Logistics system

Abstract

The present invention relates to a logistics system (1), comprising a first storage rack (2.1) and at least one other storage rack (2.2) and at least one robot arm (3), wherein the robot arm has a plurality of limbs (3a) and joints (3b) that connect the limbs (3a) in an automatically adjustable manner relative to each other, wherein one of the limbs (3a) is a base limb (4) forming a base of the robot arm (3), wherein the first storage rack (2.1) has a first robot arm bracket (5.1), the first robot arm bracket has a first connecting device (6.1), and the first connecting device cooperates with a matching connecting device (7) of the base limb (4) of the robot arm (3) when the robot arm (3) is connected to the first robot arm bracket (5.1), so that when the robot arm (3) is connected to the first robot arm bracket (5.1), the first connecting device can be connected to the base limb (4) of the robot arm (3). In a first configuration of the logistics system (1), the base segment (4) of the robot arm (3) is automatically latched with the first robot arm bracket (5.1) and can be automatically detached, and another storage shelf (2.2) has another robot arm bracket (5.2), and the other robot arm bracket has another connecting device (6.2), which cooperates with the matching connecting device (7) of the base segment (4) of the robot arm (3) when the robot arm (3) is connected to the other robot arm bracket (5.2), so that in a second configuration of the logistics system (1) different from the first configuration, the base segment (4) of the robot arm (3) is automatically latched with the other robot arm bracket (5.2) and can be automatically detached.

Description

Technical Field

[0001] The invention relates to a logistics system comprising: a first storage rack and at least one further storage rack; and at least one robot arm having a plurality of joints and joints that connect the joints in an automatically adjustable manner relative to each other, wherein one of the joints is a base joint forming a base of the robot arm. The logistics system according to the invention can be designed in particular for automated operation of a greenhouse. Such a greenhouse can be set up for the production of food, in particular in the form of so-called "vertical farming". Background Art

[0002] Patent document WO 2019 / 109006 A1 describes a system for producing agricultural food in multi-storey buildings. Summary of the invention

[0003] The object of the invention is to provide a logistics system which enables the transfer and / or supply of goods within individual storage racks in a particularly economical manner, in particular with low personnel requirements and high efficiency. More specifically, the object of the invention is to provide a logistics system which enables the transfer and / or supply of plants in a particularly economical manner, in particular with low personnel requirements and high efficiency, in particular within the framework of the production of agri-food in buildings.

[0004] The object of the present invention is achieved through a logistics system, which has a first storage rack and at least one other storage rack and at least one robot arm, the robot arm having multiple limbs and joints that automatically adjust the limbs relative to each other, one of the limbs is a basic limb that forms the base of the robot arm, wherein the first storage rack has a first robot arm bracket, the first robot arm bracket has a first connecting device, and the first connecting device cooperates with the matching connecting device of the basic limb of the robot arm when the robot arm is connected to the first robot arm bracket, so that in a first configuration of the logistics system, the basic limb of the robot arm is automatically latched with the first robot arm bracket and automatically releasably connected; and the other storage rack has another robot arm bracket, the other robot arm bracket has another connecting device, and the other connecting device cooperates with the matching connecting device of the basic limb of the robot arm when the robot arm is connected to the other robot arm bracket, so that in a second configuration of the logistics system different from the first configuration, the basic limb of the robot arm is automatically latched with the other robot arm bracket and automatically releasably connected.

[0005] The logistics system according to the invention can be used in particular in the form of production logistics or distribution logistics. It is part of the planning, implementation and control of the movement or storage of objects or goods within an organizational system for processing objects or goods according to a predetermined specific task. The processing can be the simple transportation of objects or goods within the organizational system or the short-term or long-term storage. Even if the logistics system according to the invention is described as a logistics system for vertical farming within the framework of a specific embodiment, the logistics system of the invention can also be used for other purposes, such as the picking (Kommissionierung) of transported goods, etc.

[0006] Storage racks are used to store objects or goods in a plurality of storage levels stacked one above the other. Individual objects or goods can be combined together, for example, in containers, on shelves ("pallets") or in bundles. Depending on the specific design of the logistics system, the storage racks can usually be optionally designed to be stationary, i.e. fixed in position, or mobile, i.e. variable in position, in particular movable.

[0007] In the same way, each additional storage rack is used to store articles or goods in a plurality of storage levels stacked one above the other. Individual articles or goods can also be combined together, for example, in a container, on a shelf ("pallet") or in a bundled form. According to the specific design of the logistics system, each additional storage rack can be optionally configured as static, i.e. fixed in position, or mobile, i.e. position-changing, in particular movable in the same way. The term "additional storage rack" is particularly to be understood as a plurality of storage racks of any specified number that can be set in the logistics system. For example, the logistics system can also have a second storage rack, a third storage rack, a fourth storage rack, etc. in addition to the first storage rack. Each storage rack can form a separate storage unit inside the logistics system. The logistics system can be implemented inside a single building. However, the logistics system can also be dispersed and extended to two or more buildings, so that different storage racks can be provided in different buildings.

[0008] The logistics system has at least one robot arm. However, the logistics system may also have two or more robot arms. Each robot arm may form an independent robot unit. Each robot arm has a plurality of limbs and joints that connect these limbs to each other in an automatically adjustable manner. In order to automatically move the corresponding joints of the robot arm, a joint motor may be configured for the joint, and the joint motor is controlled by a control device to automatically move the joint in a desired manner, thereby enabling the corresponding limbs of the robot arm connected by the joint to be adjusted relative to each other.

[0009] The basic joint forming the base of each robot arm can also be called the basic frame. In this regard, it represents the basis for the movement of other joints and joints of the robot arm starting from it. In the kinematic chain of the joints and joints of the robot arm, the basic joint forming the base constitutes the proximal end of the kinematic chain, and at the distal end of the kinematic chain opposite to the proximal end is usually provided with a fastening flange of the robot arm, which is constructed to fasten the end effector to be moved by the robot arm. The robot arm can usually be realized in any kinematic configuration. However, it is particularly advantageous to construct the robot arm as a SCARA robot arm or a lightweight robot arm. In the configuration as a lightweight robot arm, it can be a serial kinematic mechanism (Knickarm-Kinematik) with in particular seven degrees of freedom (joints).

[0010] The first robot arm bracket is part of the first storage rack to which it corresponds. The first robot arm bracket can be fastened to a structural component of the first storage rack statically, i.e. fixed in position, or the first robot arm bracket can be mounted on a structural component of the first storage rack movably, i.e. positionally variable, movably or adjustably. A single first robot arm bracket can be arranged on the first storage rack, or a plurality of first robot arm brackets can be arranged on the first storage rack. This movable installation of the first robot arm bracket on the first storage rack will be described in more detail below.

[0011] The first coupling device is designed to cooperate with the counterpart coupling device of the robot arm in a form-fitting and / or force-fitting manner and can have a latched state or a released state, wherein in the latched state, the first coupling device is rigidly connected to the counterpart coupling device in a form-fitting and / or force-fitting manner (here, a temporary rigid connection that can be automatically released when necessary); in the released state, the form-fitting and / or force-fitting connection between the first coupling device and the counterpart coupling device is released, so that the first coupling device and the counterpart coupling device are automatically separated from each other and thus the robot arm can be separated from the first storage rack. In other words, in the automatically released state, the robot arm can be removed from the first storage rack. Therefore, the removal of the robot arm from the first storage rack and / or the installation of the robot arm on the first storage rack can be carried out automatically, for example by a separate manipulator different from the robot arm or by a coupling machine described in more detail below. For this purpose, the coupling machine can be designed to be mobile or stationary.

[0012] The first coupling device can be constructed to couple only a single robot arm. Alternatively, the first coupling device can be constructed to couple two or more robot arms to the same robot arm bracket. That is, not only a single robot arm, but also two or more robot arms can be simultaneously coupled to the first storage rack by the first coupling device. According to the specific design of the first coupling device, the two or more coupled robot arms can also be adjustably mounted on the first storage rack relative to each other in their coupled state. For example, the first coupling device can be formed by a rack rigidly fastened to the first storage rack, wherein the two or more robot arms can respectively have a drivable pinion, so that the two or more robot arms movably mounted on the rack of the first storage rack can move independently of each other along the rack, because the pinion is to engage the two or more robot arms respectively into the rack. In this design, the two or more robot arms can therefore only move relative to each other, because they are "sitting" on the same rack, and in this respect the order of them cannot be changed, that is, replaced. However, two or more robot arms can be detached from the first coupling device or attached to the first coupling device independently of each other, for example in order to change, in particular reduce or increase the number of robot arms on the first storage rack, or in order to be able to change the order of the individual robot arms on the first coupling device. For example, a combination of a lead screw and a lead screw nut can also be provided instead of the combination of a rack and a pinion. The pinion or the lead screw nut can be arranged accordingly on the individual robot arms. The pinion or the lead screw nut is in particular designed to be driven, so that the corresponding robot arm can be moved along the rack or the lead screw by driving the pinion or the lead screw nut. The drive for the pinion or the lead screw nut (in this respect a part of the robot arm) can be supplied with electrical energy, for example, via a conductor rail of the first storage rack or via a battery of the robot arm.

[0013] The mating coupling device can be constituted according to the plug / socket principle corresponding to the first coupling device. Therefore, the mating coupling device and the first coupling device can have shape-fitting elements that interlace with each other, such as claws, lock tongues, stop hooks and / or bayonet connectors. Corresponding shape-fitting elements can have corresponding inclined surfaces or cones, so that the mating coupling device and the first coupling device are easy to automatically engage. Other coupling devices can also be constituted according to the plug / socket principle corresponding to the mating coupling device. Therefore, the mating coupling device and other coupling devices can have shape-fitting elements that interlace with each other, such as claws, lock tongues, stop hooks and / or bayonet connectors. Corresponding shape-fitting elements can have corresponding inclined surfaces or cones, so that the mating coupling device and other coupling devices are easy to automatically engage.

[0014] In the connected state, the counterpart connection device of the robot arm is temporarily rigidly connected to the first connection device or the corresponding other connection device. The rigid connection can be automatically loosened when necessary to automatically release the connected state. In the automatic loosening state of the counterpart connection device, the robot arm can automatically leave the corresponding first storage rack or another storage rack, and then gather with another storage rack and automatically connect with the other storage rack.

[0015] By selectively coupling the robot arm to the first storage rack or to the further storage rack, or by decoupling the robot arm from the first storage rack or the further storage rack, the current configuration of the logistics system can be changed. This change can be carried out automatically, in particular without the need for personnel, for example by means of a separate manipulator or a coupling machine, which will be described in detail below, which can be automatically controlled.

[0016] Therefore, the connection of the counter-coupling device with the first coupling device or with the corresponding further coupling device can be configured to be automatically latchable and automatically releasable. Such a latching device can be electrically actuated, for example.

[0017] The other robot arm support is part of the other storage rack to which it corresponds. The other robot arm support can be fastened to the structural component of the other storage rack in a stationary manner, i.e. in a fixed position, or the other robot arm support can be mounted on a structural component of the other storage rack in a movable manner, i.e. in a variable position or movably or adjustably relative to the structural component of the other storage rack. A single other robot arm support can be arranged on the other storage rack, or a plurality of other robot arm supports can be arranged on the other storage rack. This movable installation of the other robot arm support on the other storage rack will be described in more detail below.

[0018] The further coupling device is designed to cooperate with the counterpart coupling device of the robot arm in a form-fitting and / or force-fitting manner and can have a latched state or a released state, wherein in the latched state, the further coupling device is rigidly connected to the counterpart coupling device in a form-fitting and / or force-fitting manner (here a temporary rigid connection that can be automatically released when necessary); in the released state, the form-fitting and / or force-fitting connection between the further coupling device and the counterpart coupling device is released, so that the further coupling device and the counterpart coupling device are automatically separated from each other and thus the robot arm can be separated from the further storage rack. In other words, in the automatically released state, the robot arm can be removed from the further storage rack. Therefore, the removal of the robot arm from the further storage rack and / or the installation of the robot arm on the further storage rack can be carried out automatically, for example by a separate manipulator different from the robot arm or by a coupling machine that will be described in more detail below. For this purpose, the coupling machine can be designed to be movable or stationary.

[0019] The additional coupling device can be constructed to couple only a single robot arm. Alternatively, the additional coupling device can be constructed to couple two or more robot arms to the same robot arm support. That is, not only a single robot arm, but also two or more robot arms can be simultaneously coupled to another storage rack by means of an additional coupling device. According to the specific design of the additional coupling device, the two or more coupled robot arms can also be adjustably mounted on the additional storage rack relative to each other in their coupled state. For example, the additional coupling device can be formed by a rack rigidly fastened to the additional storage rack, wherein the two or more robot arms can each have a drivable pinion, so that the two or more robot arms movably mounted on the rack of the additional storage rack can move independently of each other along the rack, because the pinion is to engage the two or more robot arms respectively into the rack. In this design, the two or more robot arms can therefore only move relative to each other, because they are "sitting" on the same rack, and in this respect the order of them cannot be changed, that is, replaced. However, two or more robot arms can be released from or attached to another coupling device independently of each other, for example in order to change, in particular reduce or increase the number of robot arms on another storage rack, or in order to be able to change the order of the individual robot arms on another coupling device. For example, a combination of a lead screw and a lead screw nut can also be provided instead of a combination of a rack and a pinion. The pinion or the lead screw nut can be arranged accordingly on each robot arm. The pinion or the lead screw nut is particularly designed to be driven, so that the corresponding robot arm can be moved along the rack or the lead screw by driving the pinion or the lead screw nut. The drive for the pinion or the lead screw nut (which is part of the robot arm in this respect) can be supplied with electrical energy, for example, via a conductor rail of another storage rack or via a battery of the robot arm.

[0020] If a partial technical solution or technical relevance regarding a robot arm, i.e. a single robot arm, is described within the framework of the present invention, a second, third or more robot arms can also be constructed based on such a partial technical solution or under such technical relevance, which is still within the scope of the disclosure of the present invention.

[0021] In an extended embodiment, the logistics system may include an automatic adjustment device, which is constructed as follows: in a first configuration of the logistics system (wherein the base section of the robot arm is connected to a first robot arm bracket of a first storage rack), the base section of the robot arm is installed in an automatically driven and adjustable manner relative to the first storage rack; in a second configuration of the logistics system (wherein the base section of the robot arm is connected to another robot arm bracket of another storage rack), the base section of the robot arm is installed in an automatically driven and adjustable manner relative to the other storage rack.

[0022] In a first embodiment variant of the automatic adjustment device, the automatic adjustment device can be completely integrated into the respective storage rack, i.e. the first storage rack or the respective further storage rack. This means, for example, that the first coupling device or the respective further coupling device is adjustably mounted relative to the structural component of the first storage rack or the further storage rack by means of the automatic adjustment device via the automatic adjustment device. If the robot arm is subsequently coupled to the respective coupling device by means of its counterpart coupling device, the robot arm can be automatically adjusted relative to the structural component of the first storage rack or the further storage rack by means of the automatic adjustment device.

[0023] In a second embodiment variant of the automatic adjustment device, the automatic adjustment device can be completely integrated into the robot arm. This means that, for example, a base member of the robot arm forming the base is adjustably mounted relative to its counterpart coupling device by means of the automatic adjustment device. If the robot arm is then coupled to a corresponding coupling device of a corresponding storage rack by means of its counterpart coupling device, the robot arm can be automatically adjusted relative to its counterpart coupling device and thus relative to the structural components of the first storage rack or the further storage rack by means of the automatic adjustment device.

[0024] In a third embodiment of the automatic adjustment device, the automatic adjustment device can be formed by a connection joint between a matching connection device of the robot arm and a corresponding connection device of the corresponding storage rack. For example, a driven pinion can be mounted on the robot arm, and when the robot arm is connected to the corresponding storage rack, the pinion engages in the rack of the corresponding storage rack. Here, the rack can be rigidly connected to one of the structural components of the first storage rack or another storage rack. Through the driven rotational movement of the pinion of the robot arm, when the robot arm is connected to the storage rack, the robot arm will be adjusted in reaction to the storage rack due to the engagement of the pinion in the rack of the storage rack. That is, when the robot arm is connected to the corresponding storage rack, the pinion of the robot arm engages with the rack of the storage rack. If the robot arm is connected to another storage rack, the pinion of the robot arm engages in another rack of the other storage rack. That is, in this third embodiment, the automatic adjustment device is always formed by the connection of the robot arm with the corresponding connected storage rack.

[0025] In all embodiments, the automatic adjusting device can be designed as a linear drive. In the case of a linear drive, the automatic adjusting device performs a linear movement.

[0026] The linear motion of the automatic adjusting device can be carried out in particular in the vertical direction. That is, in this embodiment, the automatic adjusting device forms a lifting device.

[0027] Alternatively, the linear motion of the automatic adjusting device may also be carried out, for example, horizontally or diagonally, or in other directions. This motion need not necessarily be linear motion, and in a specific embodiment, the automatic adjusting device may be set to other paths that deviate from the linear route.

[0028] By means of the automatic adjustment device, the robot arm can be variably and selectively brought to the vicinity of a first storage level of the storage rack or to the vicinity of another additional storage level of the storage rack in the state in which it is connected to the respective storage rack. If necessary, the automatic adjustment device can be configured to move the robot arm from one lateral side of the respective storage rack to the other lateral side of the respective storage rack. Thus, the robot arm can selectively engage the respective storage level from different sides.

[0029] The automatic adjustment device can be constructed so that, in a first configuration of the logistics system, the base section of the robot arm is automatically driven and adjustably installed on a first storage shelf in a linear height-adjustable manner; in a second configuration of the logistics system, the base section of the robot arm is automatically driven and adjustably installed on another storage shelf in a linear height-adjustable manner.

[0030] By means of such a linear height-adjustable adjusting device, the robot arm can be variably and selectively brought to the vicinity of a first storage level of a storage rack or to the vicinity of another further storage level arranged at another height position on the storage rack in the state in which it is coupled to the respective storage rack. In this respect, the linear height-adjustable adjusting device can form a lifting device.

[0031] The linear height-adjustable adjustment device may, for example, comprise a driven pinion which engages a rack. The rack may, for example, be rigidly connected to one of the structural components of the first storage rack or the further storage rack. The driven pinion may, for example, be mounted on a coupling device or directly in the robot arm. By the driven rotational movement of the pinion, the robot arm coupled to the respective storage rack or to the respective coupling device of the storage rack is adjusted relative to the storage rack.

[0032] As an alternative to the adjustment device in the form of a rack and pinion, the adjustment device can also be formed, for example, by a lifting screw, on which a screw nut runs in a height-adjustable manner. The lifting screw can, for example, be mounted in a rotatable manner on one of the structural components of the first storage rack or another storage rack. The screw nut, which is height-adjustable via the lifting screw, can, for example, be connected to a coupling device or directly to a robot arm. By the driven rotational movement of the lifting screw, the robot arm, which is connected to the corresponding storage rack or to the corresponding coupling device of the storage rack, is adjusted in reaction to the storage rack. In a variant, the lifting screw can be rigidly fastened and the screw nut can be mounted in a rotatable manner.

[0033] As an alternative to a spindle drive or a rack and pinion drive, the adjusting device can also be mounted so as to be drivably adjustable by means of a hydraulic cylinder or a pneumatic cylinder.

[0034] The automatic adjustment device can have a drive which, when activated, is configured to move a base member of the robot arm in a first configuration in an automatically driven manner relative to a first storage rack and in a second configuration in an automatically driven manner relative to the further storage rack, wherein the drive is configured as part of the robot arm which, in a disconnected state from the first storage rack and / or from the further storage rack, together with the robot arm, is disconnected from the first storage rack and / or from the further storage rack.

[0035] The drive can be designed to drive an adjusting device which, as described above, is designed as a spindle drive, a rack drive, a hydraulic device and / or a pneumatic device.

[0036] The drive can in particular be an electric drive. Thus, the drive can include an electric motor.

[0037] The motor, in particular the electric motor, can be assigned a gear mechanism. The motor, in particular the electric motor, can be automatically controlled by a drive controller, in particular an electric or electronic drive controller.

[0038] The drive can in particular be configured as part of a robot arm. Alternatively, according to an embodiment, the drive can be configured as part of a corresponding storage rack.

[0039] The robot arm can have an energy store which is designed to provide drive energy for a drive of the robot arm and / or for at least one joint motor assigned to individual joints of the robot arm independently of the logistics system in a correspondingly configured manner.

[0040] By providing the robot arm with an energy store, the robot arm can be moved, ie driven, independently of an external energy supply, in particular independently of an energy supply via a storage rack.

[0041] The energy store can in particular be an electrical energy store, a hydraulic energy store or a pneumatic energy store.

[0042] In the case of an electrical energy store, this can be, for example, a battery. The battery can be designed, in particular, to be rechargeable.

[0043] On the one hand, the energy store can be used to supply energy, in particular electrical energy, to the drive of the adjustment device, so that the entire robot arm can be adjusted relative to the storage rack to which it is connected by the energy supply from the energy store.

[0044] On the other hand, the energy storage device can be used to provide energy, in particular electrical energy, to the joint motors of the robot arm, so that the corresponding posture of the robot arm can be adjusted by the energy supply from the energy storage device, that is, the relative positions of the limbs of the robot arm can be adjusted relative to each other, more precisely by the driven movement of the joints of the robot arm.

[0045] By providing the robot arm with an energy store, the robot arm can be repositioned and / or its posture can be changed or moved automatically, independently of the respective configuration of the logistics system.

[0046] The energy storage device can be connected to a recovery system, for example a recovery brake of a robot arm, so that, for example, braking energy for deceleration and / or stopping of a moving robot arm can be used to charge the energy storage device. Such energy recovery is particularly advantageous if the relevant robot arm is mounted in a height-adjustable manner on a corresponding storage rack, which enables the potential energy released when the robot arm is lowered from a higher position to a lower position to be stored, preferably in the form of electrical energy.

[0047] The configuration of the logistics system is usually characterized in particular by the respective instantaneous assignment of a robot arm or a plurality of robot arms to one or more storage racks. For example, a single robot arm can be assigned to a plurality of different storage racks, wherein the robot arm is selectively connected to only one of the plurality of storage racks at a point in time. Alternatively, a plurality of robot arms can also be assigned to a single storage rack, so that the storage rack can be selectively equipped with a robot arm, two robot arms or a plurality of robot arms at a certain point in time. That is, a single robot arm or two or more robot arms can be selectively connected simultaneously to a storage rack, in particular to a common robot arm support, a common rack, a common lead screw or a common track, such as a conductive rail.

[0048] The first storage rack may have at least one first conductive rail configured to supply electrical energy to the robot arm through the first storage rack when the robot arm is coupled to the first storage rack through a first coupling device in a first configuration; and the additional storage rack may have at least one additional conductive rail configured to supply electrical energy to the robot arm through the additional storage rack when the robot arm is coupled to the additional storage rack through an additional coupling device in a second configuration.

[0049] By means of the at least one first conductive rail and / or by means of the at least one further conductive rail, electrical energy can be provided to the robot arm via the corresponding storage rack when the robot arm is coupled to the storage rack. In this embodiment, a dedicated energy storage device on the robot arm can be omitted if necessary.

[0050] In a particular embodiment, the logistics system may include at least one vehicle, in particular an unmanned and / or autonomous vehicle, which has an automatic coupling machine, which is configured to automatically couple a robot arm transported by at least one vehicle to a first storage rack in a spatially close manner to a first coupling device of the first storage rack when the logistics system should enter a first configuration, and the automatic coupling machine is configured to automatically couple a robot arm transported by at least one vehicle to another storage rack in a spatially close manner to another coupling device of another storage rack when the logistics system should enter a second configuration.

[0051] In such a basic embodiment, the vehicle can be designed arbitrarily. Thus, the vehicle can be manned. Alternatively, the vehicle can also be an unmanned or autonomous vehicle.

[0052] If the vehicle is designed to be manned, it can be provided, for example, that the person, i.e. the driver, manually connects the robot arm, which is correspondingly connected to the first storage rack or the other storage rack. Alternatively, a mechanical or only partially automated connection machine can be provided, which is constructed to be manually operated or manually controlled by a person, i.e. the driver. However, even in the case where the vehicle has a person as a driver, a fully automatic connection machine can also be provided. If the vehicle is controlled by a person, i.e. the driver, the person, i.e. the driver, can also perform the precise positioning of the vehicle with respect to the first storage rack or the other storage rack, so that each robot arm to be connected can be accurately positioned relative to the first storage rack or the other storage rack, so that the robot arm can be reliably connected. In this embodiment, sensors specifically used for precise positioning of the vehicle, for example, can be omitted if necessary.

[0053] The driverless vehicle need not necessarily be autonomous, but can, for example, be controlled and automatically driven along a pre-set fixed route or a pre-defined route. Thus, the driverless vehicle can, for example, be a driverless transport system (FTS).

[0054] FTS are ground-based conveyor systems within an enterprise with autonomous vehicles whose primary task is the transport of materials rather than people. They are used both inside and outside buildings.

[0055] The vehicle can generally have a body, on which wheels are arranged, wherein at least one wheel is assigned a travel drive, and the at least one travel drive is assigned a control device, which is designed to move the vehicle within the logistics system. Preferably, the travel drive can be an electric travel drive, in particular a regulated electric travel drive. The driverless transport vehicle can be configured, for example, as a comprehensive or omnidirectional driverless transport vehicle. In this case, the driverless transport vehicle includes omnidirectional wheels, preferably so-called Mecanum wheels, whose travel drives are controlled by the control device.

[0056] This omnidirectional wheel vehicle can be constructed to be unmanned. For this purpose, the omnidirectional wheel vehicle has a control device, which can also be called a travel control device. The control device controls and / or adjusts the rotation direction and rotation speed of the driven wheels of the omnidirectional wheel vehicle, or controls and / or adjusts the rotation acceleration when necessary. In addition to having a driving wheel, the omnidirectional wheel vehicle can also have a non-driven wheel, which can only be rotatably mounted on the body of the omnidirectional wheel vehicle without being controlled by the control device, and is not connected to the driving device. The omnidirectional wheel vehicle can be, for example, an unmanned transport system (FTS).

[0057] In the case where an autonomous vehicle can be constructed according to the above-described embodiments, the vehicle can include a navigation system, a positioning system and a path planning system in the broadest sense. In this design, the vehicle can determine its travel, in particular the path, speed and acceleration itself, within a certain range. The autonomous vehicle is preferably designed to be unmanned.

[0058] The automatic coupling machine disconnects the robot arm from the storage rack to which the robot arm is currently connected and then connects the robot arm to another storage rack. The automatic coupling machine can be constructed as a simple device, which automatically performs the connection and disconnection of the robot arm. In this regard, it is sufficient for the coupling machine to have, for example, only one degree of freedom. Alternatively, the automatic coupling machine can be formed by a separate robot with multiple degrees of freedom. For this purpose, the robot can be designed to disconnect the robot arm from the storage rack and connect it to another storage rack, for example by means of an end effector that is particularly coordinated with it. In a first variant, the automatic coupling machine, in particular the robot, can be installed on the unmanned and / or autonomous vehicle described, and the automatic coupling machine, in particular the robot, can be transported from one storage rack to the next storage rack by the vehicle's travel in order to connect or disconnect the robot arm there.

[0059] Here, the space is close This is because the vehicle has at least traveled so close to the respective storage rack that the automatic coupling machine can disconnect the coupled robot arm from the storage rack. The automatic coupling machine can then receive the robot arm and temporarily store it on the vehicle. The robot arm can then be moved, i.e. transported, to another storage rack by the vehicle and there again coupled to another storage rack by means of the automatic coupling machine.

[0060] In addition or alternatively, the logistics system may also have a stationary switching station and at least one vehicle, in particular an unmanned and / or autonomous vehicle, which is configured to selectively receive a first storage rack or another storage rack in a transportable manner by the movement of the at least one vehicle, wherein the stationary switching station has an automatic coupling machine, which is configured to automatically couple or disconnect the robot arm with the first storage rack transported by the at least one vehicle in a spatially close manner to the stationary switching station when the logistics system needs to switch between a first configuration and a second configuration; or to automatically couple or disconnect the robot arm with another storage rack transported by the at least one vehicle in a spatially close manner to the stationary switching station when the logistics system needs to switch between a first configuration and a second configuration.

[0061] In this variant, the automatic coupling machine is constructed on the stationary switching station instead of on the vehicle. The vehicle in turn has a receiving device, which is constructed to receive and transport the corresponding storage rack. In other words, it is not the automatic coupling machine that approaches the storage rack, but the storage rack that approaches the stationary coupling machine.

[0062] The first storage rack, the corresponding further storage rack, at least one vehicle, in particular an unmanned and / or autonomous vehicle, the robotic arm and / or a stationary switching station can each have at least one sensor device, which is constructed to automatically determine the current relative position and / or relative location of the robotic arm relative to the first storage rack, the corresponding further storage rack, at least one vehicle, in particular an unmanned and / or autonomous vehicle and / or a stationary switching station.

[0063] The sensing device may for example comprise an optical sensor, such as a camera, a laser scanner, etc., but may also comprise a capacitive or magnetic sensor. The sensing device may also comprise an optical marker, such as a barcode or a QR code. The sensing device may also comprise an RFID tag depending on the application.

[0064] In a special embodiment of the logistics system, the logistics system can be a production logistics system and can be designed for the production of food, in particular in the form of so-called “vertical farming” (vertical farms).

[0065] Therefore, the first storage rack and each additional storage rack can respectively have multiple receiving planes for plants, wherein the multiple receiving planes respectively form a group, including: a first receiving plane for a lighting device for plants, a second receiving plane for a water supply device or a nutrient solution supply device for plants and / or a third receiving plane for an intermediate storage area for plant carriers; wherein the robot arm is constructed and designed so that when the robot arm is automatically connected to the corresponding first storage rack or additional storage rack, the plants or plant carriers are automatically transferred between the first receiving plane, the second receiving plane and the third receiving plane inside the first storage rack or the additional storage rack.

[0066] The plurality of receiving planes for plants can be formed, for example, by a plurality of shelves. Individual plants can be placed directly on such shelves, for example in pots or basins. Alternatively, a plurality of plants can be placed on the shelves, for example in groups on shelves, pallets or plant trays. In another embodiment, the plurality of receiving planes can be formed by lateral receiving rails of a storage rack, into which a pallet or a pallet can be inserted or placed, for example, on which the plants or plant pallets are placed.

[0067] Each receiving plane can be assigned a specific function. Different receiving planes within a storage rack or between two different storage racks can be configured accordingly for different purposes.

[0068] The first receiving plane can be assigned, for example, a lighting device for the plant. The lighting device can be arranged at a distance above the receiving surface of the corresponding first receiving plane. Thus, the lighting device can be arranged, for example, on the bottom side of the receiving plane directly above it, pointing downward. The lighting device can be formed, for example, by an LED light-emitting device.

[0069] The second receiving plane can be allocated, for example, a water supply or a nutrient solution supply for the plants. The water supply or the nutrient solution supply can include corresponding discharge openings or discharge nozzles through which the water or nutrient solution can be discharged and can be directed to the corresponding plants or their root balls placed in the second receiving plane.

[0070] The third receiving surface can be designed, for example, as an intermediate storage area for plant carriers. The intermediate storage area can be darkened, for example, with respect to light incidence or can be regulated under unusual climatic conditions, for example with respect to air humidity and / or temperature.

[0071] The corresponding robot arm can be constructed and designed in its configuration connected to a storage rack to automatically transfer plants, plant containers and / or plant carriers from one receiving plane of the storage rack to another receiving plane of the storage rack. In addition, the robot arm can be constructed and designed to automatically completely remove plants, plant containers and / or plant carriers from a storage rack or automatically move newly added plants, plant containers and / or plant carriers into the storage rack.

[0072] In this particular embodiment of so-called "vertical farming", such a logistics system can allow the automatic, in particular mobile use of special robot arms or manipulators for growing, caring for and harvesting plants within the framework of "vertical farming" on multiple, in particular stationary shelves. This ensures a reduction in costs, since cost-intensive automation technology does not have to be purchased multiple times or only in quantities that are exactly what is needed globally in the plant. This simplifies scaling and the response to unforeseen market developments.

[0073] For this purpose, a mobile vehicle can be used, which can bring one or more manipulators, i.e. robot arms, such as in particular SCARA arms, together with a special end effector into the interior of the production facility. The mobile vehicle can be equipped with a mechanical device, i.e. an automatic coupling machine, which can connect the carried robot arm to the storage rack, for example via guide rails of linear guides and fixed linear rails. The mechanical device can be, for example, an actuated multi-axis kinematic mechanism, but a lifting mechanism with mechanical flexibility may also be sufficient if necessary. The mobile vehicle can be equipped with sensors, for example, which allow the mobile vehicle to be positioned relative to the surrounding environment and can detect the position of the linear rail for docking relative to the mobile robot with sufficient accuracy, for example by means of a camera, a laser scanner, etc.

[0074] As mentioned above, these shelves can have devices for supplying water and / or nutrients and lighting and / or holding systems for plants, which systems may or may not be equipped with a base. In addition, a linear track can be installed on the storage shelves along a vertical route, to which the robot arm can be connected. For this purpose, a mechanical device, i.e. an automatic coupling machine, can be used, which allows the connected robot arm to rise or fall on the linear track, for example by means of a rack on the shelf, in which a driven gear (pinion) on the robot arm engages. Here, there can be an electrical connection between the shelf and the robot arm, for example via a track with sliding contacts, in which the robot arm can engage in order to supply electrical energy, but the premise is that the robot arm does not have a battery or accumulator for this purpose. The shelf can be equipped with markings in the sense of a linear measuring system, based on which sensors on the robot arm can determine, for example, the height position of the robot arm on the shelf and accurately adjust the desired target position.

[0075] A robot arm or multiple robot arms can be equipped with guide rails for guide mechanisms, which can be connected to linear axes mounted on the shelf. The linear axis can be, for example, a profile rail or a simple T-bracket, and the robot arm can be equipped with (spherical) guide rails or roller rails accordingly. For this purpose, the robot arm can be equipped with a lifting motor, which allows the robot arm to be raised and lowered on the shelf. In addition, sliding contacts acting on the conductive rails can be provided. Depending on the purpose of the robot arm, it can be equipped with one or more driven axes, for example in a SCARA configuration, and if necessary with at least one sensor and / or a special end effector.

[0076] Each robot arm support, in particular its slide rail, each guide mechanism, each adjustment device can have at least one sensor, which, for example, detects the current position, in particular the height position, of the corresponding robot arm on the robot arm support, in particular on the slide rail, on the guide mechanism, on the adjustment device. Therefore, each robot arm can automatically move to a certain position or height position on the corresponding connected storage shelf. The corresponding sensor can, for example, have a mark, such as a barcode, QR code or other coding, which can be detected by the optical detector of the sensor and contains information about its corresponding position or height position. For example, a magnetic mark can also be used instead of an optical mark. Alternatively or in addition to the mark fixedly set on the storage shelf, that is, on the support or frame of the storage shelf, the sensor, mark and information carrier can also be set on the shelf or an adjustable basin, plate or a flexibly usable tray. These sensors, marks or information carriers can be set to start an automatic control program, based on the specific information of the sensor, mark or information carrier, to control, that is, move the corresponding robot arm connected to a certain storage shelf in a corresponding manner determined by the specific information.

[0077] Possible applications are, for example: cleaning plant pots, equipping plant pots with bases, sowing seeds, planting small plants and / or transplanting over long distances, weeding, applying fertilizers and / or plant protection agents, and / or harvesting. All of this can be automatically controlled or monitored by sensors or cameras.

[0078] Thus, the logistics system can be used for the automated operation of the greenhouse. In particular, the logistics system can thus realize particularly efficient vertical farming. Compared with a general agricultural greenhouse that operates in principle only in a single planting plane and only uses natural light to grow plants, a vertical farm provides the use of artificial light, so that plants stacked on top of each other on multiple planes can also thrive based on the use of artificial light devices at multiple height positions of the storage shelves.

[0079] The currently known vertical farming technologies are still in the development stage and are usually based on greenhouses operating on one or more levels. In this case, the plants are grown by aeroponics or hydroponics. In combination with lighting technology and ventilation systems for plant growth, the plants thrive in the shelves of the building or factory, that is, the greenhouse, until harvest.

[0080] In known racking systems for vertical farming, automation technology very similar to high-rise storage racking technology used for logistics equipment can be used. This technology includes manual or automatic rack handling equipment that handles the used and replaceable pots in the racks, in which the plants grow. To harvest the plants, workers move along the racking equipment or transport the pots to the harvesting site by expensive conveyor technology.

[0081] The pot is constructed as a shell and / or closed-walled, i.e. waterproof. The pot contains one or more plant carriers. The pot remains in the greenhouse, while the plant carriers can be removed from the pot and removed, for example, at harvest time. The plant carriers can, for example, have a fixed frame, in particular an aluminum frame. The frame defines a grid on which the plants are arranged. The grid can be constructed as a tight mesh.

[0082] The automated operation of greenhouses provides a technical solution for the particularly economical production of agricultural food in buildings, especially with low personnel requirements and high energy efficiency. In particular, buildings, such as high-rise buildings or abandoned factory buildings, in particular in large cities, can thereby be converted into alternative greenhouses.

[0083] The plants can be in particular plants that are food for living organisms, such as vegetables, fruits, kitchen herbs, tea plants. However, the plants can also be other crops, such as medicinal plants, cosmetic plants or spice plants.

[0084] The plant carrier located in the pot forms a receptacle for the base required for plant growth. At the same time, the plant carrier has the function of carrying the plant planted in the base. The corresponding plant carrier can be configured to receive a single plant. Alternatively, the corresponding plant carrier can be configured to receive multiple plants at the same time, in particular the same plant type and / or plant variety. Multiple plant carriers can be arranged on the same plane of the storage shelf. Alternatively or in addition, multiple plant carriers can be arranged on multiple different height planes of one or more storage shelves. Multiple plant carriers can in particular be placed in one or more pots of a common mobile or stationary storage shelf. Each pot can have one or more plant carriers. BRIEF DESCRIPTION OF THE DRAWINGS

[0085] Specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. The specific features of these exemplary embodiments can be considered as general features of the present invention individually or in combination as necessary, regardless of where they are mentioned in the specific context. Among them:

[0086] Figure 1 is a schematic diagram of a basic logistics system according to the present invention,

[0087] Figure 2 is a schematic diagram of an exemplary automatic adjustment device of the logistics system, which has a drive on a robot arm,

[0088] Figure 3 is a schematic diagram of an exemplary automatic adjustment device of the logistics system, which has a drive on a storage shelf,

[0089] Figure 4is a schematic diagram of an exemplary automatic adjustment device of the logistics system, which has an energy storage device on a robot arm,

[0090] Figure 5 is a schematic diagram of an exemplary automatic adjustment device of the logistics system, which has conductive rails on the storage racks,

[0091] Figure 6 is a schematic diagram of an exemplary unmanned / autonomous vehicle having a robot as an automatic coupling machine and a robotic arm manipulating therewith for selectively coupling to a first storage rack or an additional storage rack,

[0092] Figure 7 is a schematic diagram of an exemplary unmanned / autonomous vehicle having a received, transportable storage rack and a stationary switching station, and

[0093] Figure 8 A schematic diagram of storage racks in vertical farming design. DETAILED DESCRIPTION

[0094] exist Figure 1 Detailed description of the invention shows a logistics system 1 and its basic components.

[0095] The logistics system 1 comprises a first storage rack 2.1 and at least one further storage rack 2.2 and at least one robot arm 3, which has a plurality of joints 3a and joints 3b which enable these joints 3a to be automatically adjusted relative to each other. One of the joints 3a is configured as a base joint 4 forming a base of the robot arm 3. The first storage rack 2.1 has a first robot arm bracket 5.1, which has a first connecting device 6.1, which cooperates with the matching connecting device 7 of the base joint 4 of the robot arm 3 when the robot arm 3 is connected to the first robot arm bracket 5.1, so that in the first configuration ( Figure 1 The base member 4 of the robot arm 3 is automatically latched and releasably connected to the first robot arm bracket 5.1. The other storage shelf 2.2 also has another robot arm bracket 5.2, which has another connecting device 6.2, which cooperates with the matching connecting device 7 of the base member 4 of the robot arm 3 when the robot arm 3 is connected to the other robot arm bracket 5.2, so that in the logistics system 1 different from the first configuration ( Figure 1 The second configuration (upper) Figure 1 In the lower part), the base member 4 of the robot arm 3 is automatically latched and releasably connected to the further robot arm support 5.2.

[0096] In the illustrated embodiment, the logistics system 1 includes automatic adjustment devices 8.1, 8.2, which are constructed such that, in a first configuration of the logistics system 1, the base joint 4 of the robot arm 3 is connected to the first robot arm bracket 5.1 of the first storage shelf 2.1, and the base joint 4 of the robot arm 3 is installed in an automatically driven and adjustable manner relative to the first storage shelf 2.1; in a second configuration of the logistics system 1, the base joint 4 of the robot arm 3 is connected to another robot arm bracket 5.2 of another storage shelf 2.2, and the base joint 4 of the robot arm 3 is installed in an automatically driven and adjustable manner relative to the other storage shelf 2.2.

[0097] The automatic adjustment devices 8.1 and 8.2 can be constructed so that, in a first configuration of the logistics system 1, the base section 4 of the robot arm 3 is automatically driven and adjustably installed on a first storage shelf 2.1 in a linearly height-adjustable manner; and in a second configuration of the logistics system 1, the base section 4 of the robot arm 3 is automatically driven and adjustably installed on another storage shelf 2.2 in a linearly height-adjustable manner.

[0098] In accordance with Figure 2 In a first embodiment variant, the automatic adjustment devices 8.1, 8.2 can have a drive 9a, which is constructed to move the base limb 4 of the robot arm 3 in an automatically driven manner relative to the first storage rack 2.1 in a first configuration and in an automatically driven manner relative to the other storage rack 2.2 in a second configuration when it is activated, wherein the drive 9a is constructed as a part of the robot arm 3, which, when disconnected from the first storage rack 2.1 and / or from the other storage rack 2.2, is disconnected from the first storage rack 2.1 and / or from the other storage rack 2.2 together with the robot arm 3.

[0099] In accordance with Figure 3 In a second embodiment variant, the automatic adjustment devices 8.1, 8.2 can have a drive 9b, which is designed to move the base member 4 of the robot arm 3 in an automatically driven manner relative to the first storage shelf 2.1 in a first configuration and in an automatically driven manner relative to the other storage shelf 2.2 in a second configuration when activated, wherein the drive 9b is respectively constructed as a part of the first storage shelf 2.1 and a part of the other storage shelf 2.2. Here, each drive 9b can be assigned a lifting screw 11, for example, that is, a lifting screw 11 driven by the drive 9b is provided for the first storage shelf 2.1 and the other storage shelf 2.2. A height-adjustable spindle nut 12 is provided on the lifting screw 11, which is connected to the base member 4 of the robot arm 3.

[0100] In accordance with Figure 4In a variant embodiment, the robot arm 3 has an energy storage device 13, which is designed to supply drive energy to a drive 9a of the robot arm 3 and / or at least one joint motor assigned to each joint 3b of the robot arm 3 independently of the logistics system 1.

[0101] In accordance with Figure 5 In a variant embodiment, the first storage rack 2.1 has at least one first conductive rail 14.1, which is configured to supply electrical energy to the robot arm 3 via the first storage rack 2.1 when the robot arm 3 is coupled to the first storage rack 2.1 via the first coupling device 5.1 in the first configuration. And the further storage rack 2.2 can have at least one further conductive rail 14.2, which is configured to supply electrical energy to the robot arm 3 via the further storage rack 2.2 when the robot arm 3 is coupled to the further storage rack 2.2 in the second configuration via the further coupling device 5.2.

[0102] In accordance with Figure 6 In an embodiment, the logistics system 1 can have at least one unmanned and / or autonomous vehicle 15, which has an automatic connecting machine 16, for example in the form of a robot, and the automatic connecting machine is constructed to automatically connect the robot arm 3 transported by at least one vehicle 15 to the first storage shelf 2.1 in a spatially close manner to the first connecting device 5.1 of the first storage shelf 2.1 when the logistics system 1 should enter the first configuration, and the automatic connecting machine 16 is constructed to automatically connect the robot arm 3 transported by at least one vehicle 15 to another storage shelf 2.2 in a spatially close manner to another connecting device 5.2 of another storage shelf 2.2 when the logistics system 1 should enter the second configuration.

[0103] In a variant embodiment, the logistics system 1 can have a stationary switching station 17 and at least one unmanned and / or autonomous vehicle 15, which is constructed to selectively receive a first storage rack 2.1 or an additional storage rack 2.2 in a transportable manner through the travel of at least one vehicle 15, wherein the stationary switching station 17 has an automatic coupling machine 16a, which is constructed to automatically couple or disconnect the robot arm 3 with the first storage rack 2.1 transported to the stationary switching station 17 in a spatially close manner by at least one vehicle 15 when the logistics system 1 needs to switch between a first configuration and a second configuration, or to automatically couple or disconnect the robot arm 3 with the additional storage rack 2.2 transported to the stationary switching station 17 in a spatially close manner by at least one vehicle 15 when the logistics system 1 should switch between the first configuration and the second configuration.

[0104] The first storage rack 2.1 and each additional storage rack 2.2 can be as follows Figure 8 As schematically shown in the figure, there are respectively a plurality of receiving planes 20 for plants, wherein the plurality of receiving planes 20 respectively form a group, including: a first receiving plane 20.1 of a lighting device 21 for plants, a second receiving plane 20.2 of a water supply device 23 or a nutrient solution supply device 24 for plants, and / or a third receiving plane 20.3 of an intermediate storage area for plant carriers 20, wherein the robot arm 3 is constructed and designed so that when the robot arm 3 is automatically connected to the corresponding first storage shelf 2.1 or another storage shelf 2.2, the plant 22 or the plant carrier 20 is automatically transferred between the first receiving plane 20.1, the second receiving plane 20.2 and the third receiving plane 20.3 inside the first storage shelf 2.1 or another storage shelf 2.2.

Claims

1. A logistics system comprising a first storage rack (2.1) and at least one further storage rack (2.2) and at least one robot arm (3), the robot arm having a plurality of joints (3a) and joints (3b) connecting the joints (3a) in an automatically adjustable manner relative to one another, wherein: One of the joints (3a) is a base joint (4) forming the base of the robot arm (3), characterized in that the first storage shelf (2.1) has a first robot arm bracket, the first robot arm bracket has a first connecting device (6.1), and the first connecting device cooperates with the matching connecting device (7) of the base joint (4) of the robot arm (3) when the robot arm (3) is connected to the first robot arm bracket, so that in the first configuration of the logistics system (1), the base joint (4) of the robot arm (3) is automatically latched with the first robot arm bracket. And can be automatically loosely connected, and the other storage shelf (2.2) has another robot arm bracket, and the other robot arm bracket has another connecting device (6.2), and the other connecting device cooperates with the matching connecting device (7) of the base segment (4) of the robot arm (3) when the robot arm (3) is connected to the other robot arm bracket, so that in the second configuration of the logistics system (1) different from the first configuration, the base segment (4) of the robot arm (3) is automatically latched with the other robot arm bracket and can be automatically loosely connected.

2. The logistics system according to claim 1, characterized in that: An automatic adjustment device (8.1, 8.2) is provided, which is constructed as follows: in a first configuration of the logistics system (1), the base section (4) of the robot arm (3) is connected to the first robot arm bracket of the first storage shelf (2.1), and the base section (4) of the robot arm (3) is adjustably mounted relative to the first storage shelf (2.1) in an automatically driven manner; and in a second configuration of the logistics system (1), the base section (4) of the robot arm (3) is connected to another robot arm bracket of the other storage shelf (2.2), and the base section (4) of the robot arm (3) is adjustably mounted relative to the other storage shelf (2.2) in an automatically driven manner.

3. The logistics system according to claim 2, characterized in that: The automatic adjustment device (8.1, 8.2) is constructed as follows: in a first configuration of the logistics system (1), the base section (4) of the robot arm (3) is automatically driven and adjustably mounted on the first storage shelf (2.1) in a linearly height-adjustable manner; and in a second configuration of the logistics system (1), the base section (4) of the robot arm (3) is automatically driven and adjustably mounted on the other storage shelf (2.2) in a linearly height-adjustable manner.

4. The logistics system according to claim 2, characterized in that: The automatic adjustment device (8.1, 8.2) has a drive (9a), which is constructed to move the base limb (4) of the robot arm (3) in an automatically driven manner relative to the first storage shelf (2.1) in the first configuration and in an automatically driven manner relative to the other storage shelf (2.2) in the second configuration when it is activated, wherein the drive (9a) is constructed as a part of the robot arm (3) and is disconnected from the first storage shelf (2.1) and / or the other storage shelf (2.2) together with the robot arm (3) in a disconnected state.

5. The logistics system according to claim 1, characterized in that: The robot arm (3) has an energy storage device (13), which is constructed to provide driving energy for a drive (9a) of the robot arm (3) and / or at least one joint motor assigned to each joint (3b) of the robot arm (3) independently of the corresponding configuration of the logistics system (1).

6. The logistics system according to claim 1, characterized in that: The first storage rack (2.1) has at least one first conductive rail (14.1), which is constructed to supply electrical energy to the robot arm (3) through the first storage rack (2.1) when the robot arm (3) is connected to the first storage rack (2.1) through the first connecting device in the first configuration; and the additional storage rack (2.2) has at least one additional conductive rail (14.2), which is constructed to supply electrical energy to the robot arm (3) through the additional storage rack (2.2) when the robot arm (3) is connected to the additional storage rack (2.2) through the additional connecting device in the second configuration.

7. The logistics system according to any one of claims 1 to 6, characterized in that: at least one vehicle (15) having an automatic coupling machine (16): the automatic coupling machine is configured to automatically couple a robot arm (3) transported by the at least one vehicle (15) to the first storage rack (2.1) in a spatially close manner to a first coupling device of the first storage rack (2.1) when the logistics system (1) is to enter the first configuration; And the automatic coupling machine (16) is constructed so that, when the logistics system (1) is to enter the second configuration, the robot arm (3) transported by the at least one vehicle (15) to the additional storage shelf (2.2) in a spatially close manner is automatically coupled to the additional coupling device of the additional storage shelf (2.2).

8. The logistics system according to claim 7, characterized in that: The at least one vehicle (15) is an unmanned and / or autonomous vehicle (15).

9. The logistics system according to any one of claims 1 to 6, characterized in that: A system having a stationary switching station (17) and at least one vehicle (15), wherein the vehicle is configured to selectively receive the first storage rack (2.1) or the other storage rack (2.2) in a transportable manner by the travel of the at least one vehicle (15), wherein the stationary switching station (17) has an automatic coupling machine (16a), wherein the automatic coupling machine is configured to automatically couple or disconnect the robot arm (3) with the first storage rack (2.1) transported by the at least one vehicle (15) to the stationary switching station (17) in a spatially close manner when the logistics system (1) is to be switched between the first configuration and the second configuration, or to automatically couple or disconnect the robot arm (3) with the other storage rack (2.2) transported by the at least one vehicle (15) to the stationary switching station (17) in a spatially close manner when the logistics system (1) is to be switched between the first configuration and the second configuration.

10. The logistics system according to claim 9, characterized in that: The at least one vehicle (15) is an unmanned and / or autonomous vehicle (15).

11. The logistics system according to claim 9, characterized in that: The first storage rack (2.1), the corresponding other storage rack (2.2), the at least one vehicle (15), the robot arm (3) and / or the stationary switching station (17) all have at least one sensor device, which is constructed to automatically determine the current relative position and / or relative location of the robot arm (3) relative to the first storage rack (2.1), the corresponding other storage rack (2.2), the at least one vehicle (15) and / or the stationary switching station (17).

12. The logistics system according to claim 11, characterized in that: The at least one vehicle (15) is an unmanned and / or autonomous vehicle (15).

13. The logistics system according to any one of claims 1 to 6, characterized in that: The first storage rack (2.1) and the corresponding other storage rack (2.2) each have a plurality of receiving planes (20) for plants (22), wherein the plurality of receiving planes (20) each form a group, including: a first receiving plane (20.1) for a lighting device (21) for the plants (22), a second receiving plane (20.2) for a water supply device (23) or a nutrient solution supply device (24) for the plants (22), and / or an intermediate storage area for a plant carrier (26). (25) of the third receiving plane (20.3), wherein the robot arm (3) is constructed and designed so that when the robot arm (3) is automatically connected to the corresponding first storage shelf (2.1) or the other storage shelf (2.2), the plants (22) or the plant carrier (26) are automatically transferred between the first receiving plane (20.1), the second receiving plane (20.2) and the third receiving plane (20.3) inside the first storage shelf (2.1) or the other storage shelf (2.2).

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