A method for storing multiple storage objects of different storage object types into a storage shelf, and a shelf storage system for this purpose.

Abstract

A method is proposed for storing multiple storage objects (4, 4a, 4b) of different storage object types into storage racks (3a, 3b). The storage area (B, B1...B3) is equipped with multiple storage area segments (S1...S6), each segment including multiple virtual placement positions (P', P1'...P5') for storing the objects (4, 4a, 4b). When storing objects (4, 4a, 4b), a suitable virtual placement position (P', P1'...P5') is selected from the storage area segments (S1...S6), and the objects (4, 4a, 4b) are stored in the assigned physical placement positions (P, P1...P5) within the storage area (B, B1...B3). Therefore, the virtual placement positions in the storage area segments (S1.S6) allocated to the storage areas (B, B1..B3) are limited to virtual placement positions that can accommodate another storage object. Furthermore, a rack storage system (1) for implementing the mentioned method is proposed.

Description

Technical Field

[0001] This invention relates to a method for storing multiple storage objects of different types into a storage rack. The storage rack includes rack columns, stacked shelf layers, and multiple storage areas. The storage areas are respectively arranged between two rack columns spaced apart along the longitudinal direction of the storage rack. The storage of the objects is controlled by a storage management system, which is equipped with an electronic memory. Furthermore, this invention also relates to a rack storage system, comprising: at least one storage rack for accommodating multiple storage objects of different types, the storage rack including rack columns, stacked shelf layers, and multiple storage areas, wherein the storage areas are respectively arranged between two rack columns. Additionally, the rack storage system includes: at least one rack operating device movable along the longitudinal direction of the storage rack for storing objects; and a storage management system equipped with an electronic memory. Background Technology

[0002] Such rack storage systems and operating methods for such rack storage systems are known from the prior art.

[0003] For example, a method for storing objects is known from the document US 2015 / 0266672 A1, wherein the size of multiple storage areas is variably adapted. Each of these variable storage areas is assigned to a different storage object.

[0004] Furthermore, a storage system for storing objects is known from document EP 1 627 830 A1, in which the size of the stored object is detected. Here, information about the available space in the storage system is stored in an electronic memory. Furthermore, multiple stored objects are grouped into storage object groups based on their size, and suitable available space is allocated to each storage object group.

[0005] However, a disadvantage of known methods is that storing objects of different types (especially different sizes) becomes difficult because the impact on the future storage strategy triggered by the storage of objects is difficult to estimate or is completely disregarded. This can occasionally lead to unfavorable situations when gradually filling a shelf storage system or one or more shelves. Specifically, it may happen that due to unfavorable filling of the shelf storage system, storage objects can no longer be stored, whereas in the case of favorable filling of the shelf storage system or one or more shelves, said storage objects can be stored with the same filling level. Summary of the Invention

[0006] The present invention now aims to provide an improved method for storing multiple storage objects of different storage object types into a storage shelf, and an improved shelf storage system for this purpose. In particular, the shelf storage system should be filled in a manner that facilitates or simplifies the storage of additional storage objects.

[0007] The objective of this invention is achieved by the method mentioned at the beginning, which includes the following steps: a) In the electronic memory, multiple storage areas are segmented and assigned to one storage area in each storage area, each storage area segment including multiple virtual placement locations for the stored object and describing the possible arrangement of the stored object type in the mentioned storage area; b) Detect the storage object type of the object to be stored; c) The storage management system selects a virtual placement location for the storage object to be stored in the multiple storage area segments, wherein the virtual placement location can realize the storage object type of the mentioned storage object; d) By using a rack operation device that can move along the longitudinal direction of the storage rack, the storage object is stored in the physical placement position of the storage area, and the physical placement position is assigned to the selected virtual placement position; e) In the electronic memory, the state of the virtual placement location is changed from unoccupied (idle) to occupied. The state indicates whether the assigned physical placement location is occupied by the stored object. f) In the electronic memory, the virtual placement position in the storage area segment allocated to the storage area is limited to the following virtual placement position, which enables another storage object to be stored in a physical placement position; g) Repeat steps b) to f).

[0008] The objective of this invention is also achieved by the rack storage system of the method mentioned at the beginning, wherein the rack storage system is configured to perform the following steps: a) In the electronic memory of the storage management system, multiple storage areas are segmented and allocated to one storage area in each storage area, each storage area segment including multiple virtual placement positions for the stored object and describing the possible arrangement of the stored object type in the mentioned storage area. b) Detect the storage object type of the object to be stored; c) Select a virtual placement location for the storage object to be stored in the multiple storage area segments, wherein the virtual placement location can realize the storage object type of the mentioned storage object; d) To drive the rack operation device to store the object in the physical placement location of the storage area, the physical placement location is assigned to the selected virtual placement location; e) In the electronic memory, the state of the virtual placement location is changed from unoccupied (idle) to occupied. The state indicates whether the assigned physical placement location is occupied by the stored object. f) In the electronic memory, the virtual placement position in the storage area segment allocated to the storage area is limited to the following virtual placement position, which enables another storage object to be stored in a physical placement position; g) Repeat steps b) to f).

[0009] The "physical placement position" is defined by a horizontal placement surface that extends between the shelf uprights (specifically the two front shelf uprights and the two rear shelf uprights) along the x-direction (parallel to the longitudinal direction of the storage shelf) and the z-direction (perpendicular to the longitudinal direction of the storage shelf). Therefore, this involves a two-dimensional placement position.

[0010] Alternatively, but also possible, the "physical placement location" is defined by a horizontal placement surface that extends along the x-direction (parallel to the longitudinal direction of the storage rack) and the z-direction (perpendicular to the longitudinal direction of the storage rack) between the rack uprights (particularly the two front rack uprights and the two rear rack uprights), and has a height extending along the y-direction (vertical to the placement surface). Therefore, this involves a three-dimensional placement location.

[0011] A "virtual placement location" is a digital copy or digital mapping of the corresponding physical placement location.

[0012] The proposed measures simplify or facilitate the storage of different types of storage objects (especially storage objects of different sizes) into a shelf storage system or one or more shelves that may already be partially filled. This is achieved by selecting advantageous virtual placement locations in storage area segments when storing storage objects, taking into account the future impact on storage strategies. Thus, the shelf storage system or one or more shelves can operate even under high fill conditions, ensuring the possibility of storing additional storage objects of different types is always guaranteed.

[0013] Specifically, it can be stipulated that the first storage object is stored in the first placement position of the storage area according to the first storage area segment, and then the second storage object is stored in the second placement position of the same storage area according to the second storage area segment. By combining different storage area segments in the same storage area, particularly efficient space utilization in the storage area can be achieved.

[0014] When restricting virtual placement locations in step f), at least the following virtual placement locations in different storage area segments will be marked as "occupied": these locations are affected by the storage entry in step d), and thus become inaccessible thereafter, for example, because the corresponding physical placement location in the storage area is at least partially occupied. Similarly, if an object is stored in a preceding placement location in multiple successive placement locations, the virtual placement location is affected by the storage entry in step d), because one or more subsequent placement locations, although physically unoccupied, are no longer accessible. In this case, the status of one or more subsequent placement locations can also be changed to "occupied".

[0015] Advantageously, if the object to be removed is moved from its physical location, the virtual location is released. To this end, it can be stipulated that during the process of removing the object from its physical location, the state of the virtual location allocated to the physical location is changed from occupied to unoccupied. Furthermore, it is preferable to remove the restriction on the virtual location, which was implemented in step f) when the object to be removed was previously stored.

[0016] The storage object type specifically describes the size of the storage object in one, two, and / or three dimensions (vertical dimension, measured along the z-direction; width dimension, measured along the x-direction; and / or height dimension, measured along the y-direction). Furthermore, the storage object type may include other characteristics of the storage object, such as whether it directly relates to goods or loading aids used to transport goods; whether it relates to fast-turnover or slow-turnover items, etc. The placement location for storing the storage object or storage object type should be the same size as, and particularly slightly larger than, the storage object or storage object type. Goods are single items or packaging units comprising multiple single items (and, for example, surrounded by plastic film). Loading aids are, for example, containers, pallets, cartons, etc.

[0017] Preferably, the shelf storage system includes a sensing device for reading data carriers (e.g., barcodes) and / or a sensing device for detecting the type of stored object (e.g., the size of the stored object) and / or a sensing device for object identification of the type of stored object, so as to determine the stored object based on this.

[0018] The storage object type is assigned to the storage object, for example, it is stored in the main data of the storage object.

[0019] Therefore, according to the first embodiment, it is advantageous that the detection of the type of stored object is achieved through the identification of the stored object. The identification of the stored object can be achieved, for example, by reading a data carrier using a sensing device (particularly by means of a reading device). The data carrier is, for example, a barcode, a matrix code (particularly a QR code (Quick Response Code)), a data matrix code, an RFID tag (Radio Frequency Identification), or the like. The reading device can be an optical or photoelectric reading device, which can mechanically read the data. The data carrier can contain data, particularly an identification number, from which master data, storing the type of stored object, can be traced. Alternatively, the data carrier can also directly contain data about the type of stored object.

[0020] Therefore, according to the second embodiment, it is advantageous that the detection of the type of stored object is achieved by identifying the stored object using a sensing device for object recognition. Object recognition describes a method for identifying objects using optical, acoustic, or other physical identification methods. In particular, after identifying the stored object by object recognition, master data can be traced, in which the type of stored object is stored.

[0021] Regardless of the described implementation, the detection of the type of stored object may alternatively include detecting the size of the stored object via a sensing device, specifically detecting the length, width, and / or height of the stored object, or its size in one, two, and / or three dimensions. The sensing device particularly includes an optical sensing device. The corresponding stored object type is generated from the size detected in the one, two, and / or three dimensions of the stored object.

[0022] Furthermore, it should be noted that steps d), e), and f) do not necessarily have to be performed in the given order, but can be performed in other orders, such as e), d), f) or e), f), d) or d), f), e).

[0023] The method may be equipped with automated, semi-automated, or manually operable rack operation equipment.

[0024] Generally, rack-operating equipment is considered not only as track-guided single-layer rack-operating equipment, but also as track-guided multi-layer rack-operating equipment or (non-track-guided) autonomous rack-operating equipment (such as one or more AMRs (Autonomous Mobile Robots) or one or more AGVs (Autonomous Assisted Vehicles) each with an articulated arm robot), and the like. Furthermore, rack-operating equipment that can be moved by an operator, such as forklifts, or the like, is also considered as rack-operating equipment.

[0025] Advantageous designs and further extensions of the invention now arise from the description of the overview drawings.

[0026] Advantageously, limiting the virtual placement location in step f) includes restricting the storage area segments allocated to the storage area in the electronic memory to one or more storage area segments that contain the selected virtual placement location. In other words, limiting the virtual placement location in step f) includes restricting the storage area segments allocated to the storage area in the electronic memory to one or more storage area segments, wherein the reserved storage area(s) contains the selected virtual placement location. Therefore, the number of available storage area segments can decrease as the fill level of the corresponding storage area increases, thereby enabling particularly efficient selection of the virtual placement location when further storing another object.

[0027] Advantageously, step f) can be performed in the same manner on other storage areas (particularly adjacent and / or opposite storage areas). That is, the storage area segmentation is restricted not only to storage areas where storage objects have just been stored, but also to other storage areas where no storage objects are currently stored. In this way, for example, placement positions can be kept vacant in adjacent storage areas, which enables simple transfer of storage objects. In particular, the implementation variation involves storage areas that are opposite each other in the inter-shelf aisle. That is, step f) can be performed in a simple manner on storage areas that are opposite each other in the inter-shelf aisle.

[0028] Furthermore, it is advantageous to set a maximum number of virtual placement locations as a criterion for selecting virtual placement locations in step c), which is retained in step f) after limiting the number of virtual placement locations. This facilitates high storage capacity in terms of the number of additional storage objects to be stored. That is, multiple storage objects can also be stored in the storage area.

[0029] Furthermore, it is advantageous that a maximum number of storage area segments is set as a standard for selecting the virtual placement location in step c), and this maximum number is retained in step f) after limiting the number of storage area segments allocated to the storage area. This facilitates a high degree of flexibility when storing other objects, as there are thus multiple different storage area segments available for selection.

[0030] In an advantageous variation of the proposed method, the selection of placement locations can be achieved according to one or more of the following criteria: the frequency of transfer of stored objects; uniform occupancy of stored objects in the rack storage system (and thus one or more racks); stacking of stored objects of the same or similar type; the degree of filling in the stored objects constituting a loading auxiliary mechanism; the degree of filling in the (physical) storage area; separation of hazardous materials from non-hazardous stored objects; the transport path of stored objects from the placement location to the transfer device, wherein the stored objects are transported by means of rack operating equipment along the mentioned transport path; the transport path of stored objects from the receiving device to the placement location, wherein the stored objects are transported by means of rack operating equipment along the mentioned transport path; the priority of the later (virtual / physical) placement location in the case of multiple successive (virtual / physical) placement locations; the priority of the larger earlier (virtual / physical) placement location in the case of multiple successive (virtual / physical) placement locations; minimization of the storage time via the rack operating equipment; maximization of the number of stored objects stored at one time by the rack operating equipment.

[0031] In the measures mentioned above, the receiving device may involve a storage process, and in the case of a single-layer rack operating device, it may, for example, involve a buffer device comprising multiple preparation devices, wherein the rack operating device can retrieve at least one storage object from each preparation device. In the measures mentioned above, the transfer device may involve a removal process, and in the case of a single-layer rack operating device, it may, for example, involve a buffer device comprising multiple preparation devices, wherein the rack operating device can retrieve at least one storage object to each preparation device.

[0032] In the aforementioned measures, the receiving device may relate to the storage process and, in the case of a multi-layer racking operation device, may, for example, involve a buffer device including a (unique) preparation device, from which the racking operation device can retrieve at least one storage object. In the aforementioned measures, the transfer device may relate to the removal process and, in the case of a multi-layer racking operation device, may, for example, involve a buffer device including a (unique) preparation device, where the racking operation device can retrieve at least one storage object to the preparation device. The storage conveying technology device includes a conveying device for transporting the storage object, the conveying device constituting the preparation device. The removal conveying technology device includes a conveying device for removing the storage object, the conveying device constituting the preparation device.

[0033] For example, it can be more precisely stated that fast-turnover items (item A) are stored near the vertical conveyor used for storing and / or removing transported objects, while it can be more precisely stated that slow-turnover items (item C) are stored further away from the vertical conveyor used for storing and / or removing transported objects. Furthermore, if the storage area has multiple successive placement positions or multiple transported objects are successively placed in a storage rack (along the z-direction), then the later placement positions can be more precisely occupied by slow-turnover items (item C), and the earlier placement positions can be more precisely occupied by fast-turnover items (item A). If the storage area has multiple successive placement positions or multiple transported objects are successively placed in a storage rack (along the z-direction), then it is preferable to use storage objects of the same or similar storage object type to occupy these placement positions.

[0034] Furthermore, it is advantageous that one or more of the aforementioned criteria are considered during the transfer process, transferring the already stored object to another placement location. Steps b) to f) are performed after the object is retrieved from its initial placement location and then stored in the other location. That is, the same measures are taken when transferring the object as when it is initially stored. The transfer therefore includes: removing the object to be transferred from its initial placement location and subsequently storing it in another location. Thus, the initial and subsequent storage of objects during the transfer follows a unified principle, thereby efficiently utilizing the proposed method. For example, such a transfer process can be performed during periods of low load on the shelving system, such as at night.

[0035] Furthermore, it can be stipulated that during the transfer of stored objects, the virtual or physical placement location is optimally selected so that the transport path between the initial placement location of the stored object and the selected placement location for transfer is as short as possible. This can be particularly advantageous when the stored object should only be stored at the selected placement location for a short period of time.

[0036] Advantageously, steps b) to f) are performed once or simultaneously for multiple storage objects, wherein the storage objects are stored into one or more storage area segments in step c) and into a single storage area in step d). This variation is advantageous when more than one storage object can be stored in one step or in a single storage process by the rack operating device. It can be specified that the first storage object is stored substantially simultaneously into a first placement position in the storage area according to a first storage area segment, and the second storage object is stored into a second placement position in the storage area according to a second storage area segment.

[0037] Advantageously, the placement positions of the stored objects are arranged sequentially along the storage direction as viewed from the rack operating equipment. In this way, the rack operating equipment can transfer multiple stored objects to the storage rack in one position during storage without having to move them during this period.

[0038] Furthermore, it is particularly advantageous that: - Multiple storage area segments are combined into a single meta-segment, wherein, in step c), a virtual placement location is first selected from among the multiple meta-segments, and then a virtual placement location is selected from among the multiple storage area segments of the selected meta-segment; and - In step f), the metadata segment allocated to the storage area in the electronic memory is restricted to one or more metadata segments, the metadata segment containing the selected virtual placement location.

[0039] This speeds up the search for suitable segments. If the number of storage area segments allocated to a storage area is very large, searching for or selecting suitable virtual placement locations for the stored object can be time-consuming. Therefore, in such cases, it is advantageous to form groups of meta-segments, i.e., storage area segments. These groups are formed, for example, based on the occurrence of determined virtual placement locations. For example, a first meta-segment may contain virtual placement locations different from those of a second meta-segment. If a suitable virtual placement location for the stored object should now be selected in step c), then the search begins in the meta-segments. Thus, a suitable meta-segment with such a virtual placement location is obtained in the first step. Subsequently, the search continues (only) in the storage area segments contained in the obtained meta-segments. Therefore, the search for suitable virtual placement locations for the stored object is shortened because it is not necessary to search all the number of storage area segments. Meta-segments may have mutually exclusive storage area segments and / or form overlapping areas.

[0040] It is also advantageous to sort or prioritize the storage area segments allocated to a storage area according to a sorting criterion, and in step c), select a storage area segment that contains the selected virtual placement positions and has the highest priority. Through the proposed measures, the selection of suitable storage area segments can be achieved particularly efficiently. For example, the number of placement positions contained in a storage area segment can be used as a sorting criterion, where the priority increases with the number of placement positions. Therefore, depending on the possibility, a storage area segment is selected such that as many (virtual) placement positions remain free as possible after the placement positions are occupied by the objects to be stored. In particular, one or more of the criteria disclosed above can also be used.

[0041] Furthermore, it is advantageous to select a placement location in step c) that provides optimal space utilization for storing objects. The stored objects are typically smaller than their physical placement location. It is now advantageous to minimize the space occupied by unstored objects. The term "space utilization" here can refer to the utilization of one-dimensional width, one-dimensional depth, one-dimensional height, two-dimensional placement surface, or three-dimensional space.

[0042] Finally, it is advantageous that, in the rack system, limiting the virtual placement location in step f) includes restricting the storage area segments allocated to the storage area in the electronic memory to one or more storage area segments, the storage area segments containing the selected virtual placement location.

[0043] It should generally be noted that objects can be stacked together if necessary. In the case of a two-dimensional virtual placement location, its boundaries extend in height, whereas the segments of a three-dimensional virtual placement location may appear different in different planes.

[0044] It should also be noted that in most applications, it is advantageous to use rectangular or square virtual and physical placement locations, but the virtual and physical placement locations can be arbitrarily shaped. Preferably, the shape of the virtual placement location corresponds to the shape of the basic surface or the object to be stored. Typically, the objects to be stored (e.g., boxes, trays, cartons, and the like) are rectangular in shape. In special applications (e.g., in the case of round or circular objects to be stored), it may be advantageous to use circular or cylindrical virtual and physical placement locations.

[0045] In addition, a one-dimensional virtual placement position and / or physical placement position can be specified, wherein the one-dimensional placement position basically indicates the width (along the x-direction) or length (along the z-direction) of the object to be stored.

[0046] It should also be noted that the variations and advantages disclosed in the proposed method are equally applicable to the proposed rack storage system, and vice versa. Attached Figure Description

[0047] To better understand the invention, it is further illustrated with reference to the following figures.

[0048] These are shown in highly simplified, schematic diagrams: Figure 1 A smaller portion of a rack storage system with schematically shown storage shelves is illustrated in the oblique view; Figure 2 The plan view shows the structure according to... Figure 1 A larger section of the shelving storage system; Figure 3 This illustrates the configuration of assigning multiple storage areas to a single storage area. Figure 4-9b This illustrates an exemplary process in the case of storing two objects into a single storage area; Figure 10 This demonstrates simultaneous and similar constraints on the segmentation of storage regions for multiple storage areas; Figure 11 This shows how to store two objects simultaneously in successive placement locations; Figure 12 This demonstrates the use of meta-segments when a virtual placement location is selected; and Figure 13 An example of a storage area segmentation for a circular placement location is shown.

[0049] As an introduction, it should be noted that in different described embodiments, the same components are given the same reference numerals or the same component names, wherein the disclosure contained throughout the specification is semantically transferable to the same components having the same reference numerals or the same component names. Furthermore, the location descriptions selected in the specification (e.g., upper, lower, side, etc.) relate to the directly described and illustrated figures and are semantically transferable to the new location if the location changes. Detailed Implementation

[0050] Figure 1 An example of an automated shelving system 1 is shown in a perspective view. According to the illustrated embodiment, the shelving system 1 includes: a first storage shelf 3a for accommodating multiple storage objects 4 of different storage object types; a second storage shelf 3b for accommodating multiple storage objects 4 of different storage object types; and an inter-shelf aisle 5 between the first storage shelf 3a and the second storage shelf 3b. The storage shelves 3a and 3b each include vertical shelf posts 6, multiple stacked shelf layers E, and storage areas B arranged in the shelf layers E, wherein the storage areas B are respectively arranged between two shelf posts 6. The vertical shelf posts 6 may include front shelf posts and rear shelf posts. Generally, the shelf layers E may be constructed from beams or through beams extending along the z-direction, or partitions or grid partitions. Figure 1 For better overview, only one storage area B is shown for each shelf E. However, typically there are multiple storage areas B per shelf E, as is also shown in [the previous text]. Figure 2The diagram is schematically shown. Storage areas B include multiple physical placement locations P for accommodating stored objects 4. According to this embodiment, the shelf storage system 1 also includes a storage buffer device 7 with a storage preparation device 8, which is arranged in stacked preparation layers and configured as an intermediate buffer for one or more stored objects 4. In this example, each preparation layer is assigned to a separate shelf layer E and is therefore not shown separately. However, an alternative arrangement is possible. The preparation device 10 may include a driven conveying device, such as a roller conveyor.

[0051] According to the described embodiment, the shelving system 1 further includes a removal buffer device 9 with a removal preparation device 10, which is arranged in stacked preparation layers and configured as an intermediate buffer for one or more storage objects 4. In this example, each preparation layer is assigned to a separate shelving layer E and is therefore not shown separately. However, alternatively, another arrangement is possible here. The preparation device 10 may include a driven conveying device, such as a roller conveyor.

[0052] According to the embodiment, the rack storage system 1 includes a plurality of rack operating devices 11, which are moved in the inter-rack aisle 5 between the first storage rack 3a and the second storage rack 3b. Specifically, the rack operating devices 11 are movable in the longitudinal direction x in a horizontal travel plane before the storage area B, before the storage preparation device 8, and before the removal preparation device 10. This longitudinal direction is parallel to the longitudinal extension of the inter-rack aisle 5. For this purpose, a pair of travel tracks 25 can be provided for each horizontal travel plane. For each travel plane, the first travel track 25 (see...) Figure 2 The first storage rack 3a is preferably fastened to the vertical (front) shelf column 6, and the second travel track 25 is preferably fastened to the vertical (front) shelf column 6 of the second storage rack 3b. The travel track 25 extends along the storage area B and along the preparation devices 8 and 10 for storing and removing the stored object 4.

[0053] The rack operation equipment 11 has load picking devices for storing and removing the stored objects 4 (see also...). Figure 2 It is configured to transport the stored object 4 from the storage preparation device 8 to the storage area B and to transport the stored object 4 from the storage area B to the removal preparation device 10. In other words, the transport technology connection between the storage preparation device 8 and the storage area B, and the transport technology connection between the storage area B and the removal preparation device 10 are realized by the rack operation device 11.

[0054] Document WO 2016 / 168878 A1 describes a possible implementation of such a rack operation device 11 (single-layer rack operation device) and different implementations of a load picking device for storing and removing stored objects 4.

[0055] In this example, each travel plane is assigned to a separate shelf E and therefore is not represented separately.

[0056] According to the illustrated embodiment, each shelf level E is equipped with a shelf operating device 11. However, alternatively, there may be fewer shelf operating devices 11 than shelf levels E. In this case, the shelf operating device 11 can be moved from one travel plane to another by, for example, a shelf operating device elevator as described in document AT522 434 A1.

[0057] Furthermore, according to the aforementioned embodiment, the shelving storage system 1 includes: a vertical storage conveyor 13 provided with an inter-shelf passageway 5, the vertical storage conveyor including a plurality of storage transport platforms 14a, 14b that are independently controllable and relatively adjustable relative to the preparation layer; and a storage conveying device provided with the inter-shelf passageway 5 and technically connected to the vertical storage conveyor 13, the storage conveying device being used to transport the storage object 4 to the vertical storage conveyor 13. The storage object 4 can be transported from the storage conveying device to the storage preparation device 8 by means of the storage transport platforms 14a, 14b. The storage object 4 can move not only vertically but also horizontally by means of the storage transport platforms 14a, 14b. For this purpose, the storage transport platforms 14a, 14b each have a transport device, which in this example is a roller conveyor. However, it is also possible to consider that the vertical conveyor 13 has only one storage transport platform 14a or more than two storage transport platforms 14a and 14b.

[0058] If multiple storage transport platforms 14a and 14b are provided, these storage transport platforms are arranged vertically on top of each other on the storage guide device of the storage vertical conveyor 13, and can be adjusted independently by an electronic controller. The storage guide device for the storage transport platforms 14a and 14b can be configured on a storage vertical rod 23 that is fixedly positioned, particularly on a single storage vertical rod 23, as shown in this case. Figure 1 That's the situation in China.

[0059] In this example, the storage and conveying technology device includes a first storage and conveying device 16a in the first conveying layer F1 and a second storage and conveying device 16b in the second conveying layer F2. However, it is also conceivable that the storage and conveying technology device has only one storage and conveying device 16a.

[0060] Furthermore, according to the aforementioned embodiment, the shelving storage system 1 includes: a vertical conveyor 17 for transferring items from the shelving section 5, the vertical conveyor including multiple transfer transport platforms 18a, 18b that are independently controllable and relatively adjustable relative to the preparation layer; and a transfer transport device connected to the vertical conveyor 17 for transferring items from the vertical conveyor 17, wherein the items 4 can be transported from the preparation device 10 to the transfer transport device 19 via the transfer transport platforms 18a, 18b. The items 4 can move not only vertically but also horizontally via the transfer transport platforms 18a, 18b. For this purpose, the transfer transport platforms 18a, 18b each have a transport device, which in this example is a roller conveyor. However, it is also possible to consider that the vertical conveyor 17 has only one removal transport platform 18a or more than two removal transport platforms 18a and 18b.

[0061] If multiple removal transport platforms 18a, 18b are provided, these platforms are arranged vertically on top of each other on the removal guide device of the removal vertical conveyor 17 and can be independently adjusted by an electronic controller. The removal guide device for the removal transport platforms 18a, 18b can be configured on the removal vertical rod 24, which is fixedly positioned, particularly on a single removal vertical rod 24, as is the case here. Figure 1 That's the situation in China.

[0062] In this example, the removal conveying technology device 19 includes a first removal conveying device 20a in the first conveying layer F1 and a second removal conveying device 20b in the second conveying layer F2. However, it is also conceivable that the removal conveying technology device 19 has only one removal conveying device 20a.

[0063] In the example shown, the storage buffer 7 is arranged between the first storage rack 3a and the storage vertical conveyor 13, and the removal buffer 9 is arranged between the second storage rack 3b and the removal vertical conveyor 17. However, in principle, another arrangement can also be considered, in particular, the storage side can be arranged on one end of the inter-rack passage 5, and the removal side can be arranged on the other end of the inter-rack passage 5.

[0064] The implementation schemes for storing in the vertical conveyor device 13 and removing from the vertical conveyor device 17 are described in references WO 2020 / 113249 A1 and WO 2020 / 113254 A1.

[0065] Finally, the rack storage system 1 includes a computer system, particularly one or more computers (e.g., a control computer and / or a logistics computer and / or a storage management computer, of which the memory programmable controller is used). The storage conveying equipment, the removal conveying equipment, the storage vertical conveyor 13, the removal vertical conveyor 17, and one or more rack operating devices 11 are driven by the control system or the computer system.

[0066] Storage management system 21 or storage management computer (warehouse management system) in Figure 1 Symbolically shown in the middle. The storage management system 21 is equipped with... Figure 1 The electronic memory 22 is symbolically shown in the image. In particular, the storage management system 21 may include or be connected to the memory 22.

[0067] Although the above embodiment includes a first vertical conveyor 13 for storing the object 4 and a second vertical conveyor 17 for removing the object 4, an embodiment not shown can include a vertical conveyor that is used not only for storing the object 4 but also for removing it. As mentioned above, the vertical conveyor may include one or more transport platforms for storing and removing the object 4.

[0068] Here, according to the first embodiment, the buffer device may be located on one side of the vertical conveyor and in the stacked preparation layer, including preparation devices for intermediately buffering one or more storage objects 4. The preparation devices are arranged between the vertical conveyor and the first storage rack 3a or the second storage rack 3b. Some of the preparation devices are used to store the storage object 4 and some are used to remove the storage object 4, or the preparation devices may be used separately and as needed for storing or removing the storage object 4 in reverse operation.

[0069] According to the second embodiment, the buffer device may include preparation devices on both sides of the vertical conveying device and in the stacked preparation layer for buffering one or more storage objects 4 in the middle.

[0070] The preparation device arranged adjacent to the first side of the vertical conveyor is used only for storing the storage object 4; and the preparation device arranged adjacent to the second side of the vertical conveyor is used only for removing the storage object 4.

[0071] Here, the conveying technology equipment may also include a conveying device for transporting the stored object 4 to the vertical conveying device and a conveying device for transporting the stored object 4 away from the vertical conveying device.

[0072] Different implementations of the shelf storage system are described, for example, in documents WO 2013 / 090970 A2 and WO 2016 / 033628 A1. It goes without saying that these shelf storage systems are merely examples, and the technical solutions of the present invention are by no means limited thereto.

[0073] It should also be noted that the shelving system may have additional storage shelves and inter-shelf aisles, such as ten storage shelves and five inter-shelf aisles, which are implemented as described above.

[0074] Therefore, the described rack storage system may include the following in the different embodiments described above: The first storage rack 3a includes rack columns 6, stacked rack layers E, and multiple storage areas B, wherein at least some of the storage areas B include multiple physical placement locations P. The second storage rack 3b includes rack columns 6, stacked rack layers E, and multiple storage areas B, wherein at least some of the storage areas B include multiple physical placement positions P; The inter-shelf passage 5 between the first storage shelf 3a and the second storage shelf 3b; Buffer devices 7 and 9, the buffer devices include preparation devices 8 and 10 respectively for intermediate buffering of one or more storage objects 4, wherein the first preparation device 8 is used to store the storage object 4 and the second preparation device 10 is used to remove the storage object 4. One or more vertical conveying devices 13, 17, the vertical conveying devices being used to store and remove the storage object 4, the one or more vertical conveying devices 13, 17 being respectively equipped with at least one transport platform 14a that is relatively adjustable relative to the preparation devices 8, 10, the transport platform including transport devices for storing and / or removing the storage object 4; A conveying technology device connected to one or more vertical conveying devices, the conveying technology device including a first conveying device for transporting (storing) the stored object 4 and a second conveying device for transporting (removing) the stored object 4; One or more rack operating devices 11, which are movable on horizontal travel tracks in the rack passage 5 before storage area B and before preparation devices 8 and 10, respectively. The one or more rack operating devices are configured to transport the stored object 4 from preparation device 8 (for storing the stored object 4) to storage area B and to transport the stored object 4 from storage area B to preparation device 10 (for removing the stored object 4); and Storage management system 21, configured to perform the steps described below.

[0075] Figure 2 Showing according to Figure 1 A schematic diagram of the shelving system 1 is shown, but multiple storage areas B are shown in the top view along the x-direction and on the shelf E. The vertical conveyor 13 for storing, the vertical conveyor 17 for removing, and the conveying equipment for transporting and removing the stored objects 4 are not shown for better overview. The shelving system 1 includes the aforementioned storage shelves 3a and 3b and an inter-shelf aisle 5 located therebetween, in which a shelf operating device 11 is movably arranged along the longitudinal direction x. Specifically, each travel plane is provided with a travel track 25, on which the wheels 26 of the shelf operating device 11 can roll. Furthermore, the shelf operating device 11 has a load-picking device 27 that can be retractably moved to both sides, using which the stored objects 4 can be stored in and removed from the storage shelves 3a and 3b. In other words, the stored objects 4 can be placed in or removed from the storage area B by means of the load-picking device 27. Furthermore, when the load picking device 27 retracts, the stored object 4 can also be transported along the longitudinal direction x on the rack operation device 11 using the load picking device 27.

[0076] according to Figure 3 Now, section 9 should further clarify the operation mode of the automated rack storage system 1.

[0077] Figure 3 This diagram illustrates multiple different storage area segments S1...S3 allocated to storage area B, each including multiple virtual placement locations P' for storing object 4, and describes possible arrangements of the stored object types within the mentioned storage area B. Specifically, the mentioned allocation is implemented in the electronic memory 22 of the storage management system 21 in the first step a). According to this example, the storage area segments S1...S3 differ from each other, particularly in the size and / or arrangement and / or number of virtual placement locations P'. Storage area segments S1...S3 may include multiple virtual placement locations P' that constitute the same or different dimensions in terms of size. Figure 3 In the storage area segment S1, there are virtual placement positions P' of the same size, while the storage area segment S2 or the storage area segment S3 has virtual placement positions P' of different sizes.

[0078] The number of storage area segments S1 to S3 assigned to storage area B is arbitrary and can, of course, exceed three.

[0079] Figure 4A stack ST of multiple storage area segments S1...S5 allocated to storage area B is shown, wherein only the details of storage area segment S5 are visible. Storage area segment S5 in this example includes four virtual placement locations P1'...P4' for storing object 4 and illustrates the possible arrangement of the stored object type within the mentioned storage area B. Storage area segments S1...S5 differ from each other, particularly in the size and / or arrangement and / or number of virtual placement locations P1'...P4'. Storage area segments S1...S5 may include multiple virtual placement locations P', which may constitute the same or different dimensions in terms of size. Figure 4 For example, the storage area segment S5 includes virtual placement locations P' of different sizes.

[0080] The stacking of storage area segments S1 to S5 (ST) essentially means that multiple storage area segments S1 to S5 are assigned to the same storage area B. Preferably, all or any one of the storage area segments S1 to S5 can be selected from the stack (ST). Therefore, the term stacking (ST) alone does not necessarily imply a last-in-first-out (LIFO) principle, according to which only the topmost storage area segment can be selected. This applies to all the described embodiments.

[0081] In step b), the storage object type of the storage object 4a to be stored is now detected, in particular by a sensing device for reading data carriers (e.g., barcodes (not shown)) or for optically detecting the storage object type (e.g., the size of storage object 4) or for object identification of the storage object type, in order to determine the storage object 4.

[0082] The storage object type assigned to storage object 4 is stored, for example, in the main data of storage object 4. This data includes the storage object type (e.g., the length, width, and / or height of storage object 4). In this regard, refer to the above disclosure.

[0083] Alternatively, the detection of the type of stored object can directly include determining the type of stored object, in particular determining the length, width and / or height of stored object 4 through a sensing device.

[0084] In subsequent step c), the storage management system 21 selects virtual placement positions P1'..P4' for the storage object 4a to be stored in the multiple storage area segments S1..S5. The selected virtual placement positions P1'..P4' can accommodate the storage object type of the mentioned storage object 4a, that is, provide sufficient space for this purpose, and this space is still unoccupied. Preferably, in the case of two successive virtual placement positions P1'..P4' (each of which can accommodate the storage object type of the mentioned storage object 4a), the latter placement position is selected first, especially when viewed from the inter-shelf aisle 5. Figure 5 Therefore, the storage area segment S5 is selected to be placed at position P2'.

[0085] exist Figure 6 In step d) shown in the figure, the rack operation device 11 (see Figure 1 and 2 The object 4a is stored in the physical placement location P2 of the storage area B, and the physical placement location is assigned to or corresponds to the selected virtual placement location P2'.

[0086] In step e), the state of the virtual placement location P2' in the electronic memory 22 is changed from unoccupied (idle) to occupied. The state indicates whether the assigned physical placement location P2 is occupied by the stored object 4a.

[0087] In step f), the virtual placement positions P1'..P5' in the storage area segments S1..S5 allocated to the storage area B are now limited to virtual placement positions P1'..P4', which allow another storage object 4a to be stored. On the one hand, the virtual placement position P2' of storage area segment S5 remains marked as occupied as described above. On the other hand, the state of such virtual placement positions in other storage area segments S1..S4 (which are at least partially covered or overlapped by virtual placement position P2' in the stack ST) also changes from never occupied (free) to occupied or unavailable, because these virtual placement positions cannot allow further storage of storage objects 4a of the corresponding storage object type.

[0088] The results of steps e) and f) are in Figure 7a As shown in the diagram, the virtual placement position P2' of storage area segment S5 is marked as "occupied". Similarly, other virtual placement positions (not shown) in storage area segments S1 to S4 (which overlap with or are at least partially covered by virtual placement position P2') are also marked as "occupied".

[0089] Alternatively, in step f), the storage area segments S1..S5 allocated to storage area B in the electronic memory 22 may be limited to one or more storage area segments S1..S5 that include the selected virtual placement position P2'. This limits the available virtual placement positions P1'..P5', thereby reducing the number of storage area segments S1..S5.

[0090] The result from alternative step f) is Figure 7b As shown in the figure, it can be clearly seen that, on the one hand, the virtual placement location P2' is marked as "occupied", and on the other hand, the number of possible storage area segments S1...S5 is reduced. Specifically, in this example, since it is assumed that storage area segments S3 and S4 do not contain the virtual placement location P2', storage area segments S1, S2, and S5 are reserved.

[0091] Now you can repeat steps b) through f) as needed. Figure 8a The text indicates that another virtual placement location P1' is being selected, but this selection is now made from storage area segment S2 (which has virtual placement locations P1'...P5'). The virtual placement location P2' in storage area segment S2 has already been marked "occupied" because it overlaps with the virtual placement location P2' in storage area segment S5, as shown by... Figure 7a and Figure 8a As known from the overview. Furthermore, the storage area segments S1...S5 allocated to storage area B may have been restricted according to the previously described alternative step f), as is the case in... Figure 8b As shown in the figure. Specifically, in this example, the storage area segments S1 and S2 are reserved.

[0092] at last, Figure 9a This shows the result of another run of steps b) to f) after storing object 4b in physical placement location P1. Figure 9b The results of another run of steps b) to f) for alternative step f) are shown in a similar manner.

[0093] Generally, it is advantageous to select, in step c), a virtual placement location P1'.. P5' or a physical placement location P1.. P5 that provides optimal space utilization for storing objects 4a, 4b. The stored objects 4a, 4b are typically smaller than the physical placement locations P1.. P5 in which they are stored. It is now advantageous to minimize the space not occupied by stored objects 4a, 4b within the physical placement locations P1.. P5. The term "space utilization" herein can refer to the utilization of one-dimensional width, one-dimensional depth, one-dimensional height, two-dimensional area (as shown in the example in the accompanying drawings), or three-dimensional space.

[0094] Generally, it is possible to consider not only one storage area segment S5 in the storage area segment S1..S5, but also multiple storage area segments in the storage area segment S1..S5 to provide possible virtual placement locations P1'.. P5', as in Figure 3 As indicated in section 9, for example, for the virtual placement positions P1'...P3' in storage area segments S2 and S5. The selection of exactly one storage area segment S2, S5 can now be achieved in different ways.

[0095] Alternatively, it can be specified that each possible virtual placement location P1'.. P5' exists only in one of the storage area segments S1..S5. Therefore, on the one hand, by combining the virtual placement locations P1'.. P5' of different storage area segments S1..S5 with a low total number of storage area segments S1..S5, multiple possible arrangements of object types stored in storage area B can be mapped. On the other hand, a clear allocation can be achieved for the unique virtual placement locations P1'.. P5' and the unique storage area segments S1..S5 for objects 4a and 4b. The virtual placement locations P1'.. P5' and the storage area segments S1..S5 thus essentially form a clear coordinate system within storage area B.

[0096] For example, as a criterion for selecting virtual placement locations P1'..P5' in step c), there is a maximum number of storage area segments S1..S5, which is retained in the particularly alternative step f) after limiting the storage area segments S1..S5 allocated to storage area B. In other words, the stack ST should be kept as high as possible. This facilitates high flexibility when storing other storage objects 4b, as a large number of different possibilities are thus available.

[0097] However, it is also possible to consider setting a maximum number of virtual placement locations P1'..P5' as the standard for selecting virtual placement locations P1'..P5' in step c), which is retained in step f) after limiting the number of virtual placement locations P1'..P5' in the storage area segments S1..S5 allocated to storage area B. This contributes to a high storage capacity for the number of additional storage objects 4b to be stored.

[0098] Generally, the virtual placement locations P1'..P5' can be selected based on one or more of the following criteria: the transfer frequency of storage objects 4..4b; the uniform occupancy of storage objects 4..4b on storage racks 3a and 3b; the stacking of storage objects 4..4b of the same or similar types; the filling degree of storage objects 4..4b configured as loading auxiliary mechanisms; the filling degree of storage area B; the separation of hazardous materials from non-hazardous storage objects 4..4b; the transport path of storage objects 4..4b from physical placement locations P1..P5 to the transfer device, wherein the storage objects 4..4b are transported along the mentioned transport path by means of rack operating equipment 11; the storage objects 4..4b are transferred from the receiving device (e.g., according to the above-described embodiment). The preparation device 8) provides a transport path to the physical placement positions P1..P5, wherein the storage objects 4..4b are transported along the transport path by means of the rack operation device 11; the priority of the later physical placement position P1..P5 or virtual placement position P1'..P5' in the case of multiple successive physical placement positions P1..P5 / virtual placement positions P1'..P5'; the priority of the larger preceding physical placement position P1..P5 or virtual placement position P1'..P5' in the case of multiple successive physical placement positions P1..P5 / virtual placement positions P1'..P5'; minimizing the storage time via the rack operation device 11; and maximizing the number of storage objects 4..4b stored at one time by the rack operation device 11.

[0099] The receiving device relates to the storage process. According to the above embodiment, the receiving device includes a buffer device with multiple preparation devices 8, wherein the rack operating device 11 can retrieve at least one storage object 4...4b from each preparation device 14. The aforementioned transfer device relates to the removal process. According to the above embodiment, the transfer device includes a buffer device with multiple preparation devices 10, wherein the rack operating device 11 can deliver at least one storage object 4...4b to each preparation device 10. The rack operating device 11 is preferably a single-layer rack operating device.

[0100] If a multi-layer rack operating device is used instead of the single-layer rack operating device 11, such as in document WO 2016 / 141395 A1, Figure 1 and 2As shown, the receiving device (for the storage process) includes a buffer device with a preparation device, from which the rack operating equipment can retrieve at least one storage object 4..4b; and the transfer device (for the removal process) includes a buffer device with a preparation device, from which the rack operating equipment can deliver at least one storage object 4..4b to the preparation device. The storage conveying technology equipment includes a conveying device for transporting the storage object 4, the conveying device constituting the preparation device. The removal conveying technology equipment includes a conveying device for removing the storage object 4, the conveying device constituting the preparation device. Such a multi-layer rack operating device includes at least one transport platform movable on a vertical rod, wherein the vertical rod is arranged on a moving mechanism, so that the transport platform is movable in the x and y directions to store the storage object 4..4b into and remove it from the physical placement position P1..P5. The transport platform further includes a load picking device, as described above, for example.

[0101] If the transport and removal of the stored object 4.4b are accomplished using (autonomous) land transport vehicles, then the fixed transport equipment used for transporting and removing the stored object 4.4b can be eliminated. The transport equipment 15, 19 used for transporting and removing the stored object 4.4b includes (autonomous) land transport vehicles. For storage, the stored object 4.4b is transported directly by the land transport vehicle to the vertical transport device 13 (particularly at least one transport platform 14a) or, in the case of an intermediate retrieval station. For removal, the stored object 4.4b is transported directly from the vertical transport device 17 (particularly at least one transport platform 18) to the land transport vehicle or, in the case of an intermediate retrieval station, to the land transport vehicle. The rack storage system 1 essentially includes storage racks 3a, 3b, one or more rack operating devices 11 (one or more single-layer rack operating devices and one multi-layer rack operating device), and buffer devices (particularly preparation devices for storing and removing the transported object 4.4b).

[0102] If the transfer frequency of stored objects 4..4b is used as the criterion for selecting virtual placement locations P1'..P5', then it can be more precisely stated that fast-turnover items (items A) are stored near the receiving or transferring device, while slow-turnover items (items C) are stored further away from the receiving or transferring device. If storage area B has multiple successive physical placement locations P1..P5, then advantageously, the later physical placement locations P1, P2 are more precisely occupied by slow-turnover items (items C), and the earlier physical placement locations P3, P4, P5 are more precisely occupied by fast-turnover items (items A). If storage area B has multiple successive physical placement locations P1..P5, then these physical placement locations can also preferably be occupied by stored objects 4..4b of the same or similar type. This allows for a good variation in the number of stored objects 4..4b manipulated during the storage or removal process.

[0103] Alternatively, the storage area segments S1...S5 allocated to storage area B can be sorted according to a sorting criterion, and those storage area segments S1...S5 with the highest priority can be selected in step c). In other words, in this case, the stack ST is sorted according to a sorting criterion, wherein, for example, the topmost storage area segments S2 and S5 have the highest priority, i.e., are preferably selected in step c). For example, the number of virtual placement positions P1'...P5' contained in the storage area segments S1...S5 can be used as a sorting criterion, wherein the priority increases as the number of virtual placement positions P1'...P5' increases. Therefore, storage area segments S1...S5 are selected based on probability such that, after a physical placement position P1...P5 is occupied by the storage object 4...4b to be stored, as many virtual placement positions P1'...P5' or physical placement positions P1...P5 remain free as possible. In particular, one or more of the criteria disclosed above can also be used. The proposed measures can achieve the selection of suitable storage area segments S1 to S5 with particularly high efficiency.

[0104] exist Figure 3 In the example shown in Figure 9, the virtual placement positions P1'..P5' and the physical placement positions P1..P5 are determined in two dimensions, x and z. The physical placement positions P1..P5 include a horizontal placement surface that extends along the x and z directions (perpendicular to the x direction) between the support columns 6 (specifically the two front support columns and the two rear support columns). Therefore, the type of stored object also indicates the size of the stored objects 4..4b in both dimensions.

[0105] Alternatively, but also possibly, the virtual placement location P1'..P5' or the physical placement location P1..P5 is determined in three dimensions: x, y, and z. The physical placement location P1..P5 includes a horizontal placement surface that extends along the x and z directions (perpendicular to the x-direction) between the support columns 6 (specifically the two front support columns and the two rear support columns), and defines the height along the y-direction (perpendicular to the placement surface). Therefore, the type of stored object also indicates the size of stored objects 4..4b in the three dimensions.

[0106] The alternative physical placement locations P1 to P5 can be determined by only one dimension: x, y, z. This could be such that goods are stored with different lengths but a uniform width.

[0107] The virtual placement locations P1'..P5' are digital copies or digital mappings of the corresponding physical placement locations P1..P5.

[0108] The storage object type may also include other characteristics of the storage object 4.4b, such as whether it directly involves goods or loading auxiliary mechanisms, whether it involves fast-turnover items or slow-turnover items, etc.

[0109] Objects 4..4b can also be stacked together. In the case of two-dimensional virtual placement positions P1'..P5', the boundaries of the placement positions extend along the height direction (i.e., along the y direction), and the segments of three-dimensional virtual placement positions P1'..P5' may also look different in different planes.

[0110] Generally speaking, it is also explained that while the use of rectangular or square virtual placement positions P1'..P5' and physical placement positions P1..P5 is advantageous, the virtual placement positions P1'..P5' and physical placement positions P1..P5 can be arbitrarily implemented in terms of their shaping.

[0111] It should also be noted that steps d), e), and f) do not necessarily have to be performed in the order given above, but can be performed in other orders, such as e), d), f), or e), f), d), or d), f), e). Correspondingly, steps d), f), and e) can also be performed in other orders. Figure 6 The states shown in Figure 7 are regrouped in time.

[0112] It is also advantageous to perform step f in the same manner on other storage areas B1..B3 (especially for adjacent and / or opposite storage areas B1..B3), as is the case in Figure 10The example shown is as follows. In this example, either virtual placement location P2' or physical placement location P2 is selected for storing object 4. According to this embodiment variation, step f) is performed not only on storage area B1, but also on storage areas B2 and B3 in the same manner. Accordingly, not only is the stack ST on the possible storage area segments S1..S5 reduced, but the stack ST' of storage area B2 and the stack ST'' of storage area B3 are also reduced. In particular, the embodiment variation involves storage areas B1 and B3 that are opposite each other in the inter-shelf aisle 5. That is, step f) is performed in the same manner, especially on storage area B3 that is opposite each other in the inter-shelf aisle 5. With the help of the proposed measures, for example, the physical placement locations P1..P5 in storage areas B2 and B3 can be kept vacant, which physical placement locations can realize the simple transfer of storage object 4. When the fill levels in storage racks 3a and 3b are increased, or if storage objects 4 are assigned different priorities, then the reallocation of storage objects 4—that is, transferring storage objects 4 from one physical placement location to another physical placement location P1...P5, or from one storage area to another storage area B1...B3 (within the same storage rack 3a or another storage rack in the same storage rack 3b)—can be necessary or meaningful. By performing step f on adjacent storage areas B1...B3, the probability of an empty physical placement location P2 (where the empty physical placement location can accommodate (temporary) storage of storage objects 4) is high. Therefore, the reallocation of storage objects 4 can be implemented efficiently. For example, such a transfer process can be performed during periods of low load, such as at night.

[0113] During the transfer process of transferring the already stored object 4 to another physical location P1..P5, steps b) to f) are advantageously performed after retrieving the stored object 4 from its original physical location P1..P5 and storing it in another physical location P1..P5. Advantageously, the criteria already mentioned above can also be considered here.

[0114] Alternatively, steps b) to f) can be executed one at a time for multiple stored objects 4a and 4b, wherein stored objects 4a and 4b are stored in a unique storage area segment S1..S5 in step c) or multiple storage area segments S1..S5 and in a unique storage area B in step d), thus... Figure 11 As shown in the figure. This variant is therefore advantageous in that more than one storage object 4a, 4b can be stored in one step or in a single storage process by the rack operating device 11.

[0115] In particular, it is advantageous that the physical placement positions P1...P5 of the stored objects 4a and 4b are arranged sequentially along the storage direction z as viewed from the rack operating device 11, thus similarly... Figure 11 As shown in the diagram. In this way, the rack operation device 11 can remain at position x even when multiple storage objects 4a, 4b are stored.

[0116] It is also particularly advantageous that: --Multiple storage area segments S1..S5 are combined into a single meta-segment M1..M3, wherein, in step c), a virtual placement position P1'..P5' is first selected from the multiple meta-segments M1..M3, and then a virtual placement position P1'..P5' is selected from the multiple storage area segments S1..S5 of the selected meta-segment M1..M3; and - In step f), the meta segments M1..M3 allocated to storage area B in the electronic memory 22 of the storage management system 21 are restricted to one or more meta segments M1..M3, which include the selected virtual placement positions P1'..P5'.

[0117] Figure 12 An example is given for this purpose. If the stack ST of storage area segments S1..S5 allocated to storage area B becomes very large, then searching for suitable virtual placement positions P1'..P5' for storing objects 4..4b may be time-intensive. Therefore, in such a case, it is advantageous to form groups of meta-segments M1..M3, i.e., storage area segments S1..S5. Here, these groups are formed, for example, based on the occurrence of determined virtual placement positions P1'..P5'. For example, meta-segment M1 may have virtual placement positions P1', P2'; meta-segment M2 may have virtual placement positions P3', P5'; and meta-segment M3 may have virtual placement positions P1', P5'. Meta-segments M1..M3 may have mutually exclusive storage area segments S1..S5, or (as this is in Figure 12 (As in the case in the middle) forming overlapping areas.

[0118] If a suitable virtual placement location P1'..P5' for storage object 4..4b should now be selected in step c), then the search begins in the meta-segments M1..M3. In our example, it is assumed that virtual placement location P3' is suitable. Therefore, in the first step, it is determined that (only) meta-segment M2 has such a virtual placement location. Subsequently, the search continues (only) in the storage area segments S1..S5, which are contained in the meta-segment M2. It is clear from this that the search for a suitable virtual placement location P1'..P5' for storage object 4..4b is shortened, or the selection of a suitable virtual placement location P1'..P5' for storage object 4..4b is shortened, because it is not necessary to search the entire stack ST of storage area segments S1..S5.

[0119] It should also be noted that, according to an embodiment not shown, the shelf storage system 1 may also include only a single storage shelf 3a, 3b to accommodate multiple storage objects 4 of different storage object types. As described above, the storage shelf includes shelf posts 6, stacked shelf layers E, and multiple storage areas B, B1...B3. The storage areas B are respectively arranged between two shelf posts 6 spaced apart from each other along the longitudinal direction x of the storage shelves 3a, 3b. According to this embodiment, the shelf storage system 1 includes at least one shelf operating device 11 for storing the storage objects 4, the shelf operating device being movable along the longitudinal direction x of the storage shelf. Similarly, the shelf storage system 1 includes a storage management system 21, which, as described above, is equipped with an electronic memory 22.

[0120] The number of storage areas B can vary depending on the length and / or height of storage racks 3a and 3b.

[0121] Even according to the above embodiments, where one or more storage racks are fixedly positioned, it is possible that one or more movable storage racks may exist. The movable storage rack or multiple movable storage racks are respectively configured to accommodate multiple storage objects 4 of different storage object types and have rack columns 6, stacked rack layers E, and multiple storage areas B, B1...B3. Furthermore, according to this embodiment, at least one rack operating device movable along the longitudinal direction x of the storage rack can be used for storing the storage object 4. This rack operating device can move on a travel surface and independently of the storage rack. The at least one rack operating device is an autonomous transport vehicle (e.g., AMR (Autonomous Mobile Robot) or AGV (Autonomous Guided Vehicle)), which includes a load-picking device for storing the storage object 4. The load-picking device includes, for example, an articulated robot arm defined on the transport vehicle and a parking space where at least one storage object 4 can be picked up for transport.

[0122] exist Figure 13An example of an alternative storage area segment S6 is shown, the storage area segment comprising a circular or cylindrical shape for virtual placement positions P1'..P4' and physical placement positions P1..P4. This can be advantageous for storing circularly shaped storage objects 4, 4a, 4b, particularly for storage objects 4, 4a, 4b whose diameter, as in the example shown, is at least half the depth in the z-direction or half the width in the x-direction (not shown) of storage areas B, B1..B3, or greater. The previously described stack ST of storage area segments S1..S5 can include storage area segments S1..S5 with rectangular and / or square shapes and storage area segments S1..S5 with alternative shapes, particularly circular or cylindrical shapes and shapes based on polygons or ellipses.

[0123] Finally, it should be noted that the specification and accompanying drawings are, however, for illustrative purposes. A single feature or combination of features from the different embodiments shown and described can represent an inventive solution independently of itself. The task upon which an independent inventive solution is based can be understood from the specification.

[0124] It is also noted in particular that the device shown may include more or fewer components in reality than shown. In some cases, the device or its components may also be shown non-proportional and / or enlarged and / or reduced.

[0125] List of reference numerals

[0126] 1 storage system

[0127] Storage racks 3a and 3b

[0128] 4, 4a, 4b Stored Objects

[0129] 5. Inter-rack passage

[0130] 6 pillars

[0131] 7. Store in buffer device

[0132] 8. Store in preparation device

[0133] 9. Remove the buffer device

[0134] 10. Remove the preparation device

[0135] 11 operating equipment (round-trip transport vehicles)

[0136] 13. Store in the vertical conveyor device

[0137] 14a and 14b are stored in the transportation platform.

[0138] 16a and 16b are stored in the conveying device.

[0139] 17. Remove the vertical conveyor device.

[0140] 18a and 18b Removed from the transport platform

[0141] 20a, 20b Removal Conveying Device

[0142] 21 Storage Management System

[0143] 22 Electronic storage

[0144] 23. Store in vertical rod

[0145] 24. Remove the vertical rod.

[0146] 25. Track of travel

[0147] 26 wheels

[0148] 27 Load Pickup Device

[0149] Storage areas B, B1, ..., B3

[0150] E shelf

[0151] F1 and F2 transport layers

[0152] M1..M3 segmentation

[0153] Physical placement locations of P, P1...P5

[0154] Virtual placement positions of P', P1', ..., P5'

[0155] S1..S6 storage area segmentation

[0156] ST and ST'..ST'' store segments of the stacked storage area.

[0157] x (the longitudinal direction / longitudinal extension of the passageway between the shelves)

[0158] y (vertical direction / vertical extension of the passageway between the structures)

[0159] z (lateral direction / lateral extension of the inter-rack passage)

Claims

1. A method for storing multiple storage objects (4, 4a, 4b) of different storage object types into a storage rack (3a, 3b), said storage rack comprising rack posts (6), stacked rack layers (E), and multiple storage areas (B, B1...B3), wherein, The storage areas (B, B1, B3) are respectively arranged between two shelf columns (6) spaced apart along the longitudinal direction (x) of the storage rack (3a, 3b). The storage of the objects (4, 4a, 4b) is controlled by the storage management system (21), which is equipped with an electronic memory (22). The method includes the following steps: a) In the electronic memory (22), multiple storage area segments (S1..S6) are assigned to one of the multiple storage areas (B, B1..B3) for the multiple storage areas (B, B1..B3), each of the storage area segments (S1..S6) includes multiple virtual placement positions (P', P1'..P5') for the stored objects (4, 4a, 4b) and describes the possible arrangements of the stored object types within the mentioned storage areas (B, B1..B3); b) Detect the storage object type of the storage objects (4, 4a, 4b) to be stored; c) The storage management system (21) selects a virtual placement position (P', P1', P5') for the storage object type of the storage object (4, 4a, 4b) to be stored in the multiple storage area segments (S1..S6), wherein the virtual placement position (P', P1', P5') can realize the storage of the storage object type of the mentioned storage object (4, 4a, 4b), and in the case of multiple successive virtual placement positions (P', P1', P5'), the virtual placement position (P', P1', P5') is selected according to the priority standard of the subsequent virtual placement position (P', P1', P5'); d) By using a rack operation device (11) that can move along the longitudinal direction (x) of the storage racks (3a, 3b), the storage objects (4, 4a, 4b) are stored in the physical placement positions (P, P1, P5) of the storage area (B, B1, B3), the physical placement positions being assigned to the selected virtual placement positions (P', P1', P5'). e) In the electronic memory (22), the status of the virtual placement position (P', P1'..P5') is changed from unoccupied to occupied. The status indicates whether the assigned physical placement position (P, P1..P5) is occupied by the stored object (4, 4a, 4b). f) In the electronic memory (22), the virtual placement positions (P', P1', P5') in the storage area segments (S1, S6) allocated to the storage area (B, B1, B3) are restricted to virtual placement positions (P', P1', P5') that enable the storage of another storage object (4, 4a, 4b) to be stored in a physical placement position (P, P1, P5); and g) Repeat steps b) to f).

2. The method according to claim 1, characterized in that, In step f), restricting the virtual placement location (P', P1', P5') includes restricting the storage area segments (S1, S6) allocated to the storage area (B, B1, B3) in the electronic memory to one or more storage area segments (S1, S6) that contain the selected virtual placement location (P', P1', P5').

3. The method according to claim 1 or 2, characterized in that, As a criterion for selecting virtual placement positions (P', P1', ..., P5') in step c), a maximum number of virtual placement positions (P', P1', ..., P5') is set, which is retained in step f) after limiting the virtual placement positions (P', P1', ..., P5').

4. The method according to claim 2, characterized in that, As a criterion for selecting virtual placement locations (P', P1', P5') in step c), a maximum number of storage area segments (S1, S6) are set, which are retained in step f) after limiting the storage area segments (S1, S6) allocated to storage areas (B, B1, B3).

5. The method according to claim 1 or 2, characterized in that, Furthermore, the virtual placement location (P', P1', ..., P5') is selected according to one or more of the following criteria: the transfer frequency of the stored objects (4, 4a, 4b); the uniform occupancy of the stored objects on the rack storage system (1); the stacking of stored objects (4, 4a, 4b) of the same or similar types; the filling degree of the stored objects (4, 4a, 4b) constituting a loading auxiliary mechanism; the filling degree of the storage area (B, B1, ..., B3); the separation of dangerous and non-dangerous stored objects (4, 4a, 4b); the transport path of the stored objects (4, 4a, 4b) from the physical placement location (P, P1, ..., P5) to the transfer device, wherein the rack operating equipment (1) is used on the mentioned transport path. 1) Transporting the stored objects (4, 4a, 4b); the transport path of the stored objects (4, 4a, 4b) from the receiving device to the physical placement location (P, P1..P5), and transporting the stored objects (4, 4a, 4b) on the mentioned transport path by means of the rack operation device (11); the priority of the larger preceding virtual placement location (P', P1'..P5') or physical placement location (P, P1..P5) in the case of multiple successive virtual placement locations (P', P1'..P5') or physical placement locations (P, P1..P5); minimizing the storage time by means of the rack operation device (11); maximizing the number of stored objects (4, 4a, 4b) stored by means of the rack operation device (11) at one time.

6. The method according to claim 3, characterized in that, During the transfer process of transferring the already stored objects (4, 4a, 4b) to another physical location (P, P1...P5), one or more of the mentioned criteria are considered, wherein steps b) to f are performed when the stored objects (4, 4a, 4b) are retrieved from their original physical location (P, P1...P5) and then stored in the other physical location (P, P1...P5).

7. The method according to claim 1 or 2, characterized in that, Steps b) to f) are performed one at a time on multiple storage objects (4, 4a, 4b), wherein the storage objects (4, 4a, 4b) are stored in one or more storage area segments (S1..S6) in step c) and in a single storage area (B, B1..B3) in step d).

8. The method according to claim 7, characterized in that, The physical placement positions (P, P1...P5) of the stored objects (4, 4a, 4b) are arranged successively along the storage direction (z).

9. The method according to claim 1 or 2, characterized in that, Multiple storage area segments (S1..S6) are combined into a single meta-segment (M1..M3), wherein, in step c), virtual placement positions (P', P1'..P5') are first selected among the multiple meta-segments (M1..M3), and subsequently, virtual placement positions (P', P1'..P5') are selected among the multiple storage area segments (S1..S6) of the selected meta-segment (M1..M3); and - In step f), the meta segments (M1..M3) allocated to the storage areas (B, B1..B3) in the electronic memory (22) are restricted to one or more meta segments (M1..M3) containing the selected virtual placement locations (P', P1'..P5').

10. The method according to claim 1 or 2, characterized in that, The storage area segments (S1.S6) assigned to a storage area (B, B1..B3) are sorted according to the sorting criteria, and in step c), the following storage area segments (S1..S6) are selected, wherein the storage area segments have the selected virtual placement positions (P', P1'..P5') and the highest priority.

11. The method according to claim 1 or 2, characterized in that, In step c), select the following virtual placement locations (P', P1', ..., P5') that provide optimal space utilization for storing objects (4, 4a, 4b).

12. The method according to claim 1 or 2, characterized in that, For the other storage areas (B, B1, ..., B3), perform step f in the same manner.

13. A rack storage system (1), the rack storage system comprising: - At least one storage rack (3a, 3b) for accommodating multiple storage objects (4, 4a, 4b) of different storage object types, the storage rack including rack columns (6), stacked rack layers (E) and multiple storage areas (B, B1...B3), wherein the storage areas (B, B1...B3) are respectively arranged between two rack columns (6) spaced apart from each other along the longitudinal direction (x) of the storage rack (3a, 3b); - At least one rack operating device (11) movable along the longitudinal direction (x) of the storage racks (3a, 3b), said rack operating device being used to store objects (4, 4a, 4b); and - Storage management system (21), wherein the storage management system is equipped with electronic storage (22); Its features are, The storage management system (21) is configured to perform the following steps: a) In the electronic memory (22), multiple storage area segments (S1..S6) are assigned to one of the multiple storage areas (B, B1..B3) for the multiple storage areas (B, B1..B3), each of the storage area segments (S1..S6) includes multiple virtual placement positions (P', P1'..P5') for the stored objects (4, 4a, 4b) and describes the possible arrangements of the stored object types within the mentioned storage areas (B, B1..B3); b) Detect the storage object type of the storage objects (4, 4a, 4b) to be stored; c) In the multiple storage area segments (S1..S6), select a virtual placement position (P', P1'..P5') for the storage object type of the storage object (4, 4a, 4b) to be stored. The virtual placement position (P', P1'..P5') can realize the storage of the mentioned storage object (4, 4a, 4b). In the case of multiple successive virtual placement positions (P', P1'..P5'), the virtual placement position (P', P1'..P5') is selected according to the priority of the subsequent virtual placement position (P', P1'..P5'). d) To store objects (4, 4a, 4b) into physical placement locations (P, P1, P5) in the storage area (B, B1, B3), the control rack operation device (11) is driven, and the physical placement locations are assigned to the selected virtual placement locations (P', P1', P5'). e) In the electronic memory (22), the status of the virtual placement position (P', P1'..P5') is changed from unoccupied to occupied. The status indicates whether the assigned physical placement position (P, P1..P5) is occupied by the stored object (4, 4a, 4b). f) In the electronic memory (22), the virtual placement positions (P', P1', P5') in the storage area segments (S1, S6) allocated to the storage area (B, B1, B3) are restricted to virtual placement positions (P', P1', P5') that enable the storage of another storage object (4, 4a, 4b) to be stored in a physical placement position (P, P1, P5); and g) Repeat steps b) to f).

14. The rack storage system (1) according to claim 13, characterized in that, In step f), limiting the virtual placement location (P', P1', ..., P5') includes limiting the storage area segments (S1, ..., S6) allocated to the storage area (B, B1, ..., B3) in the electronic memory to one or more storage area segments (S1, ..., S6), the storage area segments containing the selected virtual placement location (P', P1', ..., P5').

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