for goods (12) and a second lane (20) for the transport vehicle (1) form a tunnel (K) for the transport vehicle (1) loaded with the loading aid (18). Finally, the invention relates to a picking system (31) in which a transport vehicle (1), a transfer station (43, 43 ') and / or a work station (11) of the above type are used.

Description

Technical Field

[0001] This invention relates to an unmanned transport vehicle, particularly for transporting loading aids. The unmanned transport vehicle includes a support frame and a running gear supported on the support frame, wherein the running gear has multiple wheels and is configured for driving and steering the unmanned transport vehicle. Furthermore, the transport vehicle includes a controller configured to receive driving commands and operate the unmanned transport vehicle. Finally, the transport vehicle includes a loading platform supported on the support frame.

[0002] Furthermore, the present invention relates to a transfer station for automatically transferring loading aids between a loading platform and a receiving position of an unmanned transport vehicle, particularly a receiving position in a conveying system. The transfer station comprises: an unmanned transport vehicle of the type described above; a parking position for the unmanned transport vehicle, the transport vehicle being positioned such that the loading platform of the unmanned transport vehicle is aligned with the receiving position; and a transfer device having a pusher movable relative to the receiving position and along a guide by a drive mechanism. When the loading platform of the unmanned transport vehicle is aligned with the receiving position, the pusher is configured to push the loading aids from the loading platform of the unmanned transport vehicle to the receiving position and / or to push the loading aids from the receiving position onto the loading platform of the unmanned transport vehicle.

[0003] Furthermore, the present invention relates to a workstation for loading loading aids with goods according to a task, particularly a picking task. The workstation includes: a task management system for electronically recording tasks; a first operating device for providing goods; a first conveying system and a second conveying system; and first to third driveways. The first conveying system connects a transfer area to the first operating device and is configured to transport goods between the transfer area and the first operating device. The second conveying system includes an unmanned transport vehicle for transporting the loading aids. The first driveway includes a first driveway section and a second driveway section, the second driveway includes a second operating device for providing the loading aids along with the unmanned transport vehicle at a second operating position, and the third driveway is arranged between the first and second driveways.

[0004] Furthermore, the present invention relates to a picking system for picking goods, the picking system comprising: a storage area having storage locations for providing goods, and a picking area for processing tasks, wherein workstations of the type described above are arranged in the picking area.

[0005] Furthermore, the present invention relates to a picking system for picking goods, the picking system comprising: a storage area having storage locations for providing goods, and a picking area, wherein workstations for loading loading aids are arranged in the picking area. The picking system further comprises a first conveyor system for transporting goods and a second conveyor system for transporting loading aids, wherein the second conveyor system comprises driverless transport vehicles. Transporting goods via the first conveyor system includes a first operating device for transporting goods from a transfer area to a workstation. Transporting loading aids via driverless transport vehicles includes a second operating device for transporting loading aids from a transfer station (which may be constructed as described above) to a workstation, and includes transporting loading aids from the workstation to the transfer station, which may also be constructed as described above. Finally, the picking system includes: a transfer station for transferring loading aids from the receiving position of the transfer station to the loading platform of the driverless transport vehicle; and a transfer station for transferring loading aids from the loading platform of the driverless transport vehicle to the receiving position of the transfer station, wherein at least one of the transfer stations is constructed as described above.

[0006] The present invention also relates to a method for loading cargo onto a loading aid at a workstation of the type described above, according to a task, particularly a picking task. Background Technology

[0007] The aforementioned types of transport vehicles, transfer stations, workstations, and picking systems are known in principle from the prior art. A disadvantage of the prior art, particularly regarding transport vehicles, lies in the transfer of loading aids, especially between the loading platform of the transport vehicle and the receiving position at the conveyor system. Workstations according to the prior art require relatively large base areas. Furthermore, expansion can usually only be achieved with significant expense (modification). Finally, known picking systems can only be optimized costly in terms of their required structural space and their production capacity. Summary of the Invention

[0008] Therefore, the object of the present invention is to provide an improved transport vehicle, an improved transfer station, an improved workstation, an improved picking system, and an improved method for loading loading aids with goods. In particular, a transport vehicle should be provided that facilitates the transfer of loading aids while maintaining a simple structural design. The transfer station should enable the loading and / or unloading of the transport vehicle while maintaining a simple structural design. In conjunction with the workstation, a solution should be provided that enables the ergonomic loading of loading aids from the transport vehicle while maintaining a particularly compact and modular workstation structure. Finally, a picking system should be provided that advantageously combines at least some of the aforementioned components.

[0009] The objective of this invention is achieved by an unmanned transport vehicle of the type described at the beginning, in which the loading platform includes a bottom fixedly fastened to the support frame and inclined at an angle relative to the horizontal plane. The loading platform can accommodate a loading aid. When the loading aid is placed on the loading platform, it is supported at the bottom. In principle, more than one loading aid can also be accommodated on the loading platform. When these loading aids are placed on the loading platform, they are supported at the bottom. For example, the loading platform can accommodate loading aids arranged side-by-side and / or front-to-back.

[0010] The proposed measures enable the loading and unloading of transport vehicles and / or loading aids mounted thereon while maintaining a simple structural design. The advantages of the invention are particularly evident in the case of container-shaped loading aids. The costly and prone-to-failure tipping mechanism of the transport vehicle is no longer necessary.

[0011] The unmanned transport vehicles mentioned above are particularly ground-based unmanned transport vehicles, which preferably possess the ability to move autonomously. Such unmanned transport vehicles are also referred to as "automated guided vehicles (AGVs)" or "autonomous mobile robots (AMRs)".

[0012] For "Automated Guided Vehicles (AGVs)," optical or magnetic path markers are used, which can be detected and tracked by the transport vehicle via sensors. These path markers are arranged in areas of a first lane, a second lane, and / or a third lane.

[0013] For "Autonomous Mobile Robots (AMRs)," no path markings are required, and the AMR can navigate its surroundings without collisions along its path. To this end, the AMR includes sensors and uses a computer for path planning.

[0014] The “trajectory” used for AGVs can be physically applied to the first, second and / or third lanes, for example in the form of optical or magnetic travel path markings.

[0015] In principle, AMRs can move freely, but they can also follow a driving trajectory. For example, these trajectories can exist virtually in a digital image of the relevant roadway. Control of AMRs can be achieved, in particular, based on the concept of digital twins, whereby the digital twin of the AMR follows a digital or virtual driving trajectory, thus causing the physical AMR to move accordingly along the driving trajectory in the real world.

[0016] The running gear of the transport vehicle may include, for example, one or more drive motors, one or more drive shafts, wheel supports, and, if necessary, one or more steering motors and similar components. Preferably, steering of the driverless transport vehicle is achieved through differential control of the wheels, wherein, according to such an embodiment, these wheels are drive wheels. Each drive wheel is driven at a different speed so that the transport vehicle rotates about its vertical axis. To travel forward or backward, two drive motors are driven at the same speed in the opposite direction. Alternatively, steering wheel control is also feasible. In steering wheel control, the drive wheels are preferably steering wheels.

[0017] Furthermore, the objective of this invention is achieved by a handover station for automatically transferring loading aids between the loading platform of an unmanned transport vehicle and a receiving position (especially at a conveyor system), or by automatically loading and / or unloading the loading platform of an unmanned transport vehicle of the type described at the beginning, wherein the transport vehicle has the features described above (i.e., in the transport vehicle, the loading platform includes a bottom that is fixedly fastened to the support frame and inclined at an angle relative to the horizontal plane).

[0018] The proposed measures enable the loading and / or unloading of transport vehicles in a relatively simple manner, and in particular, enable loading and / or unloading with high efficiency. The transfer station technology is simply constructed and therefore less prone to failure. Loading and / or unloading of transport vehicles is performed by simply pushing (without lifting) a loading aid onto the (sloping) bottom of the transport vehicle's loading platform. Loading the transport vehicle involves pushing (without lifting) the loading aid from its receiving position onto the (sloping) bottom of the transport vehicle's loading platform. Unloading the transport vehicle involves pushing (without lifting) the loading aid from the (sloping) bottom of the transport vehicle's loading platform onto its receiving position. During loading and / or unloading, the pushing can be performed without or using the transfer station's pushing mechanism.

[0019] Furthermore, the objective of this invention is achieved by a workstation of the type described at the beginning, wherein the first conveying system is arranged in a conveying section toward the first operating device and the second driving lane are respectively vertically staggered relative to the first driving lane, and a channel is constructed below the first conveying system and the second driving lane, the first driving lane section extending along the channel, and the channel having a channel height (and channel width) that enables collision-free movement of transport vehicles respectively loaded with loading aids, and wherein the workstation includes a control unit that operates the first conveying system and the transport vehicles such that, for a task, goods pass through the first conveying system and loading aids pass through one of the transport vehicles and arrive at the first operating position and the second operating position approximately simultaneously, after which the loading aids can be loaded with goods.

[0020] The proposed measures enable ergonomic loading of loading aids and efficient goods picking within a particularly compact and modular workstation structure. The loading aids are positioned on the loading platform of the transport vehicle and held in the operating position by the transport vehicle during loading.

[0021] The first and second driving lanes are arranged at different height levels. The first and / or second driving lanes are preferably horizontal. The second operating device is thus positioned on the horizontal driving lane. The driverless transport vehicle of the above type can move on both the first and second driving lanes.

[0022] The third lane connects the first and second lanes and extends at an incline or is constructed as a ramp. Driverless transport vehicles of this type can move in the third lane. The slope of the second lane is between 5° and 15°, for example, 10°.

[0023] The passageway allows loaded transport vehicles to use the space beneath the second and (if necessary) third lanes of the first and second conveyor systems. This also contributes to the compact structure of the workstations. By arranging multiple workstations side-by-side, groups of workstations can be formed, the size of which can be easily adapted to pre-defined efficiency requirements.

[0024] In particular, the workstation's transport vehicle can be constructed as described above, thereby enabling the loading of loading aids operated by the transport vehicle in a particularly simple manner.

[0025] According to the first embodiment, the workstation includes a work position for warehouse workers to manually load goods using loading aids, wherein the loading aids are provided by a transport vehicle (preferably sequentially) at a second operating position provided to a second operating device. Goods are provided at a first operating position provided to a first operating device. Advantageously, the first and second operating devices are designed to provide the goods and loading aids at an ergonomic height for manual loading.

[0026] For manual task processing, the workstation includes input and / or output devices connected to the control unit.

[0027] To this end, the output device is designed to receive loading instructions from the control unit and output them to warehouse workers operating in the operating position. For example, it may output the quantity of goods to be loaded by the loading aids. If multiple loading aids are available simultaneously at the second operating position, it may also output the loading aids to be loaded. The output device may include, for example, a touchscreen, a speaker, and similar devices.

[0028] The input device is designed to receive input commands and transmit control signals to the control unit. Input commands are triggered, for example, by a confirmation button. Warehouse workers can, for example, manipulate the confirmation button to end the loading process. Input devices include, for example, confirmation buttons, switches, and similar devices. Input and / or output devices possess characteristics of both input and output devices.

[0029] According to the second embodiment, the workstation includes a loading robot at a work position for automatically loading goods onto a loading aid, wherein the loading aid is provided by a transport vehicle (preferably sequentially) at a second operating position provided to a second operating device. The goods are then provided at a first operating position provided to a first operating device.

[0030] Goods can be transported between the transfer area and the first operating device via the first conveyor system, either with or without loading aids. Loading aids for the first conveyor system may be designed as containers, pallets, cartons, and similar components.

[0031] The first operating device for delivering goods may include one first operating position or multiple such operating positions. Each operating position is configured for one type of goods. The operating device is used to deliver goods either without loading aids or with loading aids.

[0032] It should also be noted that goods may be transported, either with or without loading aids, within the storage area and / or between the storage area and the shipping area via a third conveying system. Goods may also be stored in the storage area, either with or without loading aids.

[0033] Loading aids (which are provided to the first conveying system, the third conveying system, and / or the storage area) may be designed as containers, pallets, cartons, and similar components.

[0034] If goods are transported via loading aids of the first conveying system, the goods are stored in the loading aids. Such loading aids are also referred to as source loading aids. The first conveying system may include fixed (positionally placed or positionally suspended) conveying devices, such as roller conveyors, belt conveyors, and similar equipment.

[0035] The second operating device for providing loading assistance tools may include one or more operating positions. Each operating position is assigned to a loading assistance tool.

[0036] The loading aids for the second conveying system can be designed as containers, pallets, cartons, and similar components. Such loading aids are also referred to as target loading aids. Preferably, these loading aids are designed to identify cartons for transport.

[0037] In particular, the control unit can be configured to operate the following steps: i) transporting goods to a first operating device via a first conveying system; ii) providing goods at a first operating position; iii) transporting a loading aid to a second operating device via a (autonomously movable) driverless transport vehicle, wherein the transport vehicle moves from a third lane to a second lane and then to the second operating device; iv) providing the loading aid at the second operating position; v) loading the loading aid provided in step iv) with the goods provided in step ii) according to a task; vi) after step v), transporting the loading aid loaded with goods from the second operating position via a (autonomously movable) driverless transport vehicle, wherein the transport vehicle moves from the second operating device to a third lane from the second lane. The control unit operates the first conveying system and the transport vehicle such that, for a task, goods arrive at the first and second operating positions approximately simultaneously via the first conveying system and the loading aid via one of the transport vehicles.

[0038] The width of the passageway can be measured such that it corresponds to the width of at least one transport vehicle. Preferably, the passageway width corresponds to the width of one transport vehicle carrying loading aids. The width of the passageway can also be measured such that it corresponds to two transport vehicles traveling side by side. Preferably, the passageway width corresponds to the width of two transport vehicles, each carrying loading aids.

[0039] Finally, the objective of the present invention is achieved by a picking system of the type described at the beginning, in which workstations and / or transfer stations have the features described above.

[0040] By employing the proposed measures, the components described above are combined in an advantageous manner, enabling the efficiency of the picking system to be improved compared to known picking systems while maintaining the same structural space.

[0041] It should be noted that, in principle, it is also conceivable to remove goods (especially cardboard boxes) from the first operating device and park them directly on the bottom of the loading platform of the driverless transport vehicle. The driverless transport vehicle is provided at the second operating device, but without loading aids.

[0042] Therefore, instead of or additional to the workstation described above, the workstation includes the features listed below (according to claims 12 to 27).

[0043] A workstation for loading goods onto transport vehicles according to tasks, particularly picking tasks, the workstation comprising: - a task management system for electronically recording tasks; - a first operating device for providing goods; - a first conveyor system connecting a transfer area to the first operating device and configured to transport goods between the transfer area and the first operating device; - a second conveyor system including driverless transport vehicles for transporting goods; - a first lane including a first lane section and a second lane section; - a second lane including a second operating device for providing driverless transport vehicles; - a third lane, etc. The third lane is arranged between the first lane and the second lane, wherein the first conveying system is arranged vertically offset from the first lane in the conveying section toward the first operating device and the second lane is arranged at a vertical interval, and a channel is constructed below the first conveying system and the second lane, the first lane section extending along the channel, and the channel having a channel height that allows transport vehicles carrying loading aids to move without collision, and a control unit that controls the first conveying system and the transport vehicles such that, for a task, the goods and the transport vehicles arrive at the first operating device and the second operating device approximately simultaneously, and then the transport vehicles can be loaded with goods.

[0044] Further advantageous designs and improvements of the invention are derived from the dependent claims and from the description taken in conjunction with the accompanying drawings.

[0045] The loading platform of the transport vehicle can preferably be fastened to the load-bearing frame so that the center of gravity of the loading aid is substantially close to the vertical axis passing through the center of gravity of the transport vehicle without the loading platform.

[0046] In one embodiment of the transport vehicle, the load-bearing frame includes a front side and a rear side (relative to the direction of travel of the driverless transport vehicle), wherein the bottom of the loading platform is tilted laterally at the tilt angle relative to a longitudinal axis extending between the front and rear sides of the vehicle. This allows the loading aid to be operated without changing the direction of travel of the transport vehicle to approach and leave the operating position. Furthermore, the loading aid is less likely to accidentally fall off the loading platform during acceleration or braking.

[0047] However, it is also conceivable that the load-bearing frame of the transport vehicle includes the front and rear sides of the vehicle (relative to the direction of travel of the driverless transport vehicle), and the bottom of the loading platform is tilted backward or forward at the aforementioned tilt angle along the longitudinal axis extending between the front and rear sides of the vehicle. Advantageously, when turning, the loading aids are less likely to accidentally fall off the loading platform.

[0048] Advantageously, the tilt angle of the bottom of the loading platform is in the range of 10° to 60°. In particular, the tilt angle can be in the range of 10° to 20°. A tilt angle of 12° is particularly advantageous. This allows the loading aids on the loading platform to be operated in an orientation favorable for loading and / or unloading. Furthermore, at this tilt angle, even when the transport vehicle is moving, the loading aids are less likely to accidentally fall off the loading platform. Additionally, the drive mechanism and drive power of the pusher for the transfer station can be designed to be relatively low.

[0049] Advantageously, the transport vehicle may include a positioning unit supported on the load-bearing frame, which prevents undesirable displacement of the loading aids on the loading platform when the loading aids are transported together with the transport vehicle.

[0050] The positioning unit may include one or more engaging elements movable relative to the bottom of the loading platform between a release position and a fixed position. In the release position, the loading aid can be unloaded from the loading platform. In the fixed position, the loading aid can be positioned and held on the loading platform. The engaging elements may, for example, form-lockingly engage the loading aid from the rear.

[0051] Advantageously, the loading platform of the transport vehicle additionally includes: a first stop element disposed in a lower side region of the bottom and protruding (upward) relative to the bottom; and a transfer section disposed in a higher side region of the bottom. Thus, on the one hand, loading aids on the loading platform will not accidentally slide down the loading platform; on the other hand, loading and / or unloading can be performed easily via the transfer section. Here, loading aids are pushed upward onto the loading platform (without lifting) or pushed downward off the loading platform. Therefore, technically costly lifting and gripping devices are unnecessary.

[0052] After the loading aid has been pushed onto the loading platform and has moved towards the first stop element due to gravity on its inclined bottom, the first stop element restricts the downward movement of the loading aid. The first stop element and the transfer section preferably extend substantially parallel to each other.

[0053] Furthermore, advantageously, the loading platform additionally includes: a second stop element disposed in a side region extending between a lower side region and a higher side region of the bottom and projecting (upward) relative to the bottom; and a third stop element disposed in a side region extending between the lower side region and the higher side region of the bottom and projecting (upward) relative to the bottom. This prevents loading aids from accidentally falling laterally (i.e., transversely to the drop line at the bottom) from the loading platform.

[0054] Preferably, the first stop element, the second stop element, and the third stop element each have a stop height as optimized to reliably prevent the loading aid from tipping over or falling off the loading platform of the transport vehicle, even when the transport vehicle is in dynamic motion.

[0055] In addition, during the push-out process at the handover station, the second and third stop elements can serve as guides for loading auxiliary tools.

[0056] Preferably, the first stop element, the second stop element, and the third stop element each have the same stop height.

[0057] Furthermore, it is advantageous that the loading platform additionally includes a pushing element arranged in a higher side region at the bottom and forming a handover section. In this way, the transport vehicle can be loaded and / or unloaded in a particularly simple manner by pushing the loading aids onto the loading platform and / or by pushing the loading aids off the loading platform.

[0058] In another implementation variation, the transport vehicle includes a floor plate at its bottom. This, in particular, enables the reliable transport of smaller loading aids.

[0059] However, it is also conceivable that the bottom of the transport vehicle includes support profiles. This allows for a loading platform that is both highly stable and lightweight. The support profiles preferably extend parallel to each other between the transfer section and the first stop element in a spaced-apart manner. The support profiles can be designed, for example, in a U-shape or a C-shape.

[0060] Furthermore, it is advantageous that the bottom of the loading platform forms a sliding surface. In particular, this sliding surface can be formed between the transfer section and the first stop element, and, if necessary, between the second and third stop elements. These proposed measures further facilitate loading the transport vehicle by pushing the loading aids onto the loading platform and / or unloading it by pushing the loading aids off the loading platform. For example, a sliding liner can be applied to the bottom for this purpose.

[0061] It should be noted that, within the scope of this invention, loading aids can also be understood as cargo in relation to the transportation and loading / unloading of transport vehicles by driverless transport vehicles, provided that the cargo is removed from the first operating device and directly transferred to the loading platform of the driverless transport vehicle.

[0062] In an advantageous implementation variant of the workstation, the first conveying system is arranged vertically offset from the first lane in a conveying section away from the first operating device, and an additional channel is constructed below the first conveying system, along which a second lane section extends, and the channel has a channel height (and channel width) that enables transport vehicles carrying loading aids (of the second conveying system) to move without collision.

[0063] The width of the additional passageway can be determined such that it corresponds to the width of at least one transport vehicle. Preferably, the passageway width corresponds to the width of one transport vehicle carrying loading aids. The passageway width can also be determined such that it corresponds to two transport vehicles traveling side by side. Preferably, the passageway width corresponds to the width of two transport vehicles, each carrying loading aids.

[0064] In an advantageous embodiment of the workstation, the workstation's operating area can be configured to: unload goods (with or without loading aids) to the first conveyor system; or unload goods (with or without loading aids) to and from the first conveyor system. This allows the workstation to receive goods (with or without loading aids) from and / or unload goods to a (third) conveyor system, which may be configured differently from the first conveyor system. For example, the first conveyor system with fixed conveying devices can receive goods (with or without loading aids) from or unload goods from vehicles of the (third) conveyor system.

[0065] Furthermore, it is advantageous that the first travel trajectory extends along the first lane section, and the second travel trajectory extends along the second lane section. In this embodiment, the first lane section is configured such that the transport vehicle moves along the first travel trajectory. The first travel trajectory can be implemented as a one-way lane, thus the transport vehicle moves only in one direction. In this embodiment, the second lane section is configured such that the transport vehicle moves along the second travel trajectory. The second travel trajectory can be implemented as a one-way lane, thus the transport vehicle moves only in one direction. Preferably, the transport vehicle moves in opposite directions in the first and second lane sections. It is also advantageous that the first and second travel trajectories extend parallel to each other.

[0066] According to a feasible implementation plan, the first driving trajectory can form a closed loop in the first driving lane section.

[0067] Similarly, the second driving trajectory can form a closed loop in the second driving lane section.

[0068] Furthermore, the first and second driving trajectories can together form a closed loop.

[0069] Furthermore, it is advantageous that the conversion travel trajectory extends between the first and second travel trajectories, and the transport vehicle can move between the first and second lane sections on the first lane. Thus, the transport vehicle can switch between the first and second lane sections.

[0070] According to another feasible implementation, the conversion trajectory may include a first conversion trajectory and a second conversion trajectory, such that the first conversion trajectory, the first driving trajectory, the second conversion trajectory, and the second driving trajectory form a closed loop. Here, the first conversion trajectory, the first driving trajectory, the second conversion trajectory, and the second driving trajectory can be implemented as one-way streets. In this case, the transport vehicle moves in only one direction.

[0071] Particularly advantageous is that: at the second driving trajectory, a approach trajectory branches off and a return trajectory enters into the second driving trajectory; the approach trajectory extends in the first driving lane section of the third driving lane; the return trajectory extends in the second driving lane section of the third driving lane; and in the driving lane section of the second driving lane, an operating trajectory extends between the approach trajectory and the return trajectory, wherein the operating trajectory is configured for the second operating device.

[0072] This enables the implementation of a one-way system in the second and third lanes, coupled to the second lane section. Consequently, transport vehicles can move in the second and third lanes with minimal interference. In this case, the transport vehicle moves in a single direction along an approach trajectory, a maneuvering trajectory, and a return trajectory, wherein the approach and return trajectories extend, in particular, parallel to each other.

[0073] Furthermore, it is particularly advantageous that, within the third lane section of the third lane, one or more sorting tracks extend between the approach track and the return track. That is, each sorting track branches off from the return track and enters the approach track. Through the proposed measures, the sorting device included in the second conveying system can be constructed on the third lane. Since the third lane also serves to bridge the height difference between the first lane (especially the second lane section) and the second lane, this creates a multi-purpose third lane, which forms the basis for, or assists in, a particularly compact structure for the workstation. It should be noted that one or more sorting tracks can be additionally arranged on the second lane, which also contributes to the compact structure of the workstation.

[0074] Furthermore, it is particularly advantageous that, within the travel lane section of the second travel lane, one or more rapid tracks extend between the approach track and the return track. These rapid tracks are similar to the sorting tracks, but are located particularly close to the second operating device. In this sense, the rapid tracks can be understood as sorting tracks that are close to or very close to the second operating device. Therefore, when loading aids need to be provided rapidly at the second operating position, the transport vehicle can also move along the rapid tracks instead of the sorting tracks.

[0075] Furthermore, it is advantageous that the first travel trajectory extending in the first lane section and the second travel trajectory extending in the second lane section each have a coupling region, wherein the coupling region can be connected to another workstation, particularly one of the same construction, arranged adjacent to the workstation. Accordingly, a group of multiple workstations can be formed, comprising multiple adjacent workstations of the above type, wherein the first lane section and the second lane section of each workstation are interconnected. This results in a picking system that can be expanded almost arbitrarily.

[0076] In another advantageous design of the workstation, the control unit is additionally configured to operate the first conveying system and the transport vehicles such that the loading aids are sorted by means of the transport vehicles in a sequence determined by the order in which goods (with or without loading aids) are provided at the first operating device; and the loading aids (and therefore the target loading aids) and the goods (with or without the source loading aids) arrive at the first and second operating positions approximately simultaneously for a task. Thus, even when the transport vehicles arrive at the third lane at an unfavorable time and / or in an unfavorable sequence, efficient loading of the loading aids, or in other words, efficient picking, can be ensured. For example, the loading aids can be sorted sequentially by means of the transport vehicles as follows: one of the transport vehicles turns from the approach track into the sorting track, and another of the transport vehicles passes by the one that turned into the sorting track. Then, the transport vehicle that turned into the sorting track can move from the sorting track back into the approach track.

[0077] Advantageously, one of the tasks includes a first task line and a second task line, wherein the first task line and the second task line include goods of different types, and the control unit is additionally configured to temporarily transport a loading aid for handling the first task line and the second task line from the second operating device via the return track to the sorting track by means of the transport vehicle after the loading aid is loaded with goods for the first task line and is temporarily stored in the sorting track, and then when the goods for the second task line are / have been transported to the first operating device by the first conveying system, the loading aid is transported from the sorting track to the second operating device via the approach track.

[0078] In this way, even if goods cannot be provided at the first operating device at the same time, it is possible to achieve particularly efficient loading of loading aids, or in other words, particularly efficient picking.

[0079] Thus, this could be the case, for example, when a single type of cargo is transported to different loading aids in a first conveyor system, but only one or too few first operating positions are available.

[0080] Furthermore, it is advantageous that: multiple tasks include goods of the same type; each task is equipped with a loading aid; and the control unit is additionally configured to control the loading of goods of the same type onto the loading aids provided for each task, wherein the goods are provided at a first operating device at once, and each loading aid is provided at a second operating device on a separate transport vehicle.

[0081] In this way, even if multiple loading aids cannot be provided simultaneously at the second operating device (or if all the required loading aids that should be loaded with the same type of goods cannot be provided simultaneously), particularly efficient loading of loading aids, or in other words, particularly efficient picking, can be achieved. This can be the case, for example, when only one or too few second operating positions are available.

[0082] If there is a single second operating position, each loading aid can be sequentially provided on each transport vehicle at the second operating device. However, if there are multiple (especially sufficient) second operating positions, the loading aids can also be sequentially provided on each transport vehicle at the second operating device.

[0083] As described, goods may be transported on the first conveyor system with or without loading aids.

[0084] The first conveying system may include a first conveying device and a second conveying device, the first conveying device being used to transport goods from a transfer area to a first operating device, and the second conveying device being used to transport goods from the first operating device to the transfer area. The first conveying system may also include a third conveying device, which includes the first operating device and connects the first conveying device to the second conveying device. Thus, a one-way system for goods can also be implemented in the first conveying system. If goods are transported with loading aids, the loading aids containing the goods are transported by the first conveying device. The loading aids transported by the second conveying device may (still) contain goods or may not contain goods. The latter case then applies to situations where all goods have been removed from the loading aids for processing tasks.

[0085] Alternatively, the first conveying system may include a conveying device for transporting goods 12 from the transfer area F to the first operating device 15 and also for transporting goods 12 from the first operating device 15 to the transfer area F.

[0086] In other words, the first conveying system can be configured to: transport goods from the transfer area to the first operating device; or transport goods from the transfer area to the first operating device and from the first operating device to the transfer area.

[0087] The first conveying system can be constructed as a stationary conveying system and thus placed in a fixed position.

[0088] Furthermore, it is advantageous that the first conveying system includes multiple temporary storage locations, and the control unit is additionally configured to sequentially provide goods of different types, wherein the goods are intermediately stored at the temporary storage locations. The temporary storage locations are functionally similar to the sorting track (or sorting locations on the sorting track), but are not necessarily arranged between the first and second conveying devices; they may be provided only to the first conveying device (when goods are to be temporarily stored during transport to the first operating device), or only to the second conveying device (when goods are to be temporarily stored during transport from the first operating device). The temporary storage locations can also be used to provide goods in a sorting manner according to a pre-given order.

[0089] In this case, it is also advantageous that the first conveying system includes a sorting and storage device designed to provide goods in a sequential sorting manner. The sorting and storage device includes a plurality of storage positions arranged along the first conveying device, and / or a plurality of sorting positions arranged along the second conveying device, and a plurality of sorting conveyors connecting the sorting positions and the storage positions.

[0090] It also proves advantageous that the transport vehicle is implemented according to one of the above aspects; the loading aid can be positioned on the bottom of the loading platform at an angle relative to the horizontal plane; the loading aid includes a bottom, sidewalls protruding at the bottom, and loading openings defined by the sidewalls; and the controller of the transport vehicle executes driving commands such that the transport vehicle is provided (parked) at the second operating device in an attitude in which the loading aid (via the bottom of the loading platform) is oriented or manipulated relative to the first operating device or the goods provided at the first operating device such that the edge of the front sidewall is lower than the edge of the rear sidewall, so that the loading aid can be ergonomically loaded with goods via the loading opening. This enables loading of the (target) loading aid in a particularly ergonomic manner. Loading can be performed manually by warehouse workers or automatically by a robot. Regarding the manual loading process, "ergonomic" means that even if the side walls of the (target) loading aid are high, warehouse workers can easily access the loading space within the (target) loading aid, and the loading action can be held briefly. Regarding the automated loading process, "ergonomic" means that even if the side walls of the (target) loading aid are high, robots can easily access the loading space within the (target) loading aid, and the loading action can be held briefly.

[0091] It can be proven advantageous that, when loading a transport vehicle by pushing the loading aid to the bottom of the loading platform, the pusher at the transfer station is moved to a position in which the pusher assists the first stop element in preventing the loading aid from tipping over or sliding beyond the first stop element.

[0092] For the proposed handover station, it is particularly advantageous that the guide forms a guide plane inclined at an angle relative to the horizontal plane, extending substantially parallel to the bottom of the loading platform. This allows the loading aid to be pushed onto or off the loading platform parallel to its bottom (inclined relative to the horizontal plane). In this way, it prevents the loading aid from tilting during movement.

[0093] The pusher may include a pusher surface perpendicular to the guide plane and oriented such that the pusher can act substantially parallel to the sidewall of the loading aid when pushed away. In one possible embodiment, the tilt angle of the guide is adjustable, thereby enabling operation of transport vehicles with different tilts of the loading platform.

[0094] In one embodiment, the pusher can be pivotable about an axis extending parallel to the guide (and can be locked in an outward pivoting position) to enable the pusher to flip open (Wegklappen). The pusher can thus be positioned, for example, without impact, in a suitable push position in which it is form-locked from the rear onto a loading aid on the loading platform.

[0095] In an advantageous embodiment of the handover station, the drive mechanism includes a slider and a traction drive, wherein the slider is coupled to the traction drive and supported at the guide via a guide wheel, and wherein the pusher is supported at the slider. Thus, translational movement of the slider can be achieved by simple technical means. The traction drive includes a drive wheel, a steering wheel, and a traction member guiding around the drive wheel and steering wheel. The drive wheel is connected to a drive motor. The traction member is preferably a toothed belt.

[0096] The transfer station may additionally include stop elements, wherein one or more first stop elements are provided at a first end position of the slider's adjustment stroke, and one or more second stop elements are provided at a second end position of the slider's adjustment stroke. The stop elements may include damping elements (e.g., made of rubber).

[0097] Advantageously, the transfer station additionally includes a conveying system for moving the loading aids out of the receiving position and / or for moving the loading aids to the receiving position. In this way, loading aids received by transport vehicles can be easily moved out of the transfer station, and / or loading aids awaiting receipt by transport vehicles can be moved into the transfer station.

[0098] Furthermore, advantageously, the handover station additionally includes a passageway configured with an entry area, an exit area, and a travel path extending between the entry and exit areas, wherein parking spaces are arranged along the travel path and driverless transport vehicles can enter the handover station in the entry area (park at the parking space) and exit the handover station in the exit area. The direction of travel of the driverless transport vehicles along the travel path is advantageously laterally (especially perpendicularly) to the direction of movement of the pusher or loading aids.

[0099] In this situation, it is particularly advantageous to use a transport vehicle in which the bottom is tilted laterally relative to the longitudinal axis extending between the front and rear sides of the vehicle. This allows for the transfer of loading aids at the handover station without having to change the direction of the transport vehicle to approach or leave the parking space.

[0100] Furthermore, it is advantageous that the handover station additionally includes a positioning system for positioning the driverless transport vehicle relative to the parking space. In particular, the positioning system may include positioning elements arranged symmetrically (especially in a fixed position) on both sides of the travel path and with respect to a vertical plane extending along the travel path direction. For example, the positioning elements may each include stop profiles, wherein the stop profiles are configured with stop surfaces on their sidewalls facing each other, and the stop surfaces can cooperate with the load-bearing frame of the driverless transport vehicle when the driverless transport vehicle is provided at the parking space and loading assistance is pushed from the loading platform of the driverless transport vehicle to the receiving position and / or loading assistance is pushed from the receiving position to the loading platform of the driverless transport vehicle.

[0101] The proposed measures facilitate or enforce (lateral) positioning of transport vehicles. For example, positioning elements (similar to guide rails) can be used for lateral guidance when the transport vehicle enters and exits the handover station. Thus, the transport vehicle can be precisely centered between the positioning elements at its parking position. While this is generally not necessary for the aforementioned driverless transport vehicles, it facilitates or enforces alignment in case of misalignment.

[0102] The proposed measures, on the other hand, can prevent or at least limit the (lateral) tipping of transport vehicles. Transport vehicles may tilt and tip over during loading and / or unloading, for example, when heavy loading aids move on the loading platform and / or when the transport vehicle is narrow and tall. In such cases, the load-bearing frame of the transport vehicle will abut against one or two positioning elements, thereby preventing further movement.

[0103] Advantageously, the picking system also includes a third conveying system connecting the storage area and the transfer area, and the third conveying system includes driverless transport vehicles for transporting goods (with or without loading aids) between the storage area and the transfer area. Thus, the transfer of goods from and to the storage area can be carried out in a particularly flexible manner.

[0104] Advantageously, the first lane additionally includes a third lane section arranged between the storage area and the transfer area, and the driverless transport vehicles of the third conveying system are displaced within this third lane section. Thus, the transport vehicles of the second and third conveying systems travel on the first lane (especially on the same plane). The third lane section may connect to or separate from the first lane section and / or the second lane section of the first lane.

[0105] Additionally, it is conceivable that the driverless transport vehicles of the third conveyor system not only move within the third driving lane section but also approach storage locations within the storage area. Thus, the transport vehicles of the third conveyor system can exchange goods (with or without loading aids) between the storage area and the transfer area. Specifically, they can remove goods (with or without loading aids) from the storage area and transport them to the transfer area, and / or transport goods (with or without loading aids) from the transfer area to the storage area and store them there. In this case, separate storage and conveying technology equipment can be eliminated, or rather, the function of separate storage and conveying technology equipment can be performed by the third conveyor system.

[0106] Such a third transport system is known, for example, by AT525735B1 or EP3362379B1, and includes driverless transport vehicles capable of moving horizontally (x and / or z) and vertically (y) in the storage area, and / or horizontally (x and / or z) in the area of ​​the third lane section on the first lane, and / or vertically (y) in the transfer area at the transfer station.

[0107] Furthermore, it is advantageous that the driverless transport vehicle only moves within the storage area, and the storage area and the transfer area are arranged such that goods (with or without loading aids) are unloaded directly from the storage area to the first conveyor system, or goods (with or without loading aids) are unloaded directly from the storage area to the first conveyor system and vice versa. Therefore, in this variant, goods (with or without loading aids) are directly transferred between the first and third conveyor systems. For example, the transport vehicle of the third conveyor system may be configured to unload goods (with or without loading aids) to and / or receive goods from the first conveyor system, without requiring special configuration of the first conveyor system. For example, the transport vehicle of the third conveyor system may include a transfer device, which may have, for example, a conveying device, a pushing device, or a gripping device for moving the goods (with or without loading aids).

[0108] Such a third conveying system is known, for example, by EP3286111B1 or WO2013 / 090970A2, which includes driverless transport vehicles capable of moving horizontally (x-direction) within a storage area.

[0109] Advantageously, the workstation in the transfer area has a transfer station, wherein the transfer station includes: - a first transfer position and a first transfer device assigned to the first transfer position, wherein the first transfer position is configured to receive goods (with or without loading aids), and the first transfer device is configured to unload goods (with or without loading aids) from the first transfer position to the first conveying system; and / or - a second transfer position and a second transfer device assigned to the second transfer position, wherein the second transfer position is configured to receive goods (with or without loading aids), and the second transfer device is configured to unload goods (with or without loading aids) from the first conveying system to the second transfer position. The proposed measures, in particular, enable the coupling of different types of first and third conveying systems. For example, the first conveying system includes stationary conveying devices, while the third conveying system includes driverless transport vehicles. In this variant implementation, the transfer of goods (with or without loading aids) is carried out through a first and a second transfer device at the workstation. These devices may, for example, have conveying devices, pushing devices, or gripping devices for moving the goods (with or without loading aids). Therefore, the transport vehicle does not need to have such a transfer device.

[0110] However, it is also advantageous that the workstation has a transfer station in the transfer area, wherein the transfer station includes: - a first transfer position configured to receive a transport vehicle of the third conveying system carrying goods (with or without loading aids) and a transfer device provided to the transport vehicle, wherein the transfer device is configured to unload the goods (with or without loading aids) from the transport vehicle to the first conveying system; and - a second transfer position configured to receive a transport vehicle of the third conveying system and a transfer device provided to the transport vehicle, wherein the transfer device is configured to unload the goods (with or without loading aids) from the first conveying system to the transport vehicle. This variant of the workstation is similar to the variants described above. Although the goods transfer is carried out by the transfer device of the transport vehicle (which may, for example, have a conveying device, pushing device, or gripping device for moving the goods (with or without loading aids), the workstation includes a first transfer position and a second transfer position (and, if necessary, other equipment for receiving or positioning the transport vehicle). However, in this implementation variant, the transfer station does not need to have transfer equipment.

[0111] In summary, several variations of the transfer scheme for goods between the storage area and the workstation's transfer area can be envisioned. For example, a third conveyor system's transport vehicles can transfer goods (with or without loading aids) from the storage area to a storage and conveying technology device, which then transports the goods to a transfer station, where they are unloaded into the first conveyor system. The first conveyor system then transports the goods (with or without loading aids) to the first operating device at the workstation. Return trips can be carried out in a similar manner. However, it is also conceivable that the third conveyor system's transport vehicles can directly retrieve goods (with or without loading aids) from storage locations in the storage area, or directly unload goods into those storage locations. In this case, a separate storage and conveying technology device can be eliminated. Finally, it is also conceivable that goods (with or without loading aids) are directly transferred between the first and third conveyor systems, thus eliminating the need for a transfer station.

[0112] Advantageously, the transfer station of the workstation includes a lifting device configured for the first conveying system, on which transport vehicles or goods (with or without loading aids) can be received. This measure bridges the height difference between the first and third conveying systems. The transfer station may also have a first lifting device for lifting the transport vehicles or goods (with or without loading aids), and a second lifting device for lowering the transport vehicles or goods (with or without loading aids). Thus, goods (with or without loading aids) can be moved vertically individually, or the entire transport vehicle along with the goods (with or without loading aids) can be moved vertically. As lifting devices, examples include elevators or patternosters, which are known per se.

[0113] Advantageously, the driverless transport vehicles of the second and third transport systems are structurally different. This allows the transport vehicles to be optimized for their respective intended uses. For example, it is advantageous for the driverless transport vehicles of the third transport system to have the ability to move forward vertically (i.e., climb), a capability that may be unnecessary for the driverless transport vehicles of the second transport system. It is also conceivable that the driverless transport vehicles of the third transport system (at least for a portion of the time) move along guide rails, while the transport vehicles of the second transport system travel only on the (flat) first, second, and third lanes.

[0114] Alternatively, it is conceivable that the driverless transport vehicles in the second conveyor system are structurally identical to those in the third conveyor system. Through economies of scale, this results in a more economically advantageous structure and operation for the picking system.

[0115] In particular, the driverless transport vehicles of the second and third transport systems can be constructed similarly and share at least some of the aforementioned technical features. For example, the driverless transport vehicle of the third transport system (especially for transporting goods (with or without loading aids)) may accordingly include: - a support frame; - a running gear supported on the support frame, the running gear comprising multiple wheels and configured for driving or driving and steering the driverless transport vehicle; - a controller configured to receive driving commands and operate the driverless transport vehicle; and - a loading platform supported on the support frame, the loading platform comprising a horizontally oriented bottom, the bottom being fixedly fastened to the support frame, or the bottom being arranged on a lifting device. The description of the driverless transport vehicle for the second transport system applies here in a meaningful sense; for example, the driverless transport vehicle of the third transport system may also be constructed as an automated guided vehicle or an autonomous mobile robot.

[0116] The objective of this invention is also achieved by means of the following: a control unit operates a first conveying system and a transport vehicle such that, for a task, cargo (with or without a loading aid) passes through the first conveying system and a loading aid (target loading aid) passes through one of the transport vehicles and arrives at a first operating position and a second operating position substantially simultaneously, wherein the loading aid is positioned on the bottom of a loading platform at an angle relative to the horizontal plane, wherein the loading aid includes a bottom, sidewalls protruding at the bottom, and a loading opening defined by the sidewalls, and wherein a controller of the transport vehicle executes a driving command (which may be transmitted from the control unit to the controller) such that the transport vehicle is provided at the second operating device in an attitude in which the loading aid (target loading aid) in the second operating position (and via the bottom of the loading platform) is oriented or operated relative to the first operating device (or cargo (with or without a (source) loading aid)) such that the edge of the front sidewall of the sidewall is lower than the edge of the rear sidewall of the sidewall, so that the loading aid can be loaded with cargo via the loading opening in an ergonomic manner. This enables the loading of (target) loading aids in a particularly ergonomic manner, wherein the loading can be performed manually by warehouse workers or automatically by robots, as described above. Attached Figure Description

[0117] To better understand the invention, it is illustrated in more detail with the aid of the following figures.

[0118] Here, highly simplified schematic diagrams are provided:

[0119] Figure 1 An unmanned transport vehicle with a laterally tilted loading platform is shown in a perspective view.

[0120] Figure 2 Shown in side view Figure 1 Transport vehicles;

[0121] Figure 3 A driverless transport vehicle with a forward-tilted loading platform is shown in a side view.

[0122] Figure 4 A driverless transport vehicle with a rearward-tilting loading platform is shown in a side view.

[0123] Figure 5 An exemplary workstation with a transfer station is shown from an angle above;

[0124] Figure 6 Shown in side view Figure 5 Side view of the workstation in the middle;

[0125] Figure 7a Show Figure 6 Detailed view in the additional channel area;

[0126] Figure 7b Show Figure 6 Detailed view in the channel area;

[0127] Figure 8 A schematic top view showing an example of a picking system, which has multiple picking methods based on... Figure 6 The implementation plan for the workstation includes the workstation itself and the transport vehicles (third conveyor system) located between the storage area and the corresponding transfer area;

[0128] Figure 9 Showing with Figure 8 A schematic top view of a similar picking system example, but this picking system has a second implementation of a transfer station and transport vehicles (a third conveyor system) located between the storage area and the corresponding transfer area;

[0129] Figure 10 A schematic side view of an example picking system is shown, which has a third embodiment of a transfer station and transport vehicles (of a third conveying system) that can move within a storage area and between a storage area and a corresponding transfer area.

[0130] Figure 11 A schematic side view of an example picking system is shown, which has a fourth embodiment of a transfer station and a storage area directly adjacent to the transfer area;

[0131] Figure 12 Showing with Figure 11 A schematic side view of a similar picking system example, which has a fifth implementation of a transfer station, but the transport vehicles only move within the storage area;

[0132] Figure 13 An oblique view of a first embodiment of a transfer station for loading and / or unloading driverless transport vehicles (of the second conveying system);

[0133] Figure 14 A perspective view of a second embodiment of a transfer station for loading driverless transport vehicles (of the second conveying system);

[0134] Figures 15a to 15d Shown in accordance with Figure 13 The transfer station will be a continuous sequence of loading auxiliary tools being transferred (unloaded) from the transport vehicle to the receiving position;

[0135] Figures 16a to 16d Shown in accordance with Figure 13 The transfer station is a continuous sequence at which auxiliary tools are transferred (loaded) from the receiving station onto the transport vehicle. Detailed Implementation

[0136] As should be stated in the introduction, in different described embodiments, the same components are given the same reference numerals or the same component names, and the disclosure contained throughout the specification can be meaningfully transferred to the same components having the same reference numerals or the same component names. The directional descriptions used in the specification (e.g., above, below, side, etc.) are also related to the direct descriptions and the accompanying drawings, and should be meaningfully transferred to the new directional descriptions where the directional changes.

[0137] Figure 1 and Figure 2 This illustrates a first embodiment of an unmanned transport vehicle 1, which can be used to transport loading aids ( Figure 1 and Figure 2 Not shown in the text, however, see, for example, see Figure 5 or Figure 15a ). Figure 1 The transport vehicle 1 is shown in a diagonal view from the left rear, and Figure 2 The previous view shows transport vehicle 1. The driverless transport vehicle 1 can also be used to transport goods.

[0138] In the following text, loading aids and cargo will be used as synonyms.

[0139] The loading aid has a bottom, sidewalls protruding from the bottom, and a loading opening defined by the sidewalls. When the loading aid is located on a loading platform, the bottom is supported on the loading platform.

[0140] The loading aids are, for example, cardboard boxes or containers.

[0141] The transport vehicle 1 includes a support frame 2, a running mechanism 3 supported on the support frame 2, a controller 4, and a loading platform 5 supported on the support frame 2. The running mechanism 3 includes multiple wheels and is configured for the driving and steering of the driverless transport vehicle 1. The controller 4 is configured to receive driving commands (e.g., from a higher-level controller) and operate the driverless transport vehicle 1. The transport vehicle 1 also has a front side A and a rear side B, and a (main) driving direction, which points along the longitudinal axis D extending between the front side A and the rear side B of the transport vehicle 1.

[0142] exist Figure 1 and Figure 2 In this embodiment, only the wheels are visible in the driving mechanism 3. However, the driving mechanism may also include, for example, one or more drive motors, one or more drive shafts, supports for the wheels, and, if necessary, one or more steering motors and similar components. Steering of the unmanned transport vehicle 1 is preferably achieved through differential control of the wheels, wherein, in this embodiment, these wheels are drive wheels. Each drive wheel is driven at a different speed to rotate. To move forward or backward, both drive motors are driven at the same speed. Alternatively, steering wheel control is also feasible. In steering wheel control, the drive wheels are preferably steering wheels. The transport vehicle 1 may be implemented, for example, as an "Autonomous Mobile Robot (AMR)" or an "Automatic Guided Vehicle (AGV)".

[0143] The loading platform 5 of the transport vehicle 1 includes a bottom 6, which is fixedly fastened, in particular threadedly connected, to the support frame 2 and inclined at an angle α relative to the horizontal plane. Thus, with a technically simple structure for the transport vehicle 1, it is possible to load the transport vehicle 1 with loading aids and / or unload the loading aids from the transport vehicle 1 onto the loading platform 5.

[0144] Advantageously, the loading platform 5 includes a first stop element 7 and a transfer section E, the first stop element being arranged in a lower side region of the bottom 6 and projecting relative to the bottom 6, the transfer section being arranged in a higher side region of the bottom 6, such as... Figure 1 and Figure 2 As shown in the diagram. Therefore, on the one hand, the loading auxiliary tool parked on the loading platform 5 will not accidentally slide down from the loading platform 5; on the other hand, loading and / or unloading can be performed in a simple manner via the handover section E. Here, the loading auxiliary tool is pushed upwards onto the loading platform 5, or pushed downwards from the loading platform 5. For this purpose, there is no need for technically costly lifting and gripping devices.

[0145] In addition, Figure 1 and Figure 2 In the embodiment shown, the loading platform 5 includes an optional second stop element 8, which is arranged in a side region extending between a lower side region and a higher side region of the bottom 6 and protrudes relative to the bottom 6. Furthermore, the loading platform 5 includes an optional third stop element 9, which is also arranged in a side region extending between a lower side region and a higher side region of the bottom 6 and protrudes relative to the bottom 6. This prevents loading aids from accidentally falling from the loading platform 5 forward or backward (i.e., laterally to the drop line of the loading platform 5).

[0146] In addition, Figure 1 and Figure 2 In the embodiment shown, the loading platform 5 includes an optional pushing element 10, which is arranged in a higher side region of the bottom 6 and forms a handover section E. In this way, the transport vehicle 1 can be loaded in a particularly simple manner by pushing the loading aid upwards onto the loading platform 5, or unloaded by pushing the loading aid downwards from the loading platform 5.

[0147] Furthermore, it is advantageous that the bottom 6 of the loading platform 5 forms a sliding surface. In particular, this sliding surface can be formed between the transfer section E and the first stop element 7, and between the second stop element 8 and the third stop element 9. These proposed measures further facilitate loading the transport vehicle 1 by pushing the goods or loading aids upward onto the loading platform 5, or unloading the goods or loading aids downward from the loading platform 5. For example, the sliding surface can have a sliding liner for this purpose.

[0148] exist Figure 1 and Figure 2 In the embodiment shown, the bottom 6 of the transport vehicle 1 includes a floor plate. This makes it particularly suitable for transporting smaller loading aids. Multiple loading aids can also be transported simultaneously.

[0149] However, it is also conceivable that the bottom 6 includes a support profile. This allows for a highly stable and lightweight loading platform 5. Furthermore, liquids that accidentally leak can be drained through the loading platform 5. The support profiles preferably extend parallel to each other between the transfer section and the first stop element in a spaced-apart manner. The support profiles can be designed, for example, in a U-shape or a C-shape.

[0150] In the illustrated embodiment, the bottom 6 is specifically tilted to the side at the aforementioned angle α relative to the longitudinal axis D. Therefore, the loading aid can be operated without changing the travel direction D of the transport vehicle 1 to approach and leave the operating position. Furthermore, the loading aid is less likely to accidentally fall off the loading platform 5 when the transport vehicle 1 accelerates or brakes.

[0151] However, this is not the only conceivable feasible solution for tilting the bottom 6. Conversely, it is also conceivable that the bottom 6 could tilt backward or forward along the longitudinal axis D. In this regard, Figure 3 A side view of one embodiment of the transport vehicle 1 is shown, the transport vehicle and Figure 1 and Figure 2 The transport vehicle shown is almost identical to the one in the image. The only difference is that... Figure 3 The transport vehicle 1 has a bottom 6, which is tilted forward at the tilt angle α along the direction of the longitudinal axis D. Furthermore, Figure 4 This shows a side view of another embodiment of the transport vehicle 1, which is... Figures 1 to 3 The transport vehicle 1 shown is almost identical. The only difference is that... Figure 4 The transport vehicle 1 has a bottom 6, which is tilted rearward along the longitudinal axis D at the tilt angle α. Advantageously, in accordance with Figure 3 and Figure 4 When the transport vehicle 1 turns, the loading aids will not easily fall off the loading platform 5 accidentally.

[0152] Typically, and therefore advantageous in all the illustrated implementation variations, the tilt angle α of the bottom 6 is in the range of 10° to 60°. In particular, the tilt angle α can be in the range of 10° to 20°. A tilt angle α of 12° is particularly advantageous. Thus, the loading aids located on the loading platform 5 can operate in orientations favorable for loading and / or unloading. Furthermore, with such a tilt angle α, the loading aids are less likely to accidentally fall off the loading platform 5 while the transport vehicle 1 is moving.

[0153] Figure 5 , Figure 6 , Figure 7a and Figure 7b An exemplary workstation 11 is now shown. Figure 5 Workstation 11 is shown from an angle above. Figure 6 Showing a side view of workstation 11 (about Figure 5 (viewed from the left), and Figure 7a , Figure 7b Showing according to Figure 6 Details in the side view.

[0154] The workstation 11 includes a task management system 14, a first operating device 15, a first conveying system 16, and a second conveying system 17.

[0155] The task management system 14 is used to record tasks electronically, especially picking tasks. A task may include one task line or multiple task lines. A task line must at least contain the (required) quantity of a type of goods and a description of the goods type. If the task is divided into multiple task lines, different goods may be required.

[0156] The first operating device 15 is used to provide goods 12 at the first operating position G, and in this example, the first conveying system 16, which is composed of a fixed conveying device, connects the transfer area F and the first operating device 15 and is configured to transport goods 12 between the transfer area F and the first operating device 15. In particular, goods 12 can be transported and provided using loading aids 13 of the first conveying system 16, such as... Figure 5 As shown in the diagram. Loading aid 13 corresponds to the so-called source loading aid because it contains cargo 12 to handle the task. Source loading aid 13 can be constructed, for example, as a container (such as...). Figure 5 (as in the case described above), or it can be constructed, for example, as a carton or pallet. However, the goods 12 can also be transported and provided at the first conveyor system 16 without the loading aids 13. Therefore, the goods 12 are transported directly on the first conveyor system 16 and provided on the first operating device 15.

[0157] In the following text, cargo 12 and (source) loading aid 13 of the first conveying system 16 are used as synonyms.

[0158] In transfer area F, goods 12 are unloaded (from outside workstation 11) onto and / or unloaded from the first conveyor system 16 (towards outside workstation 11). The function of transfer area F and the transfer stations (especially lifting devices) arranged in transfer area F will be explained in detail later.

[0159] The second conveying system 17 includes an unmanned transport vehicle 1 for transporting loading aids 18 of the second conveying system 17. The loading aids 18 correspond to so-called target loading aids because they are loaded with cargo 12 to handle tasks.

[0160] Furthermore, the second conveying system 17 includes a first lane 19, a second lane 20, and a third lane 22. The first lane has a first lane section H and a second lane section I. The second lane includes a second operating device 21 for providing a target loading aid 18 along with an unmanned transport vehicle 1 at a second operating position J. The third lane is arranged between the first lane 19 and the second lane 20. The first lane 19 is arranged in the base plane, and the second lane 20 forms or includes a raised platform on which the transport vehicle 1 can temporarily stop at the second operating position J for operating the target loading aid 18. The third lane 22 connects the first lane 19 to the second lane 20, which is arranged at a different height, and is therefore constructed as a ramp or sloping shape.

[0161] The transport vehicle 1 of the second conveying system 17, such as Figure 1 and Figure 2 The structure is as shown in the diagram. This is advantageous when operating the target loading auxiliary tool 18 because the transport vehicle 1 does not need to change its direction of travel C when approaching the second operating position J, stopping at the second operating position J, and leaving the second operating position J. However, the transport vehicle 1 of the second conveying system 17 can also have other structural forms. For example, it can be constructed as shown in the diagram. Figure 3 or Figure 4 Finally, it is also conceivable that the transport vehicle 1 does not have a fixed, tilted loading platform 5 and is constructed, for example, according to existing technology.

[0162] The first conveying system 16 is arranged vertically offset from the first driveway 19 in the conveying section toward the first operating device 15. Similarly, the second driveway 20 is arranged vertically offset from the first driveway 19. A passageway K is constructed below the first conveying system 16 and the second driveway 20, along which the first driveway section H extends, and the passageway has a height a1 that allows transport vehicles 1, each carrying a target loading aid 18, to move without collision. Preferably, the width b1 of the passageway K is measured such that it corresponds at least to the width of one transport vehicle 1 or two transport vehicles 1 traveling side-by-side (see [reference needed]). Figure 7b The aisle width b1 preferably corresponds to the width of a transport vehicle 1 carrying the target loading aid 18. The aisle width b1 of the aisle K can also be determined such that it corresponds to two transport vehicles 1 traveling side by side. The aisle width b1 preferably corresponds to the width of two transport vehicles 1 each carrying the target loading aid 18.

[0163] Optionally, it may be specified that the first conveying system 16 is arranged vertically offset from the first driving lane 19 in the conveying section away from the first operating device 15, and an additional channel L is constructed below the first conveying system 17, along which the second driving lane section I extends. The additional channel has a channel height a2 such that it allows the transport vehicles 1, each carrying the target loading aid 18, to move without collision. The channel width b2 of the channel L can be determined such that it corresponds to the width of at least one transport vehicle 1 or two transport vehicles 1 traveling side by side. Preferably, the channel width b2 corresponds to the width of one transport vehicle 1 carrying the target loading aid 18. The channel width b2 of the channel L can also be determined such that it corresponds to the width of two transport vehicles 1 traveling side by side. Preferably, the channel width b2 corresponds to the width of two transport vehicles 1 each carrying the target loading aid 18.

[0164] Finally, workstation 11 includes control unit 23, which controls the first conveying system 16 and transport vehicle 1 such that, for a task, cargo 12 can be transported via the first conveying system 16 and target loading aid 18 via one of the transport vehicles 1 to the first operating position G and the second operating position J approximately simultaneously, and then the target loading aid 18 can be loaded with cargo 12.

[0165] In particular, the control unit 23 can be configured to operate the following steps: i) transporting the cargo 12 to the first operating device 15 using the first conveying system 16; ii) providing the cargo 12 at the first operating position G; iii) transporting the target loading aid 18 to the second operating device 21 using the transport vehicle 1, wherein the transport vehicle 1 moves from the third lane 22 to the second lane 20 and moves on the second lane 20 to the second operating device 21; iv) providing the target loading aid 18 at the second operating position J; v) loading the target loading aid 18 provided in step iv) using the cargo 12 provided in step ii) according to the task; vi) after step v), transporting the target loading aid 18 loaded with the cargo 12 away from the second operating position J using the transport vehicle 1, wherein the transport vehicle 1 moves from the second operating device 21 on the second lane 20 to the third lane 22.

[0166] The first conveying system 16 includes a first conveying device and a second conveying device. The first conveying device is used to transport goods 12 from the transfer area F to the first operating device 15, and the second conveying device is used to transport goods 12 from the first operating device 15 to the transfer area F. The first conveying system 16 may also include a third conveying device, which includes the first operating device 15 and connects the first conveying device and the second conveying device. Thus, a one-way system for goods can also be realized in the first conveying system.

[0167] In this example, the first conveying system 16 includes a roller conveyor. However, it is also conceivable that the first conveying system 16 may have a belt conveyor or a chain conveyor. Of course, a hybrid structure is also feasible, that is, for example, a combination of roller conveyors, belt conveyors and / or chain conveyors.

[0168] The first operating device 15 for providing goods 12 may have one first operating position G or multiple such operating positions G. In this case, each operating position G is assigned to one type of goods 12 (or different types of goods 12, i.e., goods types).

[0169] Similarly, the second operating device 21 for providing the target loading assistance tool 18 together with the transport vehicle 1 may have one second operating position J or multiple such operating positions J. In this case, each operating position J is assigned to one target loading assistance tool 18. In other words, the second operating device 21 may have multiple docking positions for multiple transport vehicles 1.

[0170] exist Figure 5 , Figure 6 , Figure 7a and Figure 7b In the example shown, the target loading aid 18 is constructed as a cardboard box. In particular, it is conceivable that the target loading aid 18 is constructed as a (carrying) cardboard box. However, it is also conceivable that the target loading aid 18 is constructed as a container or pallet (and the transport vehicle 1 may have only a slightly tilted or even horizontally oriented loading platform 5 at this time).

[0171] According to Figure 5 , Figure 6 , Figure 7a and Figure 7bIn the embodiment shown, workstation 1 includes a work position AP for manually loading the target loading aid 18 with cargo 12. Advantageously, the first operating device 15 and the second operating device 21 are designed to provide the cargo 12 and the target loading aid 18 at an ergonomically designed height for manual loading. As can be seen particularly in the figures, the edge of the front sidewall of the target loading aid 18 is lower than the edge of the rear sidewall of the target loading aid 18. This is achieved through the tilt of the bottom 6 of the loading platform 5 and the posture of the unmanned transport vehicle 1. For manual task handling, workstation 1 includes input and / or output devices 24 connected to control unit 23.

[0172] Output device 24 is designed to receive loading instructions from control unit 23 and output them to warehouse workers (not shown). Warehouse workers operate at workstation AP. For example, the output shows the quantity of goods 12 that the target loading aid 18 should load. If multiple target loading aids 18 are provided simultaneously at multiple second operating positions J, the output may also show the target loading aid 18 that should currently be loaded with goods 12. Output device 24 may include, for example, a touchscreen, a speaker, and similar devices.

[0173] Input device 24 is designed to receive input commands and transmit control signals to control unit 23. Input device 24 includes, for example, a confirmation button, a switch, and similar devices. For example, an input command is triggered by a confirmation button. Warehouse workers can, for example, manipulate the confirmation button to end the loading process. Combined input and / or output device 24 includes the features of both input and output devices.

[0174] In another embodiment, workstation 1 may alternatively or additionally include a loading robot (not shown) at work position AP for automatically loading the target loading aid 18 with the cargo 12. The loading robot may be connected to control unit 23 to receive loading instructions from it. While not necessarily required, it is feasible to provide input and / or output devices 24 when using the loading robot.

[0175] Advantageously, the first travel trajectory 25 extends along the first lane section H and the second travel trajectory 26 extends along the second lane section I (as is the case in the embodiment shown in workstation 11). The first lane section H is configured such that the transport vehicle 1 moves along the first travel trajectory 25. The first travel trajectory 25 can be implemented as a one-way lane, so the transport vehicle 1 thus moves only in one direction (see...). Figure 5(See the directional arrows in the diagram). Similarly, the second lane section I is configured such that the transport vehicle 1 moves along the second travel track 26. The second travel track 26 can also be implemented as a one-way lane, so the transport vehicle 1 moves only in one direction (see [reference]). Figure 5 (Directional arrows in the diagram). Preferably, the transport vehicle 1 moves in opposite directions on the first lane section H and the second lane section I (as is the case in the embodiment shown in workstation 11). The first travel trajectory 25 and the second travel trajectory 26 preferably extend parallel to each other.

[0176] According to a feasible implementation, the first driving trajectory 25 can form a closed loop in the first driving lane segment H. Similarly, the second driving trajectory 26 can form a closed loop in the second driving lane segment I. It is conceivable that the first driving trajectory 25 and the second driving trajectory 26 are parts of the same loop (e.g., Figure 8 and Figure 9 (as shown in the figure); or multiple first driving trajectories 25 constitute (only) a loop extending in the first driving lane section H and / or multiple second driving trajectories 26 constitute (only) an (other) loop extending in the second driving lane section I (not shown in the figure).

[0177] Advantageously, the changeover trajectory 27 extends between the first travel trajectory 25 and the second travel trajectory 26, wherein the transport vehicle 1 can move between the first travel lane section H and the second travel lane section I on the first travel lane 19. In other words, the transport vehicle 1 can switch between the first travel lane section H and the second travel lane section I.

[0178] According to a feasible implementation plan (such as) Figure 5 As illustrated in the diagram, the conversion trajectory 27 may include a first conversion trajectory and a second conversion trajectory, such that the first conversion trajectory, the first trajectory 25, the second conversion trajectory, and the second trajectory 26 form a closed loop. Here, the first conversion trajectory, the first trajectory 25, the second conversion trajectory, and the second trajectory 26 can be implemented as a one-way road. Therefore, the transport vehicle 1 moves only in one direction (see...). Figure 5 (The directional arrow in the middle).

[0179] Advantageously, at the second driving trajectory 26, a approach trajectory 28a branches off and a return trajectory 28b enters the second driving trajectory 26; the approach trajectory 28a extends in the first lane section O of the third driving lane 22; the return trajectory 28b extends in the second lane section P of the third driving lane 22; and in the lane section Q of the second driving lane 20, an operating trajectory 28c extends between the approach trajectory 28a and the return trajectory 28b, wherein the operating trajectory 28c is configured for the second operating device 21, as in the embodiment of the workstation 11 shown in the figure.

[0180] Thus, a one-way lane system can be implemented on the second and third lanes 20 and 22, which is coupled to the second lane section I of the first lane. Therefore, the transport vehicle 1 can move on the second and third lanes 20 and 22 with minimal interference. At this time, the transport vehicle 1 moves in a single direction along the approach trajectory 28a, the operation trajectory 28c, and the return trajectory 28b, wherein the approach trajectory 28a and the return trajectory 28b extend, in particular, parallel to each other.

[0181] Particularly advantageous is that, in the third lane section R of the third lane 22, one or more sorting tracks 30 extend between the approach track 28a and the return track 28b, as is the case in the embodiment of workstation 11 shown in the figure.

[0182] In other words, each sorting track 30 branches off from the return track 28b and enters the approach track 28a. Through the proposed measures, the sorting device of the second conveyor system 17 can be implemented on the third driveway 22. Since the third driveway 22 also serves to bridge the height difference between the first driveway 19 (especially its second driveway section I) and the second driveway 20, this creates a multi-purpose third driveway 22, which forms the basis for, or assists in, the particularly compact structure of the workstation 11. It should be noted that the sorting tracks 30 can be additionally arranged on the second driveway 20, which also contributes to the compact structure of the workstation 11.

[0183] exist Figure 5 , Figure 6 , Figure 7a and Figure 7b In the workstation 11 shown, in the lane section Q of the second lane 20, one or more optional and advantageous fast tracks 29 extend between the approach track 28a and the return track 28b (see [reference]). Figure 8 Workstation 11 in the middle).

[0184] The fast track 29 is related to the sorting track 30, but is particularly close to the second operating position J. In this sense, the fast track 29 can be understood as being close to or very close to the sorting track 30 at the second operating position J. Therefore, when the target loading aid 18 must be provided quickly at the second operating position J, the transport vehicle 1 can also move along the fast track 29 instead of the sorting track 30.

[0185] One transport vehicle 1 can be parked (stopped) in each of the sorting tracks 30 and the fast track 29. That is, each of the sorting tracks 30 and the fast track 29 has one sorting position or waiting position. However, it is also conceivable that each of the sorting tracks 30 and / or the fast track 29 has multiple sorting positions or waiting positions, and therefore multiple transport vehicles 1 can be parked (stopped) in one sorting track 30 or one fast track 29.

[0186] It is particularly advantageous that the control unit 23 is additionally configured to operate the first conveying system 16 and the transport vehicle 1, such that the target loading aid 18 is sorted by means of the transport vehicle 1 in a sequence determined by the order in which the goods 12 are provided at the first operating device 15, wherein, for a given task, the target loading aid 18 and the goods 12 arrive at the first operating position G and the second operating position J approximately simultaneously. Thus, even if the transport vehicle 1 arrives at the third driveway 22 at an unfavorable time and / or in an unfavorable sequence, efficient loading of the target loading aid 18, or efficient picking, can still be ensured. For example, the target loading aid 18 can be sorted sequentially by means of the transport vehicle 1, whereby one of the transport vehicles 1 turns from the departure track 28b into the sorting track 28c, and another transport vehicle 1 passes by the one that turned into the sorting track 28c. Afterwards, the transport vehicle 1 that turns onto sorting track 28c can move from sorting track 28c to approach track 28a.

[0187] If one of the tasks includes a first task line and a second task line, wherein the first task line and the second task line include goods 12 of different types of goods, it is particularly advantageous that the control unit 23 is configured to: temporarily transport the target loading aid 18 for processing the first task line and the second task line from the second operating device 21 via the return track 28b to the sorting track 30 by means of the transport vehicle 1 after the target loading aid 18 is loaded with goods 12 for the first task line, and temporarily store it in the sorting track 30; and then, when the goods 12 for the second task line are transported to the first operating device 15 by the first conveying system 16, transport the target loading aid 18 from the sorting track 30 to the second operating device 21 via the approach track 28a.

[0188] In this way, even if goods 12 cannot be simultaneously provided at the first operating device 15 (operating position G), highly efficient loading, or in other words, highly efficient picking, can be achieved on the target loading aid 18. Therefore, for example, even if goods 12 are uniformly transported to different source loading aids 13, different types of goods 12 should be loaded into one target loading aid 18, and only one first operating position G, or too few first operating positions G, should be available for simultaneously operating the required types of goods.

[0189] Furthermore, it is advantageous that: multiple tasks include cargo 12 of the same type; each task is equipped with a target loading aid 18; and the control unit 23 is additionally configured to control the loading of the target loading aid 18 assigned to each task with cargo 12 of the same type, wherein the cargo 12 is provided at the first operating device 15 at once, and each target loading aid 18 is provided at the second operating device 21 on each transport vehicle 1.

[0190] In this way, even if multiple target loading aids 18 cannot be provided simultaneously at the second operating device (operating position J) (or if all the required target loading aids 18 that should be loaded with goods 12 of the same type of goods cannot be provided simultaneously), particularly efficient loading of the target loading aids 18, or in other words, particularly efficient picking, can be achieved. This can be, for example, in situations where only one second operating position J or too few second operating positions J are available.

[0191] If there is a single second operating position J, each target loading aid 18 can be sequentially provided on each transport vehicle 1 at the second operating device J. However, if there are multiple (especially sufficient) second operating positions J, the target loading aid 18 can also be sequentially provided on each transport vehicle 1 at the second operating device 21.

[0192] As described above, the first conveying system 16 may include a first conveying device, a second conveying device, and a third conveying device.

[0193] Furthermore, it is advantageous that the first conveying system 16 includes multiple temporary storage locations, and the control unit 23 is additionally configured to sequentially provide goods 12 of different types, wherein goods 12 are intermediately stored in the temporary storage locations. The temporary storage locations are functionally similar to the sorting track 30 (or the sorting locations on the sorting track 30) and can be arranged between the first conveyor (from the transfer area F to the first operating device 15) and the second conveyor (from the first operating device 15 to the transfer area F). However, the temporary storage locations may also be allocated only to the first conveyor (when goods 12 are to be temporarily stored during transport to the first operating device 15) or only to the second conveyor (when goods 12 are to be temporarily stored during transport from the first operating device 15). The temporary storage locations can also be used to provide goods 12 in a sorting manner that can be predetermined.

[0194] In this case, it is advantageous that the first conveying system 16 includes a sorting and storage device designed to provide goods 12 in a sequential sorting manner. The sorting and storage device includes a plurality of storage positions arranged along the first conveying device, and / or a plurality of sorting positions arranged along the second conveying device, and a plurality of sorting conveyors connecting the sorting positions and the storage positions.

[0195] It should be noted that the temporary storage location, sorting location, and sorting conveyor of the first conveying system 16 are not shown, but they may be constructed in the same or similar manner as the second conveying system 17 in terms of cargo flow.

[0196] Finally, advantageously, the first driving trajectory 25 extending in the first lane section H and the second driving trajectory 26 extending in the second lane section I each have coupling regions M and N, respectively, and can be connected to the coupling regions M and N of another workstation 11 arranged adjacent to workstation 11. In particular, each workstation 11 can be constructed identically. Accordingly, a group of multiple workstations 11 can be formed, the group comprising multiple workstations 11 arranged adjacently according to any of the types described above, wherein the first lane section H and the second lane section I of each workstation 11 are interconnected (see also...). Figure 8 and Figure 9 The group consisting of 11 workstations can be expanded almost arbitrarily.

[0197] Figure 8A schematic top view of a first embodiment of an exemplary picking system 31 for picking goods 12 is now shown. The picking system 31 includes a storage area 32 and a picking area for processing tasks, wherein storage locations for providing goods 12 are arranged in the storage area, and wherein a plurality (here, three) of the above-described type of workstations are arranged in the picking area. These three workstations 11 are interconnected at their coupling areas M and N and form a workstation group. Furthermore, a first travel track 25 and a second travel track 26 are part of a closed loop for transporting the vehicle 1, which extends over the entire group of workstations 11. It is also conceivable that the plurality of first travel tracks 25 and the plurality of second travel tracks 26 are part of a plurality of independent closed loops or travel tracks. In particular, the plurality of first travel tracks 25 and the plurality of second travel tracks 26 may extend parallel to each other. It is also conceivable that the first travel tracks 25 and the second travel tracks 26 between two workstations 11 are connected, thereby alternatively or additionally forming a smaller loop. Such a connection structure may also be provided at other locations between two workstations 11. It is also conceivable to establish connections between the first travel trajectory 25 and the second travel trajectory 26 among all workstations 11, thereby creating multiple loops of different sizes that can be selectively used by the transport vehicle 1. It is noted here that the size of the group of workstations 11 is only exemplarily chosen, and the group of workstations 11 can also be (significantly) larger. However, the picking system 31 may also include only one workstation 11.

[0198] In this implementation variant, the picking system 31 further includes an optional third conveying system 34, which connects the storage area 32 and the transfer area F, and includes an unmanned transport vehicle 35 for transporting goods 12 between the storage area 32 and the transfer area F (especially using the loading aids of the third conveying system 34).

[0199] The driverless transport vehicle 1 of the second transport system 17 and the driverless transport vehicle 35 of the third transport system 34 can be constructed to be structurally identical.

[0200] However, the driverless transport vehicle 1 of the second transport system 17 and the driverless transport vehicle 35 of the third transport system 34 can also be constructed to be structurally different. This allows transport vehicles 1 and 34 to be optimized for their respective purposes. For example, it is advantageous for the driverless transport vehicle 35 of the third transport system 34 to possess the ability to move forward vertically (i.e., climb) (see [reference needed]). Figure 10 and Figure 11This capability may be unnecessary for the driverless transport vehicle 1 of the second transport system 17. It is also conceivable that the driverless transport vehicle 34 of the third transport system 35 (at least in some cases) travels on tracks, while the transport vehicle 1 of the second transport system 17 travels only on the (flat) first, second, and third lanes.

[0201] In particular, the driverless transport vehicle 1 of the second transport system 17 and the driverless transport vehicle 35 of the third transport system 34 can be constructed similarly and share at least some of the aforementioned technical features. For example, the driverless transport vehicle 35 of the third transport system 34 can refer to Figure 1 and Figure 2 The transport vehicle 1 shown in the figure accordingly includes: - a support frame; - a running mechanism supported on the support frame, the running mechanism including multiple wheels and configured for driving and, if necessary, steering of the unmanned transport vehicle 35; - a controller configured to receive driving commands and operate the unmanned transport vehicle 35; and - a loading platform supported on the support frame, (and...) Figure 1 and Figure 2 (Different from the transport vehicle 1 shown in the figure), the loading platform includes a horizontally oriented bottom, which is fixedly fastened to the load-bearing frame, or the bottom is arranged on a lifting device.

[0202] exist Figure 8 In the picking system 31 shown, the first driveway 19 additionally includes an optional third driveway section S, which is arranged between the storage area 32 and the transfer area F, wherein driverless transport vehicles 35 of the third conveying system 34 move within the third driveway section S. Furthermore, it is conceivable that the transport vehicles 35 approach storage locations within the storage area 32 to receive or unload goods 12.

[0203] exist Figure 8 In the implementation variant of the picking system 31 shown, each workstation 11 has a transfer station 36 in the transfer area F, the transfer station including a first transfer position 37 and a first transfer device 38 assigned to the first transfer position 37, and a second transfer position 39 and a transfer device 40 assigned to the second transfer position 39.

[0204] The first transfer station 37 is configured to receive cargo 12 (especially with active loading aid 13), and the first transfer device 38 is configured to unload cargo 12 (especially with active loading aid 13) from the first transfer station 37 to the first conveying system 16. That is, cargo 12 (with or without active loading aid 13) can be transferred from transport vehicle 35 to the first transfer station 37 and unloaded from the first transfer station 37 to the first conveying system 16 via the first transfer device 38. Cargo 12 can be transferred from transport vehicle 35 to the first transfer station 37 via a transfer device not shown, such as a conveying device included in transport vehicle 35. The first transfer device 38 may include a conveying device.

[0205] The second transfer station 39 is configured to receive cargo 12 (especially with active loading aids 13), and the second transfer device 40 is configured to unload cargo 12 (especially with active loading aids 13) from the first conveying system 16 to the second transfer station 39. That is, cargo 12 (with or without active loading aids 13) can be transferred to the second transfer station 39 and unloaded from the second transfer station 40 to the transport vehicle 35 via the second transfer device 40. Cargo 12 can be transferred from the first conveying system 16 to the second transfer station 40 via a transfer device (not shown), such as the conveying device included in the first conveying system 16. The second transfer device 40 may include a conveying device. For the above purposes, the transfer station 36 may include an optional lifting device 42 provided to the first conveying system 16, such as... Figure 8 The situation in China and Figure 5 As schematically illustrated. Specifically, the lifting device 42 includes a first lifting unit with a first transfer position 37 for lifting the goods 12 and a second lifting unit with a second transfer position 39 for lowering the goods 12. The first transfer position 37 may be arranged, in particular, on the lifting platform of the first lifting unit, and the second transfer position 39 may be arranged, in particular, on the lifting platform of the second lifting unit. However, in principle, other configurations of the lifting device 42 are also conceivable. For example, the lifting device may have other numbers of lifting units and / or may not be implemented as an elevator but, for example, as a circulating hoist.

[0206] at last, Figure 8 The picking system 31 shown includes an optional transfer station 43 for automatically transferring the target loading aid 18 between the loading platform 5 and the receiving position 44 of the driverless transport vehicle 1. The transfer station 43 is located on the first driveway 19 between the first travel track 25 and the second travel track 26, for example, along the transition travel track 27, but may also be located at other locations. The function of the transfer station 43 will be explained in detail later.

[0207] Figure 9A schematic top view of a second embodiment of the exemplary picking system 31 is now shown, the picking system being compared with... Figure 8 The picking system 31 is constructed very similarly, but differs in terms of the transfer area F or the transfer station 36.

[0208] Figure 9 Each workstation 11 in the system includes a transfer station 36 comprising a first transfer position 37 and a transfer device 41 configured for transport vehicles 35. The first transfer position is configured to receive transport vehicles 35 carrying goods 12 from the third conveying system 34, and the transfer device is configured to unload the goods 12 from the transport vehicles 35 to the first conveying system 16. That is, the transport vehicles 35 can be parked at the first transfer position 37, and the goods 12 can be unloaded from the transport vehicles 35 to the first conveying system 16 using the transfer device 41.

[0209] Furthermore, the transfer station 36 includes a second transfer position 39 and a transfer device 41 configured for transport vehicles 35. The second transfer position is configured to receive transport vehicles 35 (without cargo 12) from the third conveying system 34, and the transfer device is configured to unload cargo 12 from the first conveying system 16 onto the transport vehicles 35. That is, the transport vehicles 35 can be parked at the second transfer position 39 and receive cargo 12 from the first conveying system 16 using the transfer device 41.

[0210] As can be seen in the figure, the lifting device 42 is arranged between the first conveyor for transporting goods 12 from the transfer area F to the first operating device 15 and the second conveyor for transporting goods 12 from the first operating device 15 to the transfer area F. This is particularly space-saving.

[0211] For the purposes described above, the transfer station 36 may include an optional lifting device 42 configured for the first conveying system 16, such as... Figure 9 As shown in the example. Specifically, in the given case, the lifting device 42 includes three lifting units. The first lifting unit includes a first transfer position 37, the second lifting unit includes a second transfer position 39, and the third lifting unit includes either a first transfer position or a second transfer position 39, 39. The first transfer position 37 is arranged, in particular, on the lifting platform of the lifting unit, and the second transfer position 39 is arranged, in particular, on the lifting platform of the lifting unit. Obviously, the lifting device may also include more than three lifting units. In principle, other configurations of the lifting device 42 are also conceivable. For example, the lifting device may have other numbers of lifting units and / or may not be implemented as an elevator but, for example, as a circulating hoist. With the lifting device 42 provided, when the transport vehicle 1 has moved to the height level of the first conveying system 1, the goods 12 (with or without the active loading auxiliary tool 13) can be transferred between the first conveying system 16 and the transport vehicle 1.

[0212] It is advantageous that each transport vehicle 35 has a transfer device 41.

[0213] Figure 10 A side view of a third embodiment of an exemplary picking system 31 is shown, in which a transport vehicle 34 of a third conveying system 35 can directly retrieve or store goods 12 (with or without active loading aids 13) from or into storage locations within a storage area 32. Therefore, the transport vehicle 34 can move within the storage area 32, in the third driveway section S, and in the transfer area F. In this embodiment, the transport vehicle 34 can autonomously overcome vertical distances within the storage area 32 by climbing up or down the load-bearing structure of the storage area 32. Similarly, the transport vehicle can move horizontally on the various storage planes of the storage area 32, thus reaching the respective storage locations (see [link to relevant documentation]). Figure 10 (The left side of the area). The transport vehicle 34 reaches the transfer area F via the third driving lane section S, and can climb up or down the support structure of the transfer station 36 there. When the transport vehicle 34 is at the upper height position of the support structure, the cargo 12 can be unloaded to or received from the first conveying system 16 via the transfer device 41.

[0214] Instead of the load-bearing structure of transfer station 36, a lifting device 42 (not shown) may be provided, which includes a lifting unit with a lifting platform for lifting and lowering transport vehicle 34. When the lifting platform with transport vehicle 34 is at the upper height position, goods 12 are unloaded from or received by the first conveying system 16 via transfer device 41.

[0215] It is advantageous that each transport vehicle 35 has a transfer device 41.

[0216] Figure 11 A side view of a fourth embodiment of an exemplary picking system 31 is shown, the picking system being compared with... Figure 10 The picking system 31 shown is very similar. The difference is that in this embodiment, the storage area 32 is directly adjacent to the transfer area F, thus omitting the third driveway section S. Similarly, the lifting device 42 is omitted because the transport vehicle 35 can directly reach the height level of the first conveyor system 16 via the storage area 32. There, the transport vehicle 35 can unload goods 12 onto or receive goods from the first conveyor system 16 via the transfer device 41 in the manner described above.

[0217] It is advantageous that each transport vehicle 35 has a transfer device 41.

[0218] According to Figure 11 In the implementation variant, the driverless transport vehicle 35 mainly moves between the storage area 32 and the transfer area F, and the storage area 32 and the transfer area F are arranged such that the cargo 12 (with or without active loading aids 13) is directly unloaded from the storage area 32 to the first conveying system 16, or the cargo 12 (with or without active loading aids 13) is directly unloaded from the storage area 32 to the first conveying system 16 and the cargo 12 (with or without active loading aids 13) is directly unloaded from the first conveying system 16 to the storage area 32.

[0219] To clarify, with Figure 1 The reference numerals used in the accompanying drawings differ, and the load-bearing frame, running gear, controller, and loading platform of transport vehicle 35 are... Figure 11 The accompanying drawings are marked with reference numerals 2'..5' for clear distinction. Transport vehicle 35 can be compared with... Figure 1 The transport vehicles 1 in the middle are constructed differently.

[0220] Figure 12 A side view of a fifth embodiment of an exemplary picking system 31 is shown, the picking system being... Figure 11 The picking system 31 shown is very similar. However, in this implementation variant, the driverless transport vehicle 35 only moves within the storage area 32, where it can unload goods 12 onto or receive goods from the transfer points in the storage area 32. Goods 12 can be transported from these transfer points to the height level of the first conveyor system 16 via lifting devices 42 and unloaded onto or received at transfer points 37, 39. From there, goods 12 are unloaded onto or received from the first conveyor system 16 via transfer devices 38, 39. It is also feasible in principle that transfer devices 38, 39 can directly receive goods 12 from or unload goods onto the lifting device 42, and thus can be directly transferred from and to the first conveyor system 16. In this case, transfer points 37, 39 can be omitted.

[0221] Figure 12 The storage area 32 shown is described in more detail, for example, in EP3286111B1 or WO2013 / 090970A2.

[0222] Figure 13 A perspective view of an exemplary embodiment of a transfer station 43 is now shown, which is used for automatically transferring a loading aid 18 between the loading platform 5 of the unmanned transport vehicle 1 and the receiving position 44 (see also, supplementarily, the transfer station 43). Figure 15a (A side view of the handover station 43 shown in the image). The handover station 43 includes an unmanned transport vehicle 1 of the type described above (see also...). Figures 1 to 4The system includes a parking space 46 for an unmanned transport vehicle 1 and a transfer device 47, the transfer device having a pusher 50 movable relative to a receiving position 44 and along a guide 49 via a drive device 48. The transport vehicle 1 can be positioned at the parking space 46 such that the loading platform 5 of the unmanned transport vehicle 1 is aligned with the receiving position 44. If this condition is met, the pusher 50 can push a loading aid 18 from the loading platform 5 of the unmanned transport vehicle 1 onto or from the receiving position 44 onto the loading platform 5 of the unmanned transport vehicle 1, or at least assist in this process (see also...). Figures 15a to 16d Advantageously, guide 49 forms a guide plane inclined at an angle β relative to the horizontal plane, the guide plane extending substantially parallel to the bottom 6 of the loading platform 5, as shown below. Figure 13 As shown in the example (see also for tilt angle β) Figure 15a ).

[0223] exist Figure 13 In the embodiment shown, the drive unit 48 includes a slider 51 and a traction transmission unit 52, wherein the slider 51 is coupled to the traction transmission unit 52 and supported at the guide member 49 via a guide wheel 53, and wherein the pusher member 50 is supported at the slider 51. Thus, the translational movement of the slider 51 can be achieved by simple technical means. The traction transmission unit 52 includes a drive wheel, a steering wheel, and a traction member guiding the drive wheel and the steering wheel. The drive wheel is connected to a drive motor. The traction member is preferably a toothed belt.

[0224] like Figure 13 As shown, the transfer device 47 may additionally include a stop element 58, wherein, preferably, a two-piece stop element 58 is provided at the first end position of the adjustment stroke of the slider 51, and preferably, another two-piece stop element 58 is provided at the second end position of the adjustment stroke of the slider 51. The stop element 58 may include a shock-absorbing element (e.g., made of rubber).

[0225] Furthermore, it is advantageous that the transfer station 43 additionally includes a conveying system 45 for moving the loading aids 18 from the receiving position 44 and / or moving the loading aids 18 to the receiving position 44, as in the embodiment shown. In this way, the loading aids 18 received by the transport vehicle 1 can be moved out of the transfer station 43 in a simple manner, and / or the loading aids 18 to be received by the transport vehicle 1 can be moved into the transfer station 43.

[0226] Figure 13The embodiment of the handover station 43 shown additionally includes an optional passageway T, which forms an entry area U, an exit area V, and a travel path 55 extending between the entry area U and the exit area V. Parking spaces 46 are arranged along the travel path 55. Thus, the driverless transport vehicle 1 can enter the handover station 43 in the entry area U, park at the parking space 46, and exit the handover station 43 in the exit area V. The driverless transport vehicle 1 extends laterally (especially perpendicularly) to the direction of movement of the pusher 50 or the loading aid 18 along the travel path 55.

[0227] In this case, it is particularly advantageous to use a transport vehicle 1 in which the bottom 6 is inclined laterally relative to the longitudinal axis D extending between the front side A and the rear side B of the vehicle, as in Figure 1 and Figure 2 As shown in the embodiment of transport vehicle 1 (see also...) Figures 15a to 16d Therefore, the loading assistance tool 18 can be operated without changing the direction of travel of the transport vehicle 1 in order to approach or leave the provided location at parking space 46.

[0228] A variant of the shown handover station 43 additionally includes an optional positioning system 54 for positioning the unmanned transport vehicle 1 relative to the parking space 46. Specifically, the positioning system 54 includes positioning elements 56 arranged symmetrically (and fixedly in position) on both sides of the travel path 55 and relative to a vertical plane extending along the travel path 55. Each positioning element 56 includes a stop profile 57. The stop profiles 57 are configured with stop surfaces W on their sidewalls facing each other, which can cooperate with the load-bearing frame 2 of the unmanned transport vehicle 1, especially when the unmanned transport vehicle 1 is provided at the parking space 46 and the loading assistance tool 18 is pushed from the loading platform 5 of the unmanned transport vehicle 1 onto the receiving position 44 and / or the loading assistance tool 18 is pushed from the receiving position 44 onto the loading platform 5 of the unmanned transport vehicle 1.

[0229] The proposed measures facilitate or enforce the (lateral) positioning of transport vehicle 1. For example, it is conceivable that positioning elements 56 (similar to guide rails) are used for lateral guidance of transport vehicle 1 during entry and exit. Thus, transport vehicle 1 can be precisely centered between positioning elements 56 at parking space 46. While this is not usually necessary for computer-controlled transport vehicle 1, it facilitates or enforces alignment in case of misalignment of transport vehicle 1.

[0230] The proposed measures, on the other hand, can prevent or at least limit the (lateral) tipping of transport vehicle 1. Transport vehicle 1 may tilt and tip over during loading and / or unloading, for example, when heavy loading aids 18 move on loading platform 5 and / or when transport vehicle 1 is narrow and tall. In this case, the load-bearing frame 2 of transport vehicle 1 will abut against one or two positioning elements 56, thereby preventing further movement.

[0231] Figure 14 An oblique view of another exemplary embodiment of the transfer station 43' is shown, which is used to automatically transfer the loading aid 18 between the loading platform 5 of the driverless transport vehicle 1 and the receiving position 44.

[0232] The transfer station 43' further includes a parking space 46 for the driverless transport vehicle 1 and a conveying system 45 for transporting the loading assistance tool 18 (not shown) to the receiving position 44. Specifically, the transfer station 43' also includes a system designed for... Figure 13 The described type of positioning system 54. In this embodiment, the unmanned transport vehicle 1 (especially according to...) is transported via the conveying system 45. Figures 1 to 4 The driverless transport vehicle 1) is equipped with loading assistance tools 18.

[0233] In addition, Figures 15a to 15d The loading aid 18 (loaded with cargo 12) is now shown being transferred from transport vehicle 1 to receiving position 44 (unloading process). In order to transfer the loading aid 18, transport vehicle 1 is positioned at parking position 46 such that its loading platform 5 is aligned with receiving position 44.

[0234] exist Figure 15a In the middle, the pusher 50 is in its initial position and has not yet contacted the loading aid 18. Figure 15b The following state is shown, in which the pusher 50 has pushed the loading aid 18 to the left, causing it to tip from the loading platform 5 onto the receiving position 44. Figure 15c In the middle, the loading auxiliary tool 18 is fully in the receiving position 44; and in Figure 15d In the middle, the loading auxiliary tool 18 has been removed from the receiving position 44 by the conveying system 45.

[0235] In addition, Figures 16a to 16d The process of transferring the (unloaded) loading aid 18 from receiving position 44 to transport vehicle 1 is shown (loading process). To facilitate the transfer of the loading aid 18, transport vehicle 1 is also positioned at parking position 46, aligning its loading platform 5 with receiving position 44.

[0236] exist Figures 16a to 16dIn the case shown, the pusher 50 is always in its initial position or in a position at the lower edge of the loading platform 5 of the transport vehicle 1. Figure 16a In the process, the loading auxiliary tool 18 is transported by the conveying system 45 toward the receiving position 44 and... Figure 16b The loading auxiliary tool 18 is transported by the conveying system 45 to the loading platform 5 of the transport vehicle 1 via the receiving position 44, as... Figure 16c As shown in the diagram. Docking at acceptor 44 is not required, but it is feasible. Figure 16d In the illustrated state, the loading aid 18 has been transported to the right, causing it to tip from the receiving position 44 onto the loading platform 5 and slide to the first stop element 7, where it is blocked. Alternatively or additionally, the loading aid 18 may be blocked or secured by the pusher 50 as it slides on the loading platform 5, preventing it from tipping downwards from the loading platform 5. It is also conceivable that the loading aid 18 slides to the stop element 7 in a controlled manner by the pusher 50, wherein the pusher 50 moves to the right. Finally, it is also conceivable that the loading aid 18 is pushed from the receiving position 44 onto the loading platform 5 by means of the pusher 50. For this, there is no need to drive the conveyor system 45.

[0237] The transfer stations 43 and 43' have been explained in conjunction with the transport vehicle 1 of the second transport system 17, but in principle it is also conceivable to use it in conjunction with the transport vehicle 35 of the third transport system 34 in the same way.

[0238] Advantageous implementations of the picking system for picking goods 12 may now include: - a storage area 32, in which storage locations for providing goods 12 are arranged; - a picking area, in which workstations 11 are arranged for loading goods 12 onto target loading aids 18; - a first conveyor system 16 for transporting goods 12, wherein transporting goods 12 via the first conveyor system 16 includes a first operating device 15 for transporting goods 12 from transfer area F to workstation 11; - a second conveyor system 17 for transporting target loading aids 18, the second conveyor system including an unmanned transport vehicle 1, wherein transporting target loading aids 18 via the unmanned transport vehicle 1 includes transporting (empty) target loading aids 18 from transfer station 4. 3. A second operating device 21 for transporting the target loading auxiliary tool 18 (especially any of the above types of transfer stations 43, 43') to the work station 11, and including transporting the (fully loaded) target loading auxiliary tool 18 from the work station 11 to the transfer station 43' (especially any of the above types of transfer stations 43); - transfer stations 43, 43' for transferring the (empty) target loading auxiliary tool 18 from the receiving position 44 of the transfer stations 43, 43' to the loading platform 5 of the unmanned transport vehicle 1; - transfer station 43 for transferring the (fully loaded) target loading auxiliary tool 18 from the loading platform 5 of the unmanned transport vehicle 1 to the receiving position 44 of the transfer station 43; wherein at least one of the transfer stations is composed of a transfer station 43 of any of the above types.

[0239] Workstation 11 can also be constructed in a manner that conforms to any of the types described above.

[0240] Finally, it should be noted that the scope of protection is determined by the claims. However, the description and drawings may be considered for interpreting the claims. Individual features or combinations of features in the different embodiments shown and described may constitute independent inventive solutions on their own. The task upon which independent inventive solutions are based can be obtained from the description.

[0241] It should also be noted that the illustrated device may, in practice, include more or fewer components than the illustrated device. In some cases, the illustrated device or its components may not be shown to scale and / or enlarged and / or reduced.

[0242] List of reference numerals

[0243] 1. Driverless transport vehicles (second conveyor system)

[0244] 2,2' Load-bearing frame

[0245] 3,3' Running gear (with visible wheels)

[0246] 4,4' controller

[0247] 5.5' Loading Platform

[0248] 6. Bottom

[0249] 7 First stop element

[0250] 8 Second stop element

[0251] 9 Third stop element

[0252] 10. Pushing element

[0253] 11 workstations

[0254] 12 Goods

[0255] 13 (First Conveyor System) Loading Auxiliary Tools / Source Loading Auxiliary Tools

[0256] 14 Task Management System

[0257] 15 First operating device

[0258] 16 First Conveying System

[0259] 17 Second Conveying System

[0260] 18 (Second Conveyor System) Loading Auxiliary Tool / Target Loading Auxiliary Tool

[0261] 19 First Driving Lane

[0262] 20 Second Driving Lane

[0263] 21 Second operating device

[0264] 22 Third driving lane

[0265] 23 Control Unit

[0266] 24 Input and / or output devices

[0267] 25. First driving trajectory of the first driving lane section

[0268] 26 Second driving trajectory of the second driving lane section

[0269] 27. Change driving trajectory

[0270] 28a Approach trajectory

[0271] 28b Return to Track

[0272] 28c operating trajectory

[0273] 29 Fast Track

[0274] 30 sorting tracks

[0275] 31 Picking System

[0276] 32 Warehouse Area

[0277] 34 Third Conveying System

[0278] 35. Transport vehicles of the third conveyor system

[0279] 36 Transfer Station

[0280] 37 First transfer station

[0281] 38 First Transfer Device

[0282] 39 Second transfer station

[0283] 40 Second Transfer Device

[0284] 41 Transfer device provided for transport vehicles

[0285] 42 Lifting device

[0286] 43,43' Handover Station

[0287] 44 Acceptance Position

[0288] 45 Conveying System

[0289] 46 parking spaces

[0290] 47 Transfer device

[0291] 48 Drive unit

[0292] 49. Guide

[0293] 50 push components

[0294] 51 sliders

[0295] 52 Traction drive unit

[0296] 53. Guide wheel

[0297] 54 Positioning System

[0298] 55 Driving route

[0299] 56 Positioning elements

[0300] 57 Stop profile

[0301] 58 Stopping element

[0302] α is the tilt angle of the loading platform of the transport vehicle.

[0303] β Inclination angle of the transfer device guide

[0304] a1 First lane section lane height

[0305] a2 Second Lane Section Lane Height

[0306] b1 First lane section lane width

[0307] b2 Second lane section lane width

[0308] A. Front side of the vehicle

[0309] AP workstation

[0310] Rear side of vehicle B

[0311] C. Driving direction

[0312] D Longitudinal axis

[0313] E Transfer Section

[0314] F Transit Area

[0315] G First operating position

[0316] H First lane section of the first driving lane

[0317] Section 1 of the second lane of the first driving lane

[0318] J Second operating position

[0319] K Channel

[0320] L Additional Channel

[0321] M First lane section coupling area

[0322] N Second Lane Section Coupling Area

[0323] O First driving section of the third driving lane

[0324] P Third lane, second driving section

[0325] Q. The driving section of the second driving lane.

[0326] R Third driving section of the third driving lane

[0327] S Section of the third lane of the first driving lane

[0328] T handover station passage

[0329] U Entering the Area

[0330] V drove out of the area

[0331] W stop surface

Claims

1. An unmanned transport vehicle (1), particularly for transporting loading assistance tools (18), said unmanned transport vehicle comprising: - Support frame (2) - A driving mechanism (3) supported on the load-bearing frame (2), the driving mechanism comprising multiple wheels and configured for the driving and steering of the driverless transport vehicle (1), - Controller (4), the controller is configured to receive driving instructions and control the driverless transport vehicle (1), and - Loading platform (5) supported at the bearing frame (2). Its features are, - The loading platform (5) includes a bottom (6) which is fixedly fastened to the bearing frame (2) and tilted at an angle (α) relative to the horizontal plane.

2. The driverless transport vehicle (1) according to claim 1, characterized in that, The load-bearing frame (2) includes a front side (A) and a rear side (B) of the vehicle, and the bottom (6) is tilted to the side at the tilt angle (α) relative to the longitudinal axis (D) extending between the front side (A) and the rear side (B) of the vehicle.

3. The driverless transport vehicle (1) according to claim 1, characterized in that, The load-bearing frame (2) includes a front side (A) and a rear side (B) of the vehicle, and the bottom (6) is tilted backward or forward at the tilt angle (α) along the direction of the longitudinal axis (D) extending between the front side (A) and the rear side (B) of the vehicle.

4. The driverless transport vehicle (1) according to any one of claims 1 to 3, characterized in that, The tilt angle (α) of the bottom (6) is in the range of 10° to 60°.

5. The driverless transport vehicle (1) according to any one of claims 1 to 4, characterized in that, The loading platform (5) additionally includes: A first stop element (7) is arranged in the lower side region of the bottom (6) and protrudes relative to the bottom (6); and The handover section (E) is located in the higher side region of the bottom (6).

6. The driverless transport vehicle (1) according to claim 5, characterized in that, The loading platform (5) additionally includes: A second stop element (8) is disposed in a side region of the bottom (6) extending between a lower side region and a higher side region of the bottom (6) and protruding relative to the bottom (6); and A third stop element (9) is arranged in a side region extending between a lower side region of the bottom (6) and a higher side region of the bottom (6) and protrudes relative to the bottom (6).

7. The driverless transport vehicle (1) according to claim 5 or 6, characterized in that, The loading platform (5) additionally includes a pushing element (10) arranged in a higher side region of the bottom (6) and forming the handover section (E).

8. The driverless transport vehicle (1) according to any one of claims 1 to 7, characterized in that, The bottom (6) includes a base plate.

9. The driverless transport vehicle (1) according to any one of claims 1 to 7, characterized in that, The bottom (6) includes a support profile.

10. The driverless transport vehicle (1) according to any one of claims 1 to 9, characterized in that, The bottom (6) forms a sliding surface.

11. The driverless transport vehicle (1) according to claim 10, characterized in that, The sliding surface is formed between the transfer section (E) and the first stop element (7), and if necessary, between the second stop element (8) and the third stop element (9).

12. A workstation (11) for loading goods (12) onto a loading aid (18) according to a task, particularly a picking task, the workstation comprising: - A task management system for electronically recording tasks (14). - A first operating device (15) for providing goods (12) at the first operating position (G). - A first conveying system (16) connects the transfer area (F) and the first operating device (15), and the first conveying system is configured to transport goods (12) between the transfer area (F) and the first operating device (15). - Second transport system (17), the second transport system includes an unmanned transport vehicle (1) for transporting loading aids (18). - First driving lane (19), the first driving lane includes first driving lane section (H) and second driving lane section (I). - Second driving lane (20), the second driving lane includes a second operating device (21) for providing loading assistance tool (18) together with unmanned transport vehicle (1) at a second operating position (J). - A third driving lane (22), which is arranged between the first driving lane (19) and the second driving lane (20), The first conveying system (16) is arranged vertically offset from the first driving lane (19) in the conveying section toward the first operating device (15) and the second driving lane (20), respectively. A channel (K) is constructed below the first conveying system (16) and the second driving lane (20). The first driving lane section (H) extends along the channel, and the channel has a channel height (a1) that allows transport vehicles (1) carrying loading aids (18) to move without collision. - Control unit (23) controls the first conveying system (16) and the transport vehicle (1) such that, for a task, the cargo (12) passes through the first conveying system (16) and the loading aid (18) passes through one of the transport vehicles (1) to the first operating position and the second operating position (G, J) approximately simultaneously, and then the loading aid (18) can be loaded with the cargo (12).

13. The workstation (11) according to claim 12, characterized in that, The first conveying system (16) is arranged vertically offset from the first driving lane (19) in the conveying section away from the first operating device (15), and an additional channel (L) is constructed below the first conveying system (16), along which the second driving lane section (I) extends. The additional channel has a channel height (a2) that enables the transport vehicles (1) carrying loading aids (18) to move without collision.

14. The workstation (11) according to claim 12 or 13, characterized in that, The transport vehicle (1) has a transport vehicle according to any one of claims 1 to 11.

15. The workstation (11) according to any one of claims 12 to 14, characterized in that, The transfer area (F) is configured for: The goods (12) are unloaded onto the first conveying system (16), or The goods (12) are unloaded onto the first conveying system (16) and the goods (12) are unloaded from the first conveying system (16).

16. The workstation (11) according to any one of claims 12 to 15, characterized in that, The first driving trajectory (25) extends along the first driving lane section (H), and the second driving trajectory (26) extends along the second driving lane section (I).

17. The workstation (11) according to claim 16, characterized in that, The conversion trajectory (27) extends between the first trajectory (25) and the second trajectory (26), and the transport vehicle (1) moves between the first lane section (H) and the second lane section (I) on the first lane (19).

18. The workstation (11) according to claim 16 or 17, characterized in that, At the second driving trajectory (26), a approach trajectory (28a) branches out and a return trajectory (28b) merges back into the second driving trajectory (26). The approach trajectory (28a) extends in the first lane section (O) of the third lane (22). The return trajectory (28b) extends in the second lane section (P) of the third lane (22), and In the lane section (Q) of the second lane (20), the operating trajectory (28c) extends between the approach trajectory (28a) and the return trajectory (28b), and the operating trajectory (28c) is provided to the second operating device (21).

19. The workstation (11) according to claim 18, characterized in that, The approach trajectory (28a) extends parallel to the return trajectory (28b), and the transport vehicle (1) moves in a single direction along the approach trajectory (28a), the operation trajectory (28c), and the return trajectory (28b).

20. The workstation (11) according to claim 18 or 19, characterized in that, In the third lane section (R) of the third lane (22), one or more sorting tracks (30) extend between the approach track (28a) and the return track (28b).

21. The workstation (11) according to any one of claims 18 to 20, characterized in that, In the lane section (Q) of the second lane (20), one or more fast tracks (29) extend between the approach track (28a) and the return track (28b).

22. The workstation (11) according to any one of claims 16 to 21, characterized in that: The first driving trajectory (25) extending in the first driving lane section (H) and the second driving trajectory (26) extending in the second driving lane section (I) have coupling regions (M, N), respectively. The coupling regions (M, N) can be connected to other workstations (11) arranged adjacent to the workstation (11), especially those with the same construction.

23. The workstation (11) according to any one of claims 12 to 22, characterized in that, The control unit (23) is additionally configured to operate the first conveying system (16) and the transport vehicle (1) such that the loading aid (18) is sorted by means of the transport vehicle (1) in the order determined according to the order in which the goods (12) are provided at the first operating device (15); and the loading aid (18) and the goods (12) arrive at the first operating position (G) and the second operating position (J) approximately simultaneously for a task.

24. The workstation (11) according to any one of claims 20 to 23, characterized in that, One of the tasks includes a first task line and a second task line, the first task line and the second task line including goods (12) of different types, and the control unit (23) is additionally configured to, The loading aid (18) used to process the first task line and the second task line is transported by the transport vehicle (1) from the second operating device (21) via the return track (28b) to the sorting track (30) after the loading aid (18) is loaded with the goods (12) for the first task line and is temporarily stored in the sorting track (30). Then, when the goods (12) for the second task line are transported by the first conveying system (16) to the first operating device (15), the loading aid (18) is transported from the sorting track (30) via the approach track (28a) to the second operating device (21).

25. The workstation (11) according to any one of claims 12 to 24, characterized in that, Multiple tasks involve goods of the same type (12). Each task is equipped with a loading assistance tool (18), and The control unit (23) is additionally configured to control the loading of cargo (12) of the same type of cargo onto the loading aids (18) assigned to each task. The cargo (12) is provided at the first operating device (15) in one go, and each loading aid (18) is provided at the second operating device (21) on each of the transport vehicles (1).

26. The workstation (11) according to any one of claims 12 to 25, characterized in that, The first conveying system (16) includes multiple temporary storage positions, and the control unit (23) is additionally configured to sequentially provide goods (12) of different types of goods, which are stored in the temporary storage positions.

27. The workstation (11) according to any one of claims 12 to 26, characterized in that, The transport vehicle (1) is constructed according to any one of claims 1 to 11. The loading aid (18) can be placed on the bottom (6) of the loading platform (5) which is inclined at an angle (α) relative to the horizontal plane. The loading aid (18) includes a bottom, a sidewall protruding at the bottom, and a loading opening defined by the sidewall. The controller (4) of the transport vehicle (1) executes a driving command, such that the transport vehicle (1) is provided at the second operating device (21) in such an attitude that the loading aid (18) is oriented relative to the first operating device (15) such that the edge of the front sidewall of the sidewall is lower than the edge of the rear sidewall of the sidewall, so that the loading aid (18) can be loaded with goods (12) in an ergonomic manner via the loading opening.

28. A picking system (31) for picking goods (12), said picking system comprising: - Storage area (32), wherein storage locations for providing goods (12) are arranged in the storage area, and - A picking area for processing tasks, wherein at least one workstation (11) according to any one of claims 12 to 27 is arranged in the picking area.

29. The picking system (31) according to claim 28, characterized in that, The picking system (31) also includes - A third conveying system (34) connects the storage area (32) and the transfer area (F), and the third conveying system includes driverless transport vehicles (35) for transporting goods (12) between the storage area (32) and the transfer area (F).

30. The picking system (31) according to claim 29, characterized in that, The first driving lane (19) additionally includes a third driving lane section (S), which is arranged between the storage area (32) and the transfer area (F), and The driverless transport vehicle (35) of the third transport system (34) moves in the third driving lane section (S).

31. The picking system (31) according to claim 29, characterized in that, The first lane (19) additionally includes a third lane section (S), which is arranged between the storage area (32) and the transfer area (F), and The driverless transport vehicle (35) of the third transport system (34) moves in the third driving lane section (S) and approaches the storage location in the storage area (32).

32. The picking system (31) according to claim 28, characterized in that, The driverless transport vehicle (35) moves only within the storage area (32); The storage area (32) and the transfer area (F) are arranged such that Goods (12) are unloaded directly from the storage area (32) to the first conveying system (16), or Goods (12) are unloaded directly from storage area (32) to the first conveying system (16) and goods (12) are unloaded directly from the first conveying system (16) to storage area (32).

33. The picking system (31) according to any one of claims 28 to 31, characterized in that, The workstation (11) includes a transfer station (36) in the transfer area (F), the transfer station (36) comprising: - A first transfer station (37) and a first transfer device (38) provided to the first transfer station (37), the first transfer station (37) being configured to receive goods (12), and the first transfer device (38) being configured to unload goods (12) from the first transfer station (37) to the first conveying system (16); and / or - A second transfer station (39) and a second transfer device (40) provided to the second transfer station (39), the second transfer station (39) being configured to receive goods (12) and the second transfer device (40) being configured to unload goods (12) from the first conveying system (16) to the second transfer station (39).

34. The picking system (31) according to any one of claims 28 to 31, characterized in that, The workstation (11) includes a transfer station (36) in the transfer area (F), the transfer station (36) comprising: A first transfer station (37) is configured to receive a transport vehicle (35) carrying goods (12) from the third conveying system (34) and a transfer device (41) provided to the transport vehicle (35), the transfer device (41) being configured to unload the goods (12) from the transport vehicle (35) to the first conveying system (16); and / or The second transfer station (39) is configured to receive the transport vehicle (35) of the third transport system (34) and the transfer device (41) provided to the transport vehicle (35), the transfer device (41) being configured to unload the goods (12) from the first transport system (16) to the transport vehicle (35).

35. The picking system (31) according to any one of claims 28 to 34, characterized in that, The transfer station (36) includes a lifting device (42) provided to the first conveying system (16), on which goods (12) or the transport vehicle (35) can be received.

36. The picking system (31) according to any one of claims 28 to 35, characterized in that, The driverless transport vehicle (1) of the second transport system (17) and the driverless transport vehicle (35) of the third transport system (34) are constructed differently.

37. The picking system (31) according to any one of claims 29 to 36, characterized in that, The driverless transport vehicles (35) of the third transport system (34), especially the transport vehicles for transporting goods (12), include: - Support frame (2'); - A driving mechanism (3') supported on the load-bearing frame (2'), the driving mechanism comprising multiple wheels and configured for driving and, if necessary, steering of the driverless transport vehicle (35); - Controller (4'), the controller being configured to receive driving instructions and operate the driverless transport vehicle (35); and - A loading platform (5') supported on the support frame (2'), the loading platform including a horizontally oriented bottom, the bottom being fixedly fastened to the support frame (2') or the bottom being arranged on a lifting device.

38. A transfer station (43, 43') for automatically transferring a loading aid (18) between a loading platform (5) and a receiving position (44) of an unmanned transport vehicle (1), the receiving position being particularly a receiving position at a conveying system (45), the transfer station comprising: - An unmanned transport vehicle (1) according to any one of claims 1 to 11. - A parking space (46) for the unmanned transport vehicle (1), wherein the transport vehicle (1) can be positioned at the parking space such that the loading platform (5) of the unmanned transport vehicle (1) is aligned with the receiving position (44). The transfer device (47) has a pusher (50) that can move relative to the receiving position (44) and along the guide (49) by a drive (48), the pusher being configured to push a loading aid (18) from the loading platform (5) of the unmanned transport vehicle (1) onto the receiving position (44) and / or to push a loading aid (18) from the receiving position (44) onto the loading platform (5) of the unmanned transport vehicle (1).

39. The handover station (43, 43') according to claim 38, characterized in that, The guide (49) forms a guide plane that is inclined at an angle (β) relative to the horizontal plane and extends substantially parallel to the bottom (6) of the loading platform (5).

40. The handover station (43, 43') according to claim 38 or 39, characterized in that, The drive unit (48) includes a slider (51) and a traction drive (52), the slider (51) being coupled to the traction drive (52) and supported at the guide (49) via a guide wheel (53), and the pusher (50) being supported at the slider (51).

41. The transfer station (43, 43') according to any one of claims 38 to 40, characterized in that, The handover station (43, 43') additionally includes a conveying system (45) for moving the loading aid (18) out of the receiving position (44) and / or for moving the loading aid (18) to the receiving position (44).

42. The transfer station (43, 43') according to any one of claims 38 to 41, characterized in that, The handover station (43, 43') additionally includes a positioning system (54) for positioning the driverless transport vehicle (1) relative to the parking space (44).

43. The transfer station (43, 43') according to any one of claims 38 to 42, characterized in that, The handover station (43, 43') additionally includes a passageway (T) configured with an entry area (U), an exit area (V) and a driving path (55) extending between the entry area (U) and the exit area (V), the parking spaces (46) being arranged along the driving path (55) and driverless transport vehicles (1) being able to enter the handover station (43, 43') in the entry area (U) and exit the handover station (43, 43') in the exit area (V).

44. The handover station (43, 43') according to claim 43, characterized in that, The positioning system (54) includes positioning elements (56) arranged symmetrically on both sides of the driving path (55) with respect to a vertical plane extending along the direction of the driving path (55).

45. The handover station (43, 43') according to claim 44, characterized in that, The positioning element (56) includes a stop profile (57) and the stop profile (57) has a stop surface (W) on its sidewalls facing each other, which can work with the load-bearing frame (2) of the unmanned transport vehicle (1) when the unmanned transport vehicle (1) is provided at the parking position (46) and the loading aid (18) is pushed from the loading platform (5) of the unmanned transport vehicle (1) onto the receiving position (44) and / or the loading aid (18) is pushed from the receiving position (44) onto the loading platform (5) of the unmanned transport vehicle (1).

46. ​​A picking system (31) for picking goods (12), said picking system comprising: - Storage area (32), in which storage locations for providing goods (12) are arranged; - Picking area, in which workstations (11) are arranged for loading aids (18) to load goods (12); - A first conveying system (16) for transporting goods (12), wherein transporting goods (12) via the first conveying system (16) includes a first operating device (15) for transporting goods (12) from a transfer area (F) to a workstation (11). - A second conveying system (17) for transporting loading aids (18), the second conveying system comprising an unmanned transport vehicle (1), wherein transporting loading aids (18) by the unmanned transport vehicle (1) comprises a second operating device (21) for transporting loading aids (18) from transfer stations (43, 43'), particularly the transfer stations according to any one of claims 38 to 45, to work stations (11), and comprises transporting loading aids (18) from work stations (11) to transfer stations (43), particularly the transfer stations according to any one of claims 38 to 45, and - Transfer station (43, 43'), the transfer station being used to transfer loading aids (18) from the receiving position (44) of the transfer station (43, 43') to the loading platform (5) of the driverless transport vehicle (1), - Transfer station (43), the transfer station being used to transfer loading aids (18) from the loading platform (5) of the unmanned transport vehicle (1) to the receiving position (44) of the transfer station (43), Wherein, at least one of the transfer stations (43, 43') is constituted by a transfer station (43, 43') according to any one of claims 38 to 45.

47. The picking system (31) according to claim 46, characterized in that, The workstation (11) is the workstation according to any one of claims 12 to 27.

48. A method for loading a loading aid (18) with goods (12) at a workstation (11) according to any one of claims 12 to 27, in accordance with a task, particularly a picking task, wherein, The control unit (23) operates the first conveying system (16) and the transport vehicle (1) so that the goods (12) pass through the first conveying system (16) and the loading auxiliary tool (18) passes through one of the transport vehicles (1) to arrive at the first operating position and the second operating position (G, J) approximately simultaneously for a task. in, The loading aid (18) is placed on the bottom (6) of the loading platform (5) at an angle (α) relative to the horizontal plane. The loading aid (18) includes a bottom, a sidewall protruding at the bottom, and a loading opening defined by the sidewall. The controller (4) of the transport vehicle (1) executes a driving command such that the transport vehicle (1) is provided at the second operating device (21) in such an attitude that the loading aid (18) is oriented relative to the first operating device (15) in the second operating position (J) such that the edge of the front sidewall of the sidewall is lower than the edge of the rear sidewall of the sidewall, so that the loading aid (18) can be loaded with goods (12) in an ergonomic manner through the loading opening.

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