Picking system having a loading / unloading station for pouches coupled to drones

Abstract

The invention relates to a picking system (10) which has: a multiplicity of pouches (30), wherein each of the pouches (30) is designed to be opened in order to receive articles (18) and to be closed in order to transport received articles (18); at least one drone (22), wherein each of the drones (22) is designed to be coupled to one of the pouches (30) and to transport the coupled pouch through the air; and a loading and unloading station (100, 102; 40), which is designed to manually or automatically load one of the articles (18) into and unload it from the coupled pouch (30) according to a picking order, and which has a guide frame (44) on which the corresponding drone (22) is positioned while the coupled pouch (30) is loaded and unloaded at a transfer point (106) defined by the guide frame (44).

Description

[0001] WITTEWELLER.

[0002] Applicant: August 11, 2025

[0003] SSI Schäfer Automation GmbH (DE) 4706P344WO - MW / MW i Park Klingholz 18 / 19 97232 Giebelstadt

[0004] Germany

[0005] Order picking system with loading / unloading station for bags attached to drones

[0006] The present disclosure relates generally to a combination of drones and bags used in intralogistics to fulfill order picking orders. In particular, a corresponding order picking system is disclosed.

[0007] Drones are increasingly being used in intralogistics (i.e., in warehouse and / or production environments). For example, drones scan and check inventory by automatically reading barcodes or RFID tags on stored items while flying freely (inventory and stock management). Drones can transport small to medium-sized items within a warehouse (intra-warehouse transport and delivery) by directly picking them up. Drones can be used to monitor warehouse layouts to detect security breaches or to verify compliance with safety regulations, for example, by checking the integrity of shelving through image capture. They can also monitor areas that are difficult or dangerous for humans to access (surveillance and security checks). Drones can be used to rearrange items on shelves.This is particularly useful in large warehouses with high shelves, where traditional methods can be time-consuming and risky. By using drones, companies can also collect detailed data on inventory levels and movements, which can then be used to optimize warehouse processes and improve efficiency (data analysis and processing). In combination with other robotic systems, drones can take on tasks that require precise coordination (positioning accuracy), such as working alongside autonomous vehicles within the warehouse (collaborative robotics).

[0008] However, drones are not yet widely used in intralogistics for various reasons, particularly for transporting individual items or goods to be picked. Drones have limited payload capacity and are unsuitable for heavy or large objects. Their maximum payload is significantly lower compared to traditional transport methods such as forklifts or conveyor belts, which limits their efficiency when handling larger volumes. Drones have a limited battery life and require regular recharging, which can lead to operational disruptions. Battery replacement is labor-intensive and time-consuming. Operating drones requires considerable energy, especially when carrying heavy loads, which can increase operating costs. Furthermore, the acquisition and maintenance of drones, as well as the implementation of the necessary infrastructure, can be costly.

[0009] The internet article “Cargo drones: A potential gamechanger in the logistics industry” by the management consultancy Roland Berger describes the use of drones for deliveries in the open air, i.e. within a company premises, but outside of buildings, or between adjacent warehouses.

[0010] The online article "How drone delivery will transform the future of logistics industry" by The Cooperative Logistics Network particularly highlights the last mile of delivery in online retail. Amazon, for example, plans to use its drones to make deliveries for less than $1, which could reduce logistics costs by up to 70%. Boeing is planning a transport drone ("The Condor") that can carry loads of up to 180 kg over distances of up to 200 km. The online article "Applications of drones in warehouse operations" (white paper) from ETH Zurich offers a comprehensive analysis of the various applications of drones in intralogistics. It identifies and describes three main areas of application: inventory management, transport, and inspection and monitoring. However, the intralogistics transport sector is subject to significant limitations, such as payload and range.Battery capacity is visible. The transport sector is considered to have the lowest chances of success.

[0011] The positioning accuracy and range of drones pose a problem in intralogistics applications.

[0012] US Patent 9962830B1 shows in Figures 1 and 2 a storage structure for fabric bags in (mobile) racks. This structure includes a conveyor system (cables or rails) running around the racks for transporting the bags. The bags can also be transported by drones. The bags can be handled in a neutral position (see Figure 3A of US Patent 9962830B1), an open position (see Figure 3B of US Patent 9962830B1), and a closed position (see Figure 4 of US Patent 9962830B1). The bag must be open for loading / unloading. The drone cannot open the bag.

[0013] DE 102021 207 911 A1 describes a drone-free unloading station for overhead conveyor bags.

[0014] DE 102021 109 957 A1 describes a rail-based continuous conveyor to which drones can be temporarily coupled for the purpose of drone transport in order to shorten the distances that the drones would otherwise have to fly within an intralogistics system.

[0015] US patent 2023 / 0 159 192 A1 concerns an automated package delivery system using drones and a tower-like drone "hub" with radially outward-projecting, rail-like arms for the mechanical guidance of incoming and outgoing drones. Packages are loaded and unloaded from the drones, which are coupled to the rails, via a central vertical mast of the hub (with an integrated package lift).

[0016] DE 10 2021 100 624 describes a (mechanical and electrical) charging station for a swarm of drones, where drones are individually charged electrically (exchange of batteries) and loaded with a load (firefighting water) one after the other.

[0017] WO 2017 / 190 026 A2 and US 10,453,022 B2 belong to the family of US 2023 / 0 159 192 A1 (UPS package delivery system) and contain identical figures 1-67. These documents show a delivery vehicle with a rail-like rack on the vehicle roof and a drone adapter configured to grasp packages and be docked to the drone. The packages can be implemented as ordinary bags or pouches.

[0018] It is therefore a task of the present revelation to create a system that overcomes the aforementioned disadvantages.

[0019] This task is solved by a picking system comprising: a plurality of bags, each bag configured to open (in particular automatically) for receiving unit loads and to close for transporting the received unit loads; a plurality of drones, each drone configured to be coupled to one of the bags and to transport the coupled bag (in particular freely or without guidance) through the air; and a loading station configured to load the coupled bag with (in particular exactly) one of the unit loads according to a picking order, manually or automatically, and comprising a guide frame on which the drone is positioned while the coupled bag is loaded at a transfer point defined by the guide frame. The unit load is, in particular, a storage item.

[0020] For order picking, bags are used, which is particularly advantageous in e-commerce. Overhead conveyor bags are used that are compatible with conventional bag overhead conveyors and can be interchanged between the drones and the conveyor. If the bag is loaded with only one item, advantages arise with regard to sorting, as described in DE 102011 116 081 A1.

[0021] While the drone is being loaded, it remains in a precisely defined position on the guide frame. This eliminates any movement tolerances. The drone can conserve energy because its propulsion system can be deactivated during loading. Process reliability is increased because the individual items can be reliably loaded into the bag without falling out. In other words, the guide frame ensures a stable position for the drone during loading, improving the precision and safety of the loading process.

[0022] Preferably, the guide frame includes a pocket-opening backdrop designed to open the coupled pocket (particularly automatically) while the corresponding drone is moved along the guide frame. The backdrop can be stationary.

[0023] The mechanism allows the bag to open automatically during movement, increasing the efficiency of the loading process. It also reduces the need for additional mechanical components or manual intervention, thus lowering operating costs.

[0024] In particular, the system further comprises a loading device which is arranged to the guide frame in such a way that the coupled and opened bag can be loaded by the loading device, wherein the loading device is preferably a robot with gripper, a (gravity) slide, and / or a driven conveyor.

[0025] Integrating a robot or conveyor automates the loading process, increasing the speed and efficiency of the order picking system. Different loading devices offer flexibility in handling various items, allowing the system to adapt to diverse requirements.

[0026] Preferably, the system also includes a storage container conveyor technology that can be connected to a storage facility to provide the unit load, which is to be loaded into the coupled bag and is stored in storage containers, at the loading station in accordance with the picking order.

[0027] Efficiency is improved through the seamless integration of warehouse technology into the order picking process. The conveyor technology ensures that the correct item is available at the right time, thus increasing picking accuracy.

[0028] The task is further solved by a picking system comprising: a plurality of bags, each bag being configured (in particular automatically) to open for receiving unit loads and to close for transporting the received unit loads; a plurality of drones, each drone being configured to be coupled to one of the bags and to transport the coupled bag (in particular freely or without guidance) through the air; and an unloading station configured to automatically unload the coupled bag, which is loaded with (in particular exactly) one of the unit loads, in accordance with the picking order, and which has a guide frame on which the drone is positioned while the coupled bag is unloaded at a transfer point defined by the guide frame.

[0029] The advantages mentioned above in connection with the loading station apply analogously to unloading.

[0030] Preferably, the system further comprises a target container conveying system arranged below the guide frame, such that target containers transported on the target container conveying system are filled with the received unit(s) dispensed from the coupled bag by the unit(s) falling into the target containers, and wherein the target container conveying system is connectable to a sorter and / or a goods output.

[0031] Efficiency is increased through automated allocation of individual items to their destination containers. Furthermore, the conveyor system can be integrated with a sorter or outbound system, enhancing its versatility. The drones can deliver items at various points in the material flow process. Preferably, each pocket has a locking mechanism in its lower section, with at least one locking strip, to open and close the respective pocket downwards for item delivery.

[0032] The locking bar mechanism ensures that the bags remain securely closed until the unloading process is initiated. It also enables quick and efficient downward unloading of individual items.

[0033] In particular, the guide frame has a release device arranged to cooperate with the locking bar mechanism, so that an (preferably spring-loaded) opening mechanism of the locking bar mechanism is actuated when the coupled bag is moved to the flip point.

[0034] The triggering device enables precise control of the opening process, which improves the accuracy of the discharge. Furthermore, it reduces the need for manual intervention and increases the efficiency of the discharge process.

[0035] Preferably, the guide frame has a pocket-closing mechanism downstream of the release device, which closes the pocket with the at least one locking strip when the coupled pocket is moved by the pocket-closing mechanism.

[0036] The locking mechanism ensures that the bags close automatically after unloading, increasing safety and efficiency. Furthermore, it allows for a seamless continuation of the material flow without interruption.

[0037] In particular, the guide frame has two parallel rails, preferably arranged horizontally and aligned with the transfer point. The parallel arrangement of the rails ensures stable and smooth movement of the drones along the transfer point. This increases the precision of the drone's positioning during loading and unloading.

[0038] Preferably, the system further comprises a (particularly stationary) bag conveyor, wherein each of the bags is further equipped to be coupled to the bag conveyor, and wherein each of the drones is equipped to exchange the bags with the bag conveyor.

[0039] Efficiency is increased through the seamless exchange of bags between drones and the overhead conveyor. The drones can be used for both transport and transfer, thus increasing the system's flexibility.

[0040] In particular, the guide frame is mounted on a floor or shelf of the system.

[0041] A flexible mounting option allows for optimal use of available space in the warehouse or order picking area. The system can be adapted to different spatial conditions.

[0042] Preferably, the guide frame is further equipped with a power line to electrically charge the drones positioned on the guide frame, particularly while the drones are being moved along the guide frame.

[0043] Charging the drones while in motion is possible, which extends operating time and range, and reduces downtime. Continuous charging during operation reduces energy consumption while simultaneously increasing range.

[0044] In particular, the system also features a control unit designed to coordinate drone movements in such a way as to implement a material flow linked to the picking order. This control unit ensures efficient coordination of drone movements, which improves and, in particular, accelerates the material flow and optimizes the picking process, making it more reliable. Automated coordination minimizes the picking error rate.

[0045] Preferably, the guide frame further comprises a driven (clocked) conveyor to convey the drone positioned on the guide frame to the transfer point.

[0046] The powered conveyor further reduces the need for independent drone movements, thus lowering energy consumption and increasing efficiency. The conveyor ensures precise positioning of the drones at the transfer point, thereby increasing the accuracy of the loading and unloading process.

[0047] In general, the following advantages also arise.

[0048] While a bag attached to the drone is being loaded and unloaded, a process that requires waiting, timed movement, and / or precise positioning, the drone does not need to be remotely controlled. Specifically, the drone does not need to control its own path. This reduces the control effort. Furthermore, the drone can be electrically charged during the transfer process, which further reduces the cycle time or throughput time.

[0049] The drone can save energy because it can be placed on the guide frame while the transfer is being carried out.

[0050] The drone is mechanically guided along the rail, which increases precision and stability during movement. Various logistical functions, such as loading, unloading, and shelf inspection, are enabled, increasing the system's flexibility.

[0051] In particular, a synergistic effect occurs because the drones and an overhead conveyor system are integrated to improve efficiency and reduce the need for additional infrastructure. Preferably, the landing gear and the guide frame interlock positively for coupling while the drone moves along the guide frame. The guide frame can hold or support the drone during this movement.

[0052] The positive-locking coupling ensures a stable and secure connection between the landing gear and the guide frame. It also increases the accuracy of the drone's tracking along the rail and minimizes deviations.

[0053] In particular, the positive locking mechanism is such that the landing gear and the guide frame are vertically locked together.

[0054] A vertical locking mechanism provides additional stability and prevents the drone from unintentionally taking off vertically. Furthermore, the frame increases safety during drone movement, especially during vertical (disruptive) movements.

[0055] Preferably, the landing gear and the guide frame are coupled to each other in such a way and the positive locking is such that the drone can only be moved in the longitudinal direction by the guide frame.

[0056] Limiting movement to the longitudinal direction ensures controlled and predictable drone movements. Control is simplified, and process reliability is increased. In particular, restricting the drone's freedom of movement to a single dimension simplifies drone control.

[0057] Preferably, one or more, in particular free-rotating, guide rollers are provided, preferably vertically, between the landing gear and the guide frame.

[0058] The guide rollers reduce friction and enable smooth movement along the track. They also improve the guidance and accuracy of the drone's movement. In particular, at least one guide roller is a omnidirectional roller.

[0059] Omnidirectional wheels allow movement in multiple directions. The drone can be supported with minimal friction in several directions. Handling and positioning the drone on the track is simplified. Docking can be easier because the drone doesn't need to be precisely maneuvered into the track(s), i.e., flown into them.

[0060] Preferably, opposite guide rollers enclose the at least one rail between them, particularly vertically, with the at least one rail preferably extending horizontally.

[0061] Securely locking the rail between the guide rollers prevents unwanted displacement, especially causing the drone to lift off. This increases the drone's stability while moving along the rail.

[0062] In particular, the at least one rail comprises a first rail and a separate second rail, which extend parallel to each other at a distance in a transverse direction (perpendicular to the longitudinal direction).

[0063] Parallel rails offer additional stability and support for the drone. The drone's weight can be distributed more evenly. The drone can be placed on the rails without crashing, even if its propulsion system is deactivated. A C-shaped cross-section ensures stable guidance of the drone along the rails.

[0064] Preferably, the first and second rails each have a cross-section, in particular a C-shaped one, along the longitudinal direction, with two pairs of guide rollers attached to the landing gear, each pair of rollers being formed from two opposing guide rollers that touch opposite sides of the rail cross-sections while the drone is moved longitudinally along the rail frame. Even more preferably, the two rollers of each roller pair are vertically opposite each other, the C-shaped cross-section being horizontally open at the sides, and the two guide rollers of the roller pairs being rotatably mounted in the roller frame about a horizontal axis of rotation.

[0065] The load carriers are HF pockets, wherein the system may further have an overhead conveyor for the suspended, in particular rail-guided, transport of the overhead conveyor load carriers along, and in particular below, an HF rail, wherein the drone may be equipped for the, preferably infrastructure-free, transport of the HF load carriers and may further be equipped to cooperate with the overhead conveyor by the drone and the overhead conveyor automatically exchanging the HF load carriers with each other, e.g. in a (pocket) transfer station.

[0066] A combination of overhead conveyors and drones increases flexibility in material handling. Furthermore, automated transfer processes between drones and overhead conveyors can be enabled, further increasing efficiency.

[0067] The guide frame is comprised of a station for loading / unloading the load carriers, the station of which may further include a container conveying system and a robot that is arranged in an interface area between the guide frame and the container conveying system.

[0068] Combining drone guidance with container conveying technology at the station increases efficiency. Automated loading and unloading processes are enabled, and manual intervention is reduced. Positioning accuracy is improved. The automation of loading and unloading becomes more reliable, thus increasing process safety.

[0069] Preferably, the output end section is arranged such that the payload carrier can be loaded or unloaded by a person or a robot while (particularly rigidly) coupled to the drone. Both manual and robot-assisted loading and unloading are enabled, increasing the system's flexibility and versatility.

[0070] In particular, the guide frame is equipped with a driven conveyor that moves the drone to the exit section while the drone rests on the guide frame.

[0071] A powered conveyor enables the drone to move automatically, reducing battery power requirements. Furthermore, efficiency can be increased by reducing the drone's self-propelled movement (efficiency gain).

[0072] Preferably, at least one of the rails is provided with a power line extending in the longitudinal direction and configured to electrically charge the drone while the drone is being moved from the entry section to the exit section.

[0073] Continuous charging of the drone during flight is enabled, reducing downtime. Power is supplied continuously, optimizing energy efficiency and increasing the drone's operating time, resulting in overall more efficient use.

[0074] In particular, the power line is a conductor rail, wherein the landing gear may be equipped with a sliding contact-type pickup that is configured to touch the conductor rail while the drone is moved from the entry section to the exit section.

[0075] A conductor rail and a pickup enable efficient power transfer to the drone. Furthermore, continuous charging without interrupting operation can be ensured.

[0076] Preferably, the power cable and the drone are configured for inductive charging. Inductive charging enables wireless power transfer and reduces wear and tear and maintenance. Furthermore, it increases safety by eliminating open contacts and potential short circuits.

[0077] It is understood that the aforementioned features and those to be explained below can be used not only in the combinations specified, but also in other combinations or on their own, without leaving the scope of the present concept.

[0078] Examples of the concept are shown in the drawings and are explained in more detail in the following description. They show:

[0079] Fig. 1 shows a block diagram of a storage and / or order picking system with different types of cooperating conveyors;

[0080] Fig. 2 shows a perspective view of a system according to Fig. 1;

[0081] Fig. 3 shows a perspective view of a guide frame in a system according to Fig. 1;

[0082] Fig. 4 shows a block diagram of a drone;

[0083] Fig. 5 shows a front view (Fig. 5A) and a side view (Fig. 5B) of a guide frame in a loading / unloading station;

[0084] Fig. 6 Top views of the guide frame of Fig. 5;

[0085] Fig. 7 shows a front view of a modified guide frame;

[0086] Fig. 8 shows a front view of a multi-channel guide frame configured as a charging station;

[0087] Fig. 9 a side view of a picking system with a loading station; Fig. 10 a front view (Fig. 10A) and a side view (Fig. 10B) of a drone exchanging its bag with a conventional overhead conveyor;

[0088] Fig. 11 shows a side view of a loading station for bags of a first variant, which are preferably loaded from the front;

[0089] Fig. 12 different views of the bag according to the first variant of Fig. 11;

[0090] Fig. 13 shows a side view of a loading station for bags of a variant that is preferably loaded from the side;

[0091] Fig. 14 shows different views of the pockets according to the second variant of Fig. 13;

[0092] Fig. 15 shows a side view of an unloading station;

[0093] Fig. 16 shows a view of the bag according to Fig. 14 to illustrate an opening mechanism of a closure strip mechanism.

[0094] The claimed invention is illustrated in particular in Figures 3 and 9ff. Figures 9ff show loading stations 100 and unloading stations 102, which are specific embodiments of a more general transfer station 104. The transfer station 104 corresponds to station 40 in Figure 1, which is equipped for loading and unloading load carriers 32, which are realized as pockets 30 in Figures 9ff, the specific embodiments of which will be described in more detail with reference to Figures 12 and 14.

[0095] The term "handling" is the overarching term encompassing "loading" and "unloading." The term "handling" is frequently used in logistics and refers to the loading and unloading of goods, particularly at transshipment points such as ports, railway stations, or freight terminals. This is the sense in which the term is used in the present disclosure. The description of Figures 1 to 8 serves to provide a broader understanding of the claimed invention. Figure 1 shows a block diagram of an intralogistics storage and / or order picking system 10, which will hereinafter also be referred to simply as System 10. System 10 is designed for planning and executing an internal material flow, particularly for order picking.

[0096] System 10 can comprise a warehouse 12 and a conveyor system 14. The warehouse 12 can comprise one or more racks 16 where unit loads or items 18 are stored, e.g., in storage containers 20. The conveyor system 14 comprises one or more drones 22, which will hereinafter also be referred to simply as drones 22 and which will be explained in more detail with reference to Fig. 2. The drones 22 are discontinuous conveyors 23. The conveyor system 14 can also comprise continuous conveyors 24, such as an overhead conveyor 26. The overhead conveyor 26 can be implemented as a pocket conveyor 28, where pockets 30 can be used as (overhead conveyor) load carriers 32.

[0097] A load carrier 32 (pallet, container, carton, box, bag 30, etc.) is understood below to be an aid used to transport, store, and handle items 18 (goods, articles, products, etc.). The load carriers 32 ensure that the items 18 can be moved safely and efficiently without direct contact and contribute to the optimization of logistical processes. The items 18 are stored and / or picked. In intralogistics, picking refers to the process of assembling items 18 from storage 12 according to a customer order or production order. It is a central activity in warehouse management that ensures the right items 18 are available in the right quantity at the right time and in the right place.The load carriers 32 protect the items 18 from damage during transport and storage. The use of standardized load carriers 32 enables uniform and efficient handling of the items 18. This particularly facilitates the exchange and cooperation between different conveyor technology types.

[0098] The system 10 of Fig. 1 can further comprise a control unit 33, preferably a central one. The control unit 33 can include a warehouse management computer (WMC) 34 and / or a material flow computer (MFC) 36. The system 10 can also include one or more intralogistics stations 38, such as a station 40 for loading and / or unloading the load carriers 32 or the bags 30, or a transfer station 42. The intralogistics stations 38 will be discussed in more detail below.

[0099] System 10 is specifically designed for cooperative material handling. Cooperative material handling is defined below as the collaboration of several types of conveyors to make the transport, storage, and / or management of items 18 more efficient and effective. This preferably includes the integration of the overhead conveyor 26, the drone(s) 22, the LVR 34, and / or the MFR 36, which can work together seamlessly, particularly to optimize material flow. The design of a cooperative system consisting of drones 22 and an overhead conveyor 26 is described in the parallel German patent application DE 10 2024 123 981.6, to which reference is made here, especially with regard to the (drone) manipulator 96 (see Fig. 7), which enables the linking of the two conveyor types. In general, this collaboration allows processes to be accelerated and made more efficient.The items 18 can, for example, be moved from one point to another more quickly and with less human intervention. The cooperative system 10 can dynamically adapt to changing conditions and requirements. For example, the drones 22 can deliver the bags 30 in the warehouse 12 directly to a specific overhead conveyor 26 or to one of the (optional) workstations 22. Through coordinated control and planning of the material flow, a system operator can optimally utilize resources. This includes, for example, better utilization of storage space, labor, and energy. The drones 22 can, for example, be controlled by the warehouse management computer 34 to move the items 18 (e.g., faster and via shorter routes) within the warehouse 12. The warehouse management computer 34 and / or the material flow computer 36 can plan the most efficient routes for the drones 22 and assign the drones 22 picking-based (transport) tasks, e.g.,Assign based on real-time data and inventory levels.

[0100] Furthermore, the system 10 includes a guide frame 44, the structure and function of which will be explained in more detail below. The guide frame 44 can be positioned at intralogistically relevant points or in corresponding areas of the system 10. The perspective views in Figures 2 and 3 schematically illustrate the integration of an exemplary guide frame 44 into a storage and order picking system 10 (Figure 2) and into a (pocket) loading / unloading station 40 (Figure 3), respectively. The guide frame 44 is designed to (mechanically) support and guide the drone 22 within this area while the drone 22 is moved continuously or stepwise through this area. The movement of the drone 22 can be passive or active. In the case of active movement, the drone 22 flies itself along or through the guide frame 44.In a passive movement, the drone 22 is moved along the guide frame 44 while a drive 46 of the drone 22 is inactive, i.e., it does not generate any thrust. The guide frame 44 is specifically designed so that the drone 22 can rest or sit on it while being moved by the guide frame 44. This will be explained in more detail below.

[0101] Fig. 4 shows a block diagram of one of the drones 22 of Fig. 1. In accordance with Fig. 4, each of the drones 22 can have several components that work together to enable flight and functionality of the drone 22. These components can include one or more elements of the following group, which consists of: a frame 48; propellers 50; motors 52, which serve as the drive 46; electronic speed controllers 54; connections 56; a flight controller 58; an energy storage device 60 (e.g., accumulator 61); a landing gear 62; a communication module 64; and / or one or more sensors 66.

[0102] The frame 48 forms the framework of the drone 22 and holds all other components together. It should be lightweight and stable to ensure both mechanical integrity and flight efficiency. Carbon fiber, aluminum, and plastic are commonly used materials. The propellers 50 generate the lift that raises the drone 22 into the air and keeps it aloft. They are used to control the drone's flight direction and stabilize it. The motors 52 drive the propellers 50. The number of motors 52 varies depending on the drone type (quadcopter, hexacopter, octocopter, etc.). Brushless electric motors are preferred because they are more efficient and durable than brushed motors. The electronic speed controllers 54 control the speed of the motors 52 based on commands from the flight controller 58. They are responsible for fine-tuning and stabilizing the drone 22.The speed controllers 54 are connected to the motors 52 and the flight controller 58 via the lines 56 and can, for example, regulate the current flow to the motors 52. The flight controller 58 is the "brain" of the drone 22 and can include one or more processors (not shown) and one or more data storage devices (not shown). The flight controller 58 processes inputs from the sensor(s) 66 and from remote control commands, which are received, for example, from the controller 33 of the system 10 and / or a control unit 15 (see Fig. 1) of the conveyor system 14, in order to control the motors 52 accordingly and to ensure the stability of the drone 22. The flight controller 58 can include, for example, a gyroscope, an accelerometer, a barometer, and / or a GPS sensor as sensors 66. The battery(ies) 61 provide the necessary energy for the operation of the drone 22. Batteries are not used because changing them would be too time-consuming and labor-intensive.Furthermore, batteries are expensive. Operating costs are too high. The capacity and type of batteries 61 affect the flight time and performance of the drone 22. An (external) remote control module allows the user (e.g., a person or the controller 33) to control the drone 22. The communication module 64 on board the drone 22 receives signals from external sources and transmits them to the flight controller 58. The landing gear 62 protects the drone and its attached components during takeoff and landing. It can be fixed or retractable, depending on the drone type and application. Depending on the application, the drone 22 can be equipped with additional sensors 66, such as a LiDAR for obstacle detection, ultrasonic sensors for precise height measurement, IR sensors for thermal imaging (inspection), lasers for distance measurements (shelf inspection), barcode scanners, and / or RFID readers (inventory control).These sensors 66 can be directly connected to the flight control 58 and can provide important data for a flight, especially an autonomous one, and for navigation, especially an autonomous one, e.g. to approach the guide frame 44, to couple to the guide frame 44 and to leave the guide frame 44 again, as illustrated by example in Fig. 3.

[0103] As mentioned above, Fig. 3 illustrates a station 40 for loading and / or unloading the load carriers 32, which in Fig. 3 are exemplified as overhead conveyor load carriers and, in particular, in the form of (overhead conveyor) pockets 30. Fig. 3 shows several of the drones 22 in different flight and waiting states. Drones 22-1 and 22-2 approach the guide frame 44, which is encompassed by the station 40. Drones 22-3 to 22-5 are coupled to the guide frame 44 by resting their landing gear 62 on one or more rails 68 of the guide frame 44. The rails 68 can be horizontally aligned parallel to the ground. In Fig. 3, the rails 68 are mounted on the ground via (optional) supports not shown in detail. The rails 68 can be arranged parallel to each other at a height H1 above the ground. The rails 68 can extend along the longitudinal direction X and be spaced apart from each other in the transverse direction Z.The longitudinal direction X, the transverse direction Z, and a vertical direction H form a Cartesian coordinate system, as is common in intralogistics. The drones 22-3 to 22-5 are moved in the longitudinal direction X, from an entry section 72 to an exit section 74 of the rails 68 or the guide frame 44, through and / or along the guide frame 44, as illustrated by an arrow 70 in Fig. 3. The entry section 72 and exit section 74 connect seamlessly to each other.

[0104] The bags 30 coupled to the drones 22 are shown unloaded, i.e., empty, in Fig. 3. At a downstream end of the rail(s) 68, for example, an articulated robot 76 is arranged to load the bag 30 of the drone 22-5 with one of the items 18 directly, or indirectly via an intermediate continuous conveyor (not shown). These items can be supplied in storage containers 20 via a roller conveyor (continuous conveyor 24). Alternatively, the bags can also be loaded manually by a person (not shown). The bag 30 of the drone 22-5 is shown in an open state. For this purpose, cams (not illustrated) can be used to move an opening of a frame of the bag 30 into the shown open position. According to a picking order, the robot 76 removes one or more of the items 18 from the corresponding storage container 20 and places the items 18 into the open bag 30 (see arrow 78).The drone 22-5 can then leave the guide frame 44, in particular by continuing to move the drone 22-5 in the longitudinal direction X until the coupling to the guide frame 44 is terminated and the drone 22-5 can fly freely in space again (see arrow 80). With reference to Figures 5 and 6, the guide frame 44 of Figure 3 will be explained in more detail, where, as an alternative to a bag 30, a box is shown as the (overhead conveyor) load carrier 32. Figure 5A shows a front view looking in the negative X direction. Figure 5B shows a side view looking in the negative Z direction. Figure 6A shows a top view of Figure 5A. Figure 6B shows a top view of Figure 5B.

[0105] The landing gear 62 can comprise one or more legs 82 and one or more guide rollers 84. The landing gear 62 of Figures 5 and 6 includes, by way of example, first and second legs 82-1 and 82-2, as well as eight guide rollers 84-1 to 84-8 (see Figures 5B and 6B).

[0106] The guide rollers 84 are preferably mounted to rotate freely. An axis of rotation of the guide rollers 84 can extend parallel to the Z-direction. The guide rollers 84 can be mounted on the landing gear 62. It is understood that the guide roller(s) 84 can alternatively also be mounted on the rails 68. The guide rollers 84 are mounted such that the drone 22 can be moved in the longitudinal direction X by the guide frame 44, in particular while the drone 22 is seated on the rail(s) 68 with the landing gear 62. The guide rollers 84 are preferably provided in pairs, with the rollers 84 being vertically opposite each other (cf. e.g. 84-1 and 84-2 or 84-5 and 84-6 or also 82-1 and 84-6). These rollers 84 can enclose at least one of the rails 68 between themselves, in particular in a positive-locking manner (vertically). The guide rollers 84 can be omnidirectional rollers 86.

[0107] As an alternative to the guide rollers 84, sliding shoes or similar elements could also be used, resulting in low friction between the guide frame 44 and the drone 22 as the drone 22 is moved through the frame 44. In this case, the drone 22 glides on or along the rails 68.

[0108] The legs 82-1 and 82-2 can be U-shaped (see Fig. 5B). The legs 82 can be connected to the frame 48 (see Fig. 5B) of the drone 22 via crossbars 88 (see Fig. 5A).

[0109] The landing gear 62 and the at least one rail 68 are thus designed to couple to each other in order to move the drone 22 along the at least one rail 68. The landing gear 62 and the guide frame 44 are designed to interlock positively by means of a positive locking mechanism.

[0110] In engineering, a positive locking connection refers to a type of connection or locking between two components, such as the landing gear 62 and the rail(s) 68, whereby the locking or blocking prevents (relative) movement of the components through the geometric shape of contact surfaces (rail 68 and rollers 84). A positive locking connection is created by the interlocking of the components. In a positive locking connection, one component blocks the movement of the other. Such a blocking occurs in at least one direction, particularly in the vertical Y-direction, so that the drone 22 cannot leave the guide frame 44, at least in the vertical Y-direction, while the drone 22 is being moved through the stations 40. The legs 82-1, 82-2 of the drone 22 can mechanically engage in the Z-direction with the rails 68 of the guide frame 44 in Fig. 5A, thereby also creating a positive locking connection in the Z-direction.If a second pair of surfaces (legs 82) is arranged opposite, the opposite direction is also blocked (Z-direction in Figs. 5 and 6). In the present disclosure, the blocking or locking preferably takes place at least in the vertical direction and, in particular, also additionally in the horizontal transverse direction Z. The drone 22 is guided in the longitudinal direction X.

[0111] The rails 68-1 and 68-2 can have a C-shaped cross-section (perpendicular to the longitudinal direction X). The short legs of the corresponding C-profile in Figures 5 and 6 extend horizontally, and the long leg extends vertically. The C-profiles face each other with their open sides. The guide rollers 84 come into contact with the short legs. The guide rollers 84 can roll on the short legs. The legs 82 are sufficiently long in the vertical direction Y to vertically enclose the C-profiles with the guide rollers 84. The legs 82 lie within the C-profiles when the drone 22 is moved by the guide frame 44.

[0112] At least one of the rails 68 can be equipped with a power line 90. In Figures 5 and 6, the power line 90 is implemented by way of example as a conductor rail, which cooperates with a correspondingly shaped pickup 92 to transmit power and / or data. The power line 90 can be arranged within the first rail 68-1. The power line 90 extends parallel to the rail 68 in the longitudinal direction X. The pickup(s) 92 can be arranged on the leg 82-1. The pickup(s) 92 can mesh with the conductor rail while the drone 22 is moved by the guide frame 44, cf. arrow 94 in Figure 5B.

[0113] The power line 90 can be provided independently of the logistical function of the guide frame 44. This means that the power line 90 can be provided not only at station 40 for loading and unloading the load carriers 32, but also at other stations or in other areas. The rail 68, including the power line 90, could also be provided in a rack aisle and mounted on the racks 16 that enclose the rack aisle. The rails 68 can extend over the entire length of the rack aisle, so that a suitably equipped drone 22 can couple to the rail 68 at an aisle entrance, be moved through the aisle while seated on the rail 68, and be decoupled from the rail 68 at the aisle exit.While moving through the aisle on track 68, drone 22 can, for example, inspect shelves 16. This occurs while drone 22 is powered, guided along track 68, and can exchange data with line 90, particularly data acquired during its movement through the aisle. Drone 22 could also check inventory levels by recording whether the shelf storage locations are occupied or not.

[0114] Furthermore, it would be possible to place the rail(s) 68 – in particular including the power line 90 – in free space, e.g., outside the storage area 12 on a route to one of the workstations 38 as a kind of “highway”, in order to move the drone 22 at high speed through the corresponding guide frame 44. This is particularly advantageous if the drone 22 has to travel long straight distances between a starting point and a destination point, where free movement in space is not important.

[0115] The guide frame 44, including the rail(s) 68 – with or without power line 90 – could also be comprised of a transfer station, as disclosed in DE 102024 123 981.6. At this transfer station, the bags 30 are exchanged between the drones 22 and the overhead conveyor 26, which is designed as a bag conveyor 28. In this case, the drones 22 are equipped with corresponding manipulators 96 to pick up and drop off the roller adapters into which the bags 30 are suspended and which are carried along by the drive element (roller chain) of the bag conveyor 28. The transfer station thus represents an interface between the drones 22 and the bag conveyor 28. At these interfaces, it may also happen that the drones 22 have to wait until they can exchange their bag 30. For the exchange of the bags 30, it is advantageous if the drones 22 are guided or moved to the exchange point with precise positioning, i.e., without much play.

[0116] Fig. 7 shows a front view similar to Fig. 5A, with the guide frame 44 and the drone 22 again positioned in a loading / unloading station 40. The drone 22 transported the aforementioned bag 30. The guide frame 44 again comprises, by way of example, two rails 68, which can be designed as C-profiles. In this example, the C-profiles are oriented upwards, so that the drone 22 rests on top of the upwardly open rail 68 with its guide rollers 84. Both rails 68 are each provided with a power line 90 into which contacts 92 engage in a positive (vertical) manner. The vertical length of the contacts 92 is selected such that the drone 22 can move independently in the longitudinal direction X through the frame 44 by tilting the drone 22 slightly to generate the necessary propulsion. In this example, the positive locking mechanism does not act as a vertical upward locking element.The positive locking mechanism merely ensures that the drone 22 is guided in the longitudinal direction X. However, the drone 22 is also guided in the transverse direction Z. It is understood that the paired roller arrangements of Fig. 5A, 84-1 / 84-2 and 84-5 / 84-6 can also be designed with a larger vertical distance between them in order to allow the drone 22 vertical freedom to assume an inclined position, thus generating propulsion in the X direction.

[0117] It is understood that the drone 22, while coupled to the guide frame 44, could also be moved by a separate conveyor (not shown), which, for example, is arranged in the rail 68. In this case, the feed is not provided by the drone 22, but by the separate conveyor. This has advantages, particularly with regard to control. It is not the drone 22 that needs to be controlled, but the separate conveyor, which is simpler. For this purpose, the drone 22 could, for example, be suspended in the conveyor to unambiguously define its position.

[0118] Furthermore, it is understood that the energy could also be transferred inductively between the guide frame 44 and the drone 22, with the guide frame 44 and the drone 22 being set up accordingly.

[0119] Fig. 8 shows a front view of a guide frame 44 that defines several channels 98 configured as (electrical) charging stations, each capable of accommodating several drones 22 (in the X direction) in succession for electrical charging. The drones 22 can be parked in or moved through the channels 98 while being charged. Six channels 98 are shown by way of example in Fig. 8. Each of the channels 98 is essentially defined by the corresponding rails 68-1 and 68-2. The rails 68 can be connected to each other via a linkage of the guide frame 44 (not specified in detail).

[0120] Fig. 9 shows a schematic side view of a loading station 100 encompassed by a picking system 10 according to Fig. 1. In other words, the loading station 100 of Fig. 9 is used in a picking system 10 to fulfill one or more picking orders. The loading station 100 of Fig. 9 can be configured like station 40 of Fig. 3. This applies in particular to the (preferably positive-locking) guidance of the drones 22 along the guide frame 44, as described above. The loading station 100 can be located on the floor, as shown in Fig. 3. Alternatively, the loading station 100 could also be located, for example, on an intermediate deck or at any height above one of the racks 16 (compare Fig. 1), for example, at an aisle end, where a storage and retrieval machine, which may be equipped with a robot, delivers one or more of the storage containers 20.

[0121] In general, each of the loading stations 100 described here is configured to load the bags 30, which are coupled to the drones 22, with one of the items 18 according to a corresponding picking order, either manually or automatically, by placing the item 18 into the bag 30. The bag 30 can be permanently coupled to the drone 22 or, via the overhead conveyor 26 (see Fig. 1) and the manipulator 96 mentioned above (see Fig. 7), it can be interchangeable (see Fig. 10). The loading station 100 also includes the guide frame 44 of the type described above. While the bag 30 coupled to the drone 22 is being loaded with the item(s) 18 at a transshipment point 106 defined by the guide frame 44 in accordance with a picking order, the corresponding drone 22 is positioned on the guide frame 44, in particular by the drone 22 resting or sitting on the rail(s) 68.It is understood that the transfer point is a 3D area where the transfer (here: the loading) takes place.

[0122] Fig. 10 illustrates the configuration of the system 10 when the bags 30 are interchangeable with the overhead conveyor 26 using the manipulators 96, wherein, in particular, roller adapters 31 are used as coupling devices for the bags 30, as described in DE 10 2024 123 981.6 mentioned above. Fig. 10A shows a front view of one of the drones 22, which is mounted on a guide frame 44 of a transfer station 42 (see Fig. 1). Fig. 10B shows a side view of the drone 22 of Fig. 10A shortly before the bag 30 is transferred to a transport rail 27 of the overhead conveyor 26, in which a drive chain (not shown here) is guided and moved, from which the coupling device (roller adapter 31) can be taken from the manipulator 96. Each of the rails 68 of the guide frame 44 can be provided with a power line 90.

[0123] The guide frame 44 of Fig. 9 again features, by way of example, two rails 68, which are offset from each other in the Z-direction and which extend parallel to the longitudinal direction X from the inlet section 72 (cf. Fig. 3) to the outlet section 74, where the transfer point 106 is located and where a robot 76 (e.g., articulated robot, gantry robot, SCARA robot, or delta robot) loads the open bag 30 with the items 18. The robot 76 represents a possible implementation of a loading device 103 of the loading station 100. It is understood that the loading could also be carried out manually. In this case, the loading station 100 does not include a loading device 103. Loading can be carried out from the front (i.e., in the X-direction) and / or from the side (i.e., along the Z-direction), see arrows 108 and 110 in Fig. 9. Fig. 11 shows a side view of a loading station 100 (or...40), where the loading of the bags 30 with objects 18 (not shown) is carried out, in particular, from the front, wherein the drone 22 is moved in the positive longitudinal direction X along the guide frame 44 (see arrow 112) and wherein a first embodiment of the bag 30, which is shown in different views in Fig. 12, is coupled to the drone 22. Fig. 12A shows a rear view of the bag 30. Fig. 12B shows a side view of the bag 30. Fig. 12C shows a front view of the bag 30.

[0124] The pocket 30 of Fig. 12 has a rigid pocket frame 114 to which walls 116 of the pocket 30 are attached. The walls 116 comprise, in particular, a front wall 118, a rear wall 120, and preferably one or more side walls 122.

[0125] The pocket frame 114 defines a front insertion opening 124 (see Fig. 12C) in the front panel 118. The pocket frame 114, the rear panel 120, one of the side panels 122, and the front panel 118 can define a side insertion opening 126 (see Figs. 11 and 12B). The panels 116 can be implemented by one or more fabric panels, which can be pivotally attached to the pocket frame 114. The pocket frame 114 is pivotally attached to the roller adapter 31.

[0126] Furthermore, the pocket 30 of Fig. 12 can have a closure mechanism 136 comprising one or more closure strips 138. The closure mechanism 136 can, for example, be designed as described in WO 2022 / 263160 A1. Instead of a mechanism with closure strips 138, another mechanism can be used to close the pockets 30 (preferably at the bottom).

[0127] Furthermore, Fig. 11 shows a cam 128 designed to interact with the pocket frame 114. The term "cam" refers to a guide track or guide rail and defines a specially shaped path or profile along which a driver (pocket frame 114) or another component of a mechanism is moved. The movement of the pocket frame 114 is controlled by the shape of the cam 128, thus enabling a precisely defined sequence of movements. An upper section of the pocket frame 114 follows the predetermined contour of the guide 128. Through direct contact of the pocket frame 114 with the guide 128, which here is designed as a rail and extends essentially horizontally, the pocket frame 114 is pivoted from the vertical to the horizontal during movement of the drone 22 by the guide frame 44 in order to form a drop-in area 130 (see right in Fig. 11) for the robot 76 (see Fig. 9).The drone 22 can move itself through the guide frame 44 or be pulled through the guide frame 44, for example, by a conveyor 131 (see dashed lines around rail 68 in Fig. 13). The bag 30 is loaded from the front in the loading area 130 (see arrow 108 in Fig. 9). It is understood that lateral loading into the loading opening 126 (see arrow 110 in Fig. 9) would also be possible.

[0128] The guide 128 can be slightly sloped at its upstream end, transitioning into a horizontal section to its downstream end. The guide 128 is preferably arranged above the rail(s) 68 of the guide frame 44, as illustrated in Fig. 11. The guide 128 preferably has two rails 132, which preferably extend parallel to each other, are identical to each other, and are offset from each other in the Z-direction. The guide 128 is arranged in a section 134 of the guide frame 44 through which the pocket frame 114 is moved while the pocket 30 is coupled to the drone 22. This section 134 is indicated by dashed lines in Figs. 11 and 12A.

[0129] Fig. 13 shows a side view of a modified loading station 100, where a second embodiment of the bag 30 is preferably loaded laterally. The second embodiment of the bags 30 is shown in various views in Fig. 14. Fig. 14A shows a rear view of the bag 30. Fig. 14B shows a side view of the bag 30. Fig. 14C shows a front view of the bag 30.

[0130] The bag 30 of Fig. 14 is designed almost identically to the bag 30 of Fig. 12. The bags 30 of Figs. 12 and 14 differ essentially in the bag frame 114. The bag 30 of Fig. 14 is moved by the loading station 100 (or 40) of Fig. 13 with its rear wall 120 facing forward (see arrow 112).

[0131] The guide rail 128 of the guide frame 44 in Fig. 13 has a different shape than the guide rail 128 in Fig. 11. The guide rail 128 in Fig. 13 can rise at its upstream end, be horizontally aligned in the middle, and (optionally) slope down again at its downstream end, as illustrated in the side view of Fig. 13. The guide rail 128 in Fig. 13 can again be implemented by one or more rails 132, which are preferably arranged parallel to each other in the X-direction and offset from each other in the Z-direction.

[0132] In Fig. 13, the bag frame 114 rests on top of the cam 128 as it passes through it. During the drone 22's movement 112 through the cam 128, the bag frame 114 is pivoted from the vertical almost to the horizontal position to open the side loading opening 126. When open, the bag 30 can be loaded from the side (see arrow 110). As the drone 22 continues its movement 112, the bag frame 114 is gently deflected from the horizontal position back into the vertical position, particularly by the slope of the upstream end of the cam 128, to close the bag 30, as illustrated on the right in Fig. 13. The drone 22 can then fly freely in space with the loaded bag 30 (see arrow 80), for example to the transfer station 42 of Fig. 10B, in order to detach the loaded bag 30 from the drone 22 and transfer it to the (bag) overhead conveyor 26.

[0133] Fig. 15 shows a side view of an unloading station 102, which can be a station 40 according to Fig. 1. The unloading station 102 comprises a guide frame 44 with one or more rails 68 for guiding the drones 22 during their movement (see arrow 112) through and along the guide frame 44, which can be configured as described above. Unlike the loading station 100, the drones 22 can transfer (here: unload) the objects 18 even without moving along the guide frame 44. In other words, the drones 22 can also empty the filled bags 30 while at rest, particularly with their (propeller) drive inactive, on the rails 68. However, movement along the guide frame 44 can also be advantageous, as will be explained in more detail below.

[0134] Figure 15 shows, by way of example, three drones 22 mounted on the rail 68 of the guide frame 44. A destination container conveyor 140 is arranged below the guide frame 44, preferably extending parallel to the guide frame 44. In Figure 15, the conveyor 140 extends along the longitudinal direction X. The conveyor 140 is shown by way of example as a belt conveyor. It is understood that the conveyor 140 can also be implemented by any other type of continuous conveyor 24, such as a roller conveyor. The conveyor 140 is preferably moved at the same speed (see arrow 142) as the drones 22 move on the rails 68. The conveyor 140 is configured to transport destination containers 144. The destination containers 144 can be order containers, collection containers, or storage containers 20.

[0135] It is understood that the conveyor technology 140 for transporting the target containers 144 can be replaced by a second type of discontinuous conveyor. Thus, guided or free-moving ground transport vehicles, AGVs or AMRs loaded with target containers can be used.

[0136] The drones 22 with their loaded bags 30 are positioned above the target containers 144. As soon as the correct drone 22 is positioned above the correct target container 144, its loaded bag 30 can be unloaded, as shown for the right drone 22 in Fig. 15. The locking bar mechanism 136 can be opened at the correct time, e.g., by unlocking the locking bars 138, to release the items 18 and preferably deposit them by gravity into the target container 144 (see arrow 147), which is determined (in advance) by a corresponding picking order.

[0137] For this purpose, the guide frame 44 can include one or more release devices 146. The release device 146 can be arranged in a region of the guide frame 44, preferably above the rails 68, where the pockets 30 are to be opened.

[0138] Fig. 16 shows a view of the second embodiment of the bag 30 corresponding to the view in Fig. 14C to illustrate an opening of the locking bar mechanism 136. The release device 146, which can be implemented, for example, by a small plunger near the roller adapter 31, actuates an optional Bowden cable 148, which is connected to a pin 150, to unlock the locking bars 138. The Bowden cable 148 causes the pin 150 to retract (briefly) from its locking position, e.g., towards the center of the bag, so that the locking bars 138 disengage, thereby separating the front wall 118 and the rear wall 120 and exposing a downward dispensing opening 152. The pin 150 then retracts due to spring force (see arrow 154). The Bowden cable 148 and the pin 150 form an opening mechanism 153.It is understood that the opening mechanism 153 can also be formed by other components.

[0139] The open bag 30 can be closed by an (optionally provided) bag closing mechanism 156, for example by moving at least one of the locking bars 138 into the opposite locking bar 138. This movement is preferably caused by moving the drone 22 downstream on the rail 68 in the guide frame 44. The closing mechanism 156 is positioned accordingly, in particular below the rail 68. It is understood that other types of closing mechanism 156 can be provided at a variety of positions below the rail 68 if the unloading of the bags 30 is locally discrete, i.e., without the movement 112 along the guide frame 44.

[0140] Reference symbol list:

[0141] 10 (storage and / or order picking) systems

[0142] 12 warehouses

[0143] 14 Conveyor system

[0144] 15 Control unit

[0145] 16 shelves

[0146] 18 Item / General cargo

[0147] 20 storage containers

[0148] 22 (flying) drone

[0149] 23 Discontinuous conveyors

[0150] 24 continuous conveyors

[0151] 26 Overhead conveyors (HF)

[0152] 27 Transport rail

[0153] 28 pocket conveyors 30 pockets

[0154] 31 Roll adapters

[0155] 32 (HF) charge carriers

[0156] 33 Control

[0157] 34 LVR

[0158] 36 MFR

[0159] 38 workstations / intralogistics stations

[0160] 40 loading / unloading stations

[0161] 42 Transfer station

[0162] 44 Guide frame

[0163] 46 Drive

[0164] 48 frames

[0165] 50 propellers

[0166] 52 Engine

[0167] 54 speed controllers

[0168] 56 Connection / Line

[0169] 58 Flight control

[0170] 60 energy storage units

[0171] 61 Accumulator

[0172] 62 Landing gear

[0173] 64 Communication module

[0174] 66 Sensor

[0175] 68 rail

[0176] 70 drone movements

[0177] 72 Entrance section

[0178] 74 Exit section

[0179] 76 robots

[0180] 78 Submission

[0181] 80 flight movements

[0182] 82 Leg

[0183] 84 Leadership role

[0184] 86 All-rounder

[0185] 88 Crossbar Energy line Consumer Movement through 44 Manipulator Channel Loading station Unloading station Loading device Transfer station Transfer point Front loading Side loading Movement of 22 through 44 Pocket frame Wall Front wall Rear wall Side wall Front opening Side opening (Pocket opening) Backdrop Front opening Conveyor Rail of 128 Arrangement area for 128 Locking strip mechanism Locking strip Target container conveyor technology Movement of 140 Target container Release device Dispensing Bowden cable 150 Pin

[0186] 152 Delivery opening

[0187] 153 Opening mechanism

[0188] 154 Movement of 150 156 Pocket closing mechanism

Claims

REQUIREMENTS 1. Picking system (10) comprising: a plurality of overhead conveyor pockets (30), each pocket (30) being configured to open for receiving overhead conveyor unit loads (18) and to close for transporting received unit loads (18); at least one drone (22), each drone (22) being configured to be coupled to one of the overhead conveyor pockets (30) and to transport the overhead conveyor pocket coupled to the drone (22) through the air; and a loading station (100; 40) which is set up to load the overhead conveyor bag (30) coupled to the drone (22) with one of the unit items (18) according to a picking order, manually or automatically, and which has a guide frame (44) on which the corresponding drone (22) is positioned, while the overhead conveyor bag (30) coupled to the drone (22) is loaded at a transfer point (106) defined by the guide frame (44).

2. Picking system (10) according to claim 1, wherein the guide frame (44) comprises a pocket opening backdrop (128) which is configured to open the suspended conveyor pocket (30) coupled to the drone (22) while the corresponding drone (22) is moved along the guide frame (44) (112).

3. Picking system (10) according to claim 1 or 2, which further comprises a loading device (103) arranged to the guide frame (44) in such a way that the suspended conveyor pocket (30) coupled to the drone (22) and opened can be loaded by the loading device (103), wherein the loading device (103) is preferably a robot (76) with a gripper, a chute, and / or a driven conveyor.

4. Order picking system (10) according to one of claims 1 to 3, which further comprises a storage container conveying technology (24) connected to a storage (12) is connectable in order to provide the unit load (18), which is to be loaded into the suspended conveyor bag (30) coupled to the drone (22) and which can be stored in a storage container (20), at the loading station (100) in accordance with the picking order.

5. Picking system (10) comprising: a plurality of overhead conveyor pockets (30), each of the overhead conveyor pockets (30) being configured to open for receiving unit loads (18) and to close for transporting received unit loads (18); at least one drone (22), each of the drones (22) being configured to be coupled to one of the overhead conveyor pockets (30) and to transport the overhead conveyor pocket (30) coupled to the drone (22) through the air (80); and an unloading station (102; 40) which is set up to automatically unload the suspended conveyor bag (30) coupled to the drone (22), which is loaded with one of the unit loads (18), in accordance with the picking order and which has a guide frame (44) on which the drone (22) is positioned, while the suspended conveyor bag (30) coupled to the drone (22) is unloaded at a transfer point (106) defined by the guide frame (44).

6. Picking system (10) according to claim 5, further comprising a target container conveyor technology (140) arranged below or to the side of the guide frame (44), such that target containers (144) transported on the target container conveyor technology (140) are filled with the received unit goods (18) dispensed (147) from the overhead conveyor pocket (30) coupled to the drone (22) by moving the unit goods (18) into the target containers (144), and wherein the target container conveyor technology (144) is connectable to a sorter and / or a goods output.

7. Picking system (10) according to claim 5 or 6, wherein each of the overhead conveyor pockets (30) has in a lower section thereof a locking bar mechanism (136) with at least one locking bar (138) to open and close the respective overhead conveyor pocket (30) downwards for a unit load discharge (147).

8. Picking system (10) according to claim 7, wherein the guide frame (44) further comprises a release device (146) arranged to cooperate with the locking bar mechanism (136) so that an opening mechanism (153) of the locking bar mechanism (136) is actuated when the hanging conveyor bag (30) coupled to the drone (22) is moved into the transfer point (106).

9. Picking system (10) according to claim 8, wherein the guide frame (44) downstream of the triggering device (146) further comprises a pocket closing mechanism (156) which closes the hanging conveyor pocket (30) with the at least one closing strip (138) when the hanging conveyor pocket (30) coupled to the drone (22) is moved by the pocket closing mechanism (156).

10. Picking system (10) according to one of the preceding claims, wherein the guide frame (44) has two rails (68) aligned parallel to each other, which are preferably arranged horizontally and which are aligned towards the transfer point (106).

11. Picking system (10) according to one of the preceding claims, wherein each of the overhead conveyor pockets (30) is configured to be coupled to a pocket overhead conveyor (26, 28).

12. Picking system (10) according to one of the preceding claims, further comprising a bag overhead conveyor (26, 28), and wherein each of the drones (22) is configured to load the overhead conveyor bags (30), in particular to exchange with a manipulator (96), with the pocket overhead conveyor (26, 28).

13. Picking system (10) according to one of the preceding claims, wherein the guide frame (44) is mounted on a floor of the system (10) or on a shelf (16).

14. Picking system (10) according to one of the preceding claims, wherein the guide frame (44) is further provided with a power line (90) to electrically charge the drones (22) positioned on the guide frame (44), in particular while the drones (22) are moved along the guide frame (44) (112).

15. Picking system (10) according to one of the preceding claims, further comprising a control (33) which is configured to perform movements (80, 112) the drones (22) in such a way as to implement a material flow linked to the picking order.

16. Picking system (10) according to one of the preceding claims, wherein the guide frame (44) further comprises a driven conveyor (131) to move the drones (22) positioned on the guide frame (44) to the transshipment point (106).

Images