Logistics system for automated transfer of at least one fluid medium

Abstract

A logistics system (100) and a method for automated transfer of at least one fluid medium are presented. The logistics system comprises: at least one transfer station (102), where the transfer station (102) is configured to perform at least one process selected from the group consisting of loading a mobile storage tank (104) with a fluid medium and unloading the mobile storage tank (104) with a fluid medium, where the transfer station (102) has at least one piping system (108), where the piping system (108) is configured to receive the fluid medium from the mobile storage tank (104); the at least one pipe system has at least one pipe connection (110); at least one controller (142), where the controller (142) is programmed to control at least one function of the logistics system (100); at least one movement system (112) having at least one movement arm (114) and an automatic coupling system (116), where the movement arm (114) is configured to move the coupling system (116), where the automatic coupling system (116) is configured to automatically open the at least one tank nozzle (118) of the mobile tank (104), where the automatic coupling system (116) is configured to automatically open the at least one tank nozzle (118) of the mobile tank (104). The automatic coupling system (116) is further configured to automatically open a pipe connection (110) of the transfer station (102), and wherein the automatic coupling system (116) is further configured to fluidly connect the tank nozzle (118) and the pipe connection (110).

Description

Technical Field

[0001] The invention relates to a logistics system for the automatic transport of at least one fluid medium and a method for the transport of at least one fluid medium. Background Art

[0002] In many technical fields, mobile tanks are loaded or unloaded before or after transport or storage. This loading and unloading is carried out at so-called transfer stations. A transfer station is a facility where mobile tanks can be loaded or unloaded. The product to be loaded comes from one or more fixed tanks, from other mobile tanks, or from a pipeline that can in turn be connected to production. During unloading, the product is transported via a pipeline to a fixed tank, other mobile tanks, or directly to the consumer.

[0003] The loading and unloading process is currently carried out manually by employees. For this purpose, employees arrange for the mobile tank to go to the transfer station. Then, the mobile tank is connected to the transfer station. For this purpose, pipes or hoses are connected to the fittings on the mobile tank. In the case where all openings and valves of the mobile tank are above the fluid level, the connection is made with the upper fittings. In the case where some openings of the mobile tank are still below the fluid level, the connection can be made at the top or the bottom. For this purpose, at least two connections are usually established; one pipeline is the pipeline through which the product is intended to flow, and the second pipeline is the pipeline through which the gas displacement is intended. For non-hazardous products, gas displacement may optionally not be necessary, but pressure equalization must be established by opening the upper fittings. This connection process is carried out in each case at the beginning of loading or unloading, and accordingly a second time after loading and unloading have been completed. Due to the relatively heavy weight of the pipes or hoses, some of which are provided with couplings or flanges, the connection process is optionally supported by a mechanical / hydraulic / pneumatic system (such as an articulated loading arm). Other activities performed by the loading personnel include monitoring during the filling process and recording the activities in a checklist. On-site employees also monitor that no overfilling occurs. To do this, they use scales, flow meters or fill level gauges, which also have to be connected manually.

[0004] Although logistics systems with transfer stations known from the prior art have many advantages, they still have potential for improvement. With a large number of transfer stations, the personnel available to carry out the above-mentioned activities thus constitute a bottleneck. In addition, there is a lack of flexibility. Therefore, many transfer stations are not operated optimally, because the work at the transfer stations is carried out, for example, only during daytime or in extended day shifts. Manually operated transfer stations also cannot cope well with fluctuations.

[0005] Purpose of the Invention

[0006] It would therefore be desirable to provide a logistics system and a method for the transshipment of at least one fluid medium which at least largely avoid the disadvantages of known logistics systems. In particular, the transshipment should be automatic, so that the transshipment process can be fully automated by automation, so that the transshipment station can be operated flexibly, sometimes loading and unloading a larger number of mobile tanks and sometimes loading and unloading a smaller number of mobile tanks. This also enables for the first time a safety concept, in which, for example, half of the products are intended to be transported by one mode of transport (e.g. inland waterway ships) and the other half by another mode of transport (e.g. rail). In the event of a bottleneck in one mode of transport, such as a low water level in the case of inland waterway transport, it is therefore possible to change flexibly to another mode of transport, which is only possible if the loading personnel do not become a bottleneck due to automation.

[0007] It is also desirable to automate the loading process whereby loading personnel could be seriously injured in the event of an unplanned (unexpected) release of fluid medium due to a fluid medium leak. Automation means that no one is in the immediate danger zone, thus eliminating or reducing the risk to people.

[0008] It is also desirable to automate the loading process, since in the event of an accident or an unexpected release of the fluid medium, the method is suitable for closing the tank even during emergency measures that have already been initiated, and optionally also for removing the tank from the danger zone by an automatic transport system, thereby reducing the risk or impact of the accident. In contrast, this is not possible in the case of a non-automated loading process performed by humans, since humans will be evacuated first in the event of a danger. Thus, mobile tanks that are not involved in an accident / incident can be closed by the proposed system and transported out of the danger zone by the proposed method. Thus, by the proposed invention, the impact of an accident / incident (e.g. a fire) that may spread to previously unaffected mobile tanks will be avoided, thereby reducing the impact of the accident. Summary of the invention

[0009] This object is achieved by a logistics system and a method for transporting at least one fluid medium having the features of the independent patent claims. Advantageous developments which can be implemented individually or in any combination are set forth in the dependent claims.

[0010] In the following, the terms "having", "comprise" or "include" or any grammatical variants thereof are used in a non-exclusive manner. Accordingly, these terms may refer to the case where no other features are present in addition to the features introduced by these terms, or to the case where one or more other features are present. For example, the expression "A has B", "A includes B" or "A contains B" may refer to the following two cases: in addition to B, there are no other elements in A (i.e., A consists exclusively of B); and in addition to B, there are one or more other elements in A, such as element C, elements C and D, or even other elements.

[0011] It should also be noted that the terms "at least one" and "one or more" and grammatical variations of these terms, when used in conjunction with one or more elements or features and intended to express that the element or feature can be provided one or more times, are usually used only once, such as when the feature or element is introduced for the first time. When the feature or element is mentioned again later, the corresponding terms "at least one" or "one or more" are usually no longer used, without limiting the possibility that the feature or element can be provided one or more times.

[0012] In addition, in the following, the terms "preferably", "particularly", "for example" or similar terms are used in conjunction with optional features, without the alternative embodiments being limited thereto. Therefore, the features introduced by these terms are optional features, and there is no intention to limit the scope of protection of the claims, and in particular the independent claims, by these features. Therefore, as will be appreciated by those skilled in the art, the present invention can also be implemented using other configurations. In a similar manner, the features introduced by "in an embodiment of the present invention" or "in an example of the present invention" are understood to be optional features, without the intention that the scope of protection of the alternative configurations or the independent claims is limited thereto. In addition, all possible combinations of the features introduced thereby with other features, whether optional or non-optional, should remain unaffected by these introductory expressions.

[0013] In a first aspect of the present invention, a logistics system for automatically transporting at least one fluid medium is proposed.

[0014] As used herein, the term "logistics system" is a broad term that should be given its common and common meaning as understood by those skilled in the art. The term is not limited to a specific or adapted meaning. The term can refer to a system for changing goods in space, time, type and quantity without restriction. Accordingly, the logistics system may include a transportation, storage and / or picking system to perform this function. The entire flow of goods is supported by the packaging process carried out in the packaging system, which helps or usually even simply realizes transportation, storage and picking. Information (i.e., intangible goods) triggers the entire flow of goods (materials). Information flow is very important in organizational design, it runs in parallel with the logistics chain and corresponds to the material flow. The characteristics of any logistics system are the interaction of the mobile process and the storage process. Objects (goods, energy, information, people) are guided through a network consisting of nodes (stores, warehouses) and edges (movement). There can be various connection structures between the source end (delivery point) and the sink end (receiving point). In a single-stage logistics system, there is a direct flow of goods between the delivery point (source end) and the receiving point (sink end). In a multi-level logistics system, there is an indirect flow of goods, which will be interrupted by at least one other node, and additional storage processes and / or movement processes are carried out at the at least one other node. At the sorting point, the goods arrive in large quantities from the delivery point, and then leave the delivery point in small quantities and go to different receiving points. Sorting includes purely reducing the amount of specific products or arranging (sorting, picking) goods by quantity and type (example: furniture manufacturers set up regional distribution warehouses to supply retail departments). In a multi-level logistics system, intermodal transport often occurs, which is carried out using different means of transport. At the hub point, smaller quantities are received from multiple delivery points, and then leave the hub point in large quantities and go to the receiving point. Finally, the combined logistics system includes direct and indirect flows of goods adjacent to each other.

[0015] As used herein, the term "transshipment" and its grammatical equivalents are broad terms that should be given their common and common meanings as understood by those skilled in the art. The term is not limited to a specific or adapted meaning. The term can refer to changes in the means of transport and / or transport routes and / or storage devices within the supply chain or transport chain without limitation. Transshipment involves receiving the transported product in the means of transport (loading) and / or unloading the transported product from the means of transport (unloading). Transshipment includes all conveying and storage processes when the transported product is transferred to the means of transport, when the goods are removed and their means of transport are changed. Therefore, the transfer of goods from the warehouse to the means of transport is also transshipment, and vice versa. Transshipment is the process of goods changing the means of transport, which is necessary in the case of intermodal transport. For example, goods are changed from a truck at a port on the main route to a freight train at a freight ship or a freight station when being transported forward, so as to be transported back to the recipient by the receiving carrier. The terms "loading" and "unloading" are particularly used synonymously with transshipment or represent loading. Sorting, storage, outbound storage and picking are also considered part of transshipment. In DIN 30781-1, in the version valid at the date of filing of this patent application, transshipment is defined as "the transfer of goods to a means of transport, the removal of goods from a means of transport and all transport and storage processes involved when goods change means of transport". Transshipment can be carried out manually, mechanically or automatically. The transshipment performance is the amount of goods handled per unit of time (e.g. year, month, day, hour). The transshipment rate indicates the frequency of handling of the average annual stock of a warehouse (warehouse turnover frequency). In this case, the stock can be expressed in value (e.g. in Euros) or in quantity (e.g. in tons).

[0016] As used herein, the term "fluid medium" is a broad term that should be given its ordinary and common meaning as understood by those skilled in the art. The term is not limited to a specific or adapted meaning. The term may refer, without limitation, in particular to a substance that continuously deforms (i.e., flows) under the influence of shear forces. In particular, the term includes not only liquid and gaseous aggregates of matter, i.e., gases and liquids, but also plasmas, suspensions, and aerosols.

[0017] The logistics system includes at least one transfer station.

[0018] As used herein, the term "transfer station" is a broad term that should be given its ordinary and common meaning as understood by a person skilled in the art. The term is not limited to a specific or adapted meaning. The term may refer in particular to a transshipment device or facility without restriction. In other words, a transshipment station is a technical facility for carrying out transshipment. A transshipment station accordingly includes a transshipment device. Therefore, the term should not be confused with a transshipment point. A transshipment location is called a transshipment point. A transshipment point can be located within a company's premises as part of an internal material flow (internal logistics). It can also be an interface between internal and external transport, for example when goods are loaded from a finished parts warehouse onto a truck and transported to a customer.

[0019] The transfer station is configured to perform at least one process selected from the group consisting of loading a fluid medium into a mobile storage tank and unloading a fluid medium from the mobile storage tank. It is clearly pointed out that loading a mobile storage tank and unloading a mobile storage tank can be performed as separate processes. As an alternative, the mobile storage tank can be loaded and unloaded at the same time. For example, loading can be performed at one point of the mobile storage tank, and unloading can be performed at another point. A circulating flow of the fluid medium can also be generated by loading and unloading simultaneously. For example, such a circulating flow can be generated in order to adjust certain physical or chemical properties of the fluid medium, such as the temperature, pressure, and aggregation state of the fluid medium.

[0020] As used herein, the term "mobile storage tank" is a broad term that should be given its ordinary and common meaning as understood by those skilled in the art. The term is not limited to a specific or adapted meaning. The term may refer in particular, without limitation, to a device or apparatus for temporarily storing or retaining a fluid medium, which device or apparatus is movable, in particular transportable. In particular, a mobile storage tank may be a movable vessel or container. Such a mobile storage tank may be transported by truck, train, ship or aircraft.

[0021] The transfer station has at least one pipeline system having at least one pipeline connection.

[0022] As used herein, the term "piping system" is a broad term that should be given its ordinary and common meaning as understood by those skilled in the art. The term is not limited to a specific or adapted meaning. The term may refer, without limitation, to a device or apparatus consisting of pipes, pipe connections or fittings, and associated fittings. Piping systems are used to transport fluids and free-flowing or pumpable solids and to transfer mechanical and thermal energy.

[0023] As used herein, the term "pipe connector" is a broad term that should be given its common and common meaning as understood by those skilled in the art. The term is not limited to a specific or adapted meaning. The term can refer to a part that is configured to connect pipes and hose lines and connect fittings, pumps, etc. without restriction. Pipe connectors can also be referred to as pipe joints. Pipe connectors are usually used for sealing and structural connections at the same time, i.e., for aligning the connected elements and for transmitting force. Connectors formed by screw fittings and molded parts can be disassembled later. Screw connectors and sleeve joints can be disassembled without dislocating the pipe in the process. Pipe connectors are selected according to operating requirements (disassembly of connectors), operating conditions (pressure and temperature), media, and materials (weldability) of pipeline sections and formed parts. Pipe connectors that only have a structure without a sealing function are called pipe connection elements.

[0024] The logistics system also includes at least one controller.

[0025] As used herein, the term "controller" is a broad term that should be given its ordinary and common meaning as understood by a person skilled in the art. The term is not limited to a specific or adapted meaning. The term may refer in particular, without limitation, to a component configured to influence the behavior of a system. Control puts a system into different states. The change in the behavior of the system is caused by information, messages, stimuli or input. In particular, a controller is configured to have a targeted influence on the behavior of a technical system (such as equipment, devices, machines, facilities and biological systems). A controller is typically an electronic unit.

[0026] The controller is programmed to control at least one function of the logistics system.

[0027] The logistics system further comprises at least one mobile system having at least one mobile arm and an automatic coupling system.

[0028] As used herein, the term "mobile system" is a broad term that should be given its ordinary and common meaning as understood by a person skilled in the art. The term is not limited to a specific or adapted meaning. The term may refer in particular, without limitation, to a system that moves a machine or a component. In this case, the movement may be caused electrically, electronically, mechanically, electromechanically or in any other way, for example, by one or more motors, actuators or a combination thereof. The machine being moved may be a machine tool, a component of a machine, an equipment, a device and / or a facility. In particular, the mobile system may be a gantry system, a machine tool with a gantry drive, and / or a robotic system.

[0029] As used herein, the term "mobile arm" is a broad term that should be given its ordinary and common meaning as understood by a person skilled in the art. The term is not limited to a specific or adapted meaning. The term may refer in particular to an arm-shaped mobile mechanism without restriction. In this case, the mobile arm can perform linear movements (i.e. movements with one degree of freedom) or movements with multiple degrees of freedom. In the latter case, the mobile arm includes one or more joints. For example, the mobile arm is designed as a robotic arm. Both linear and rotational movements can be achieved thereby.

[0030] As used herein, the term "coupling system" is a broad term that should be given its common and common meaning as understood by those skilled in the art. The term is not limited to a specific or adapted meaning. The term can refer to a system with at least one coupling and other components without restriction. Therefore, the coupling system particularly includes a coupling and a pipeline and / or a hose and / or one or more valves. The coupling can be a so-called convex or concave coupling. In this case, the coupling particularly refers to a detachable connector between the segments of a transport pipeline (such as a pipeline, a hose, etc.). They can achieve efficient and reliable connection and replacement of systems, units, devices, etc. The design depends on the intended use, the medium (air, gas, water, oil, acid, etc.) transported in the transport pipeline, and the pressure conditions (vacuum or overpressure) that dominate in the transport pipeline. The coupling is particularly composed of two couplings (i.e., a concave coupling and a convex coupling) that can be connected to each other.

[0031] The mobile arm is configured to move the coupling system. In this case, the movement can be caused by the movement of the mobile arm. To this end, the mobile arm can be permanently or detachably connected to the coupling system.

[0032] The automatic connection system is configured to automatically open at least one tank nozzle of the mobile tank. The automatic connection system is also configured to automatically open a pipe connection piece of the transfer station. The automatic connection system is also configured to fluidly connect the tank nozzle and the pipe connection piece.

[0033] As used herein, the term "automatic" or "automatically" is a broad term that should be given its ordinary and common meaning as understood by a person skilled in the art. The term is not limited to a specific or adapted meaning. The term may, without limitation, refer in particular to a process that does not require manual activity or further activity when a single working step is performed. For example, once the coupling system is connected to a tank nozzle, the tank nozzle is thereby opened without requiring any further working steps.

[0034] As used herein, the term "fluid connection" is a broad term that should be given its ordinary and common meaning as understood by those skilled in the art. The term is not limited to a specific or adapted meaning. The term can specifically refer to a state that allows a fluid medium to flow without limitation.

[0035] The logistics system according to the present invention allows loading and / or unloading to be fully automated by automation, thereby enabling the flexible operation of the transfer station, sometimes loading and unloading a large number of mobile storage tanks, and sometimes loading and unloading a lower number of mobile storage tanks. This also realizes the concept of safety for the first time, wherein, for example, half of the products are intended to be transported by one mode of transport (such as inland waterway ships), and the other half of the products are intended to be transported by another mode of transport (such as railways). In the event of a bottleneck in one mode of transport, such as low water levels in the case of inland waterway transport, it can be flexibly changed to another mode of transport. This is possible because automation means that the loaders will not constitute a bottleneck. In this case, the logistics system according to the present invention includes the entire process from order processing to delivery: positioning below the transfer station, connecting to the transfer station, unloading process or loading process, determining the correct loading or unloading weight, monitoring during loading and unloading, closing the mobile storage tank after loading and unloading is completed, signing for the mobile storage tank, and transporting the mobile storage tank back.

[0036] The controller may be configured to clear or block the fluid connection between the tank nozzle and the pipe connection. The controller may thus allow or prevent flow through the connection between the tank nozzle and the pipe connection.

[0037] The logistics system may further comprise at least one analysis device for acquiring at least one parameter of the fluid medium.

[0038] As used herein, the term "analytical device" is a broad term that should be given its ordinary and common meaning as understood by a person skilled in the art. The term is not limited to a specific or adapted meaning. The term may refer in particular, without limitation, to a device configured to acquire and / or examine at least one predetermined characteristic of a substance or a mixture of substances. Such a device may be particularly configured to perform a system inspection in which the inspected object is disassembled into its parts (elements). In this case, these elements are recorded based on standards and then sorted, inspected and evaluated. The relationships and influences (usually interdependencies) between these elements are particularly considered.

[0039] The logistics system is thus able to: determine required demand; call (arrange) mobile tanks for loading or unloading; monitor transportation and coordinate delivery in the case of delivery; connect the tanks; inspect and approve the contents of the tanks; initiate, monitor and complete loading; and finally sign off the tanks for collection.

[0040] The controller can be configured to compare at least one parameter with at least one specification, and make the fluid connection between the tank nozzle and the pipe connector unblocked or blocked according to the result of the comparison. In other words, the controller can check whether the fluid medium corresponds to the specification and allow or prevent loading or unloading. For example, the correctness and purity of the product are checked. After the quality approval has been given, the pipeline is switched to the connected fixed storage tank, other mobile storage tank, or the pipeline leading to the consumer, and then the storage tank is emptied.

[0041] The parameter can be selected from the group consisting of: chemical properties of the fluid medium; purity of the fluid medium; physical properties of the fluid medium; type of the fluid medium; loading amount of the fluid medium in the mobile storage tank. In particular, the chemical properties of the fluid medium may include solubility, reactivity, pH constant (acid constant and / or base constant), enthalpy value (combustion enthalpy), etc. For example, the chemical properties of the fluid medium may include: characteristic chemical reactions connected to another fluid; color changes caused by chemical interactions or physical interactions with indicators; enthalpy of fluid connection; characteristic detectable chemical transformations, physical transformations, or quantum chemical transformations caused by, for example, energy irradiation. For example, the physical properties of the fluid medium may include pressure, temperature, tightness of fluid connection, pressure loss of fluid connection, material density, aggregation state, conductivity, viscosity, emission / absorption spectrum, refractive index, boiling point of fluid connection, refractive index of fluid connection, color of fluid connection, permeability characteristics of fluid connection, or vapor pressure of fluid connection.

[0042] The controller may be configured to detect a need for transfer of the fluid medium. The controller may also be configured to automatically request at least one mobile storage tank for transfer according to the need and provide the at least one mobile storage tank at the transfer station.

[0043] In this case, the mobile tank can be requested by appropriate instructions. For example, the instruction will be transferred to the fully automated warehouse for mobile tanks or to the tank in transit. The instruction is given here to bring the appropriate mobile tank to the transfer station. In the fully automated case, the corresponding mobile tank in the tank container warehouse is grabbed by the automatic crane and loaded onto the provided AGV chassis. Via the instructions to be set by the controller, the mobile tank is transported to the loading station by the AGV (automatic transportation system for mobile tanks). In this case, the AGV positions the tank just below the transfer station so that the mobile tank can be automatically connected. In a non-fully automated system, the positioning at the loading station is performed by personnel using orientation marks, as follows: the driver uses orientation marks to position, for example, a tank truck, a TC (tank container) or a BTC (BASF-grade tank container) mounted on a truck chassis; the train driver uses orientation marks to position, for example, a tank truck, a tank container or a BTC mounted on a transport truck; or the captain uses orientation marks to position, for example, an inland tanker. After the controller has located and identified the mobile tank, the controller gives the command to the mobile system to connect the mobile tank. For this purpose, the mobile system is, for example, fixedly mounted on top of the transfer station. The mobile system is equipped with specially developed couplings that allow reliable and efficient connection and closing of the mobile tank. Another option, which is also part of the present patent application, is to arrange the mobile system at the bottom, but it makes more sense to mount the mobile arm at the top.

[0044] The logistics system may also have at least one warehouse for a plurality of mobile storage tanks. This enables a buffer to be provided for a fluid or a variety of fluids, which increases the flexibility and carrying capacity of the logistics system.

[0045] The mobile tanks can be mounted on driverless industrial trucks. Thus, the mobile tanks can also be transported or provided automatically, which reduces the deployment of personnel and therefore resources.

[0046] As used herein, the term "industrial truck" is a broad term that should be given its common and common meaning as understood by those skilled in the art. The term is not limited to a specific or adapted meaning. The term can refer to a conveying tool for horizontally transporting goods on a horizontal ground without restriction. The term is used synonymously with a transport vehicle. The counterpart is a lift-off conveying tool, which is suspended on a hall ceiling or uses a track. Industrial trucks can be divided into trackless industrial trucks (such as pallet trucks, tractors, forklifts, etc.), railed industrial trucks (such as trams, rail vehicles) and track-guided industrial trucks (such as driverless transport systems). In particular, industrial trucks can be conveying tools such as follows, which are characterized in that they run on the floor with wheels and are freely steerable in terms of their design, and they are configured to transport, pull or push loads and are intended for internal use. Driverless industrial trucks or automatic guided vehicles (AGVs) are floor-mounted conveying tools that are self-contained drive devices, automatically controlled and contactlessly guided. Unmanned industrial trucks are used to transport materials using active or passive load-bearing methods (i.e., pulling or carrying the goods being transported). Unmanned transport systems are floor-standing internal transport systems with automatically controlled vehicles whose main task is to transport materials, not people. They are used inside and outside buildings and basically consist of the following components: one or more unmanned transport vehicles, a main controller, position determination and position detection devices, data transmission devices, infrastructure and peripheral devices.

[0047] The pipe connection may include at least one hose. The hose may be connected or connectable to the coupling system. The mobile arm may be designed to grip and move the hose. Compared to a relatively rigid pipe, the hose has the advantage that it is flexible and can therefore be moved to a target location more easily.

[0048] As used herein, the term "hose" is a broad term that should be given its ordinary and common meaning as understood by a person skilled in the art. The term is not limited to a specific or adapted meaning. Compared with non-flexible pipes, the term can refer to a flexible elongated hollow body with a mostly circular cross-section without restriction. The term "hose line" refers to a hose that has been installed for permanent use. The innermost sealing layer of the hose is called the inner tube. The outermost layer is called the covering. Between the innermost layer and the outermost layer is usually an inlay made of fabric or wound fiber or wire, which improves the dimensional stability and compressive strength of the hose. Similar to corrugated pipes and hollow pipes, suction hoses are usually equipped with spirals made of plastic or steel wire to improve cross-sectional stability. In many cases, hoses are used as hose lines for transporting materials. For example, if the installation of a fixed pipeline is too difficult or too complicated, and if the connection point or outlet point is movable.

[0049] The mobile arm can be designed to remove a cover from a tank nozzle of a mobile tank. As an alternative or in addition, the mobile arm can be designed to attach a cover to a tank nozzle of a mobile tank. Accordingly, a cover can be removed from or attached to a tank nozzle without the need for personnel and thus in a resource-saving manner.

[0050] As used herein, the term "cap" is a broad term that should be given its ordinary and customary meaning as understood by those skilled in the art. The term is not limited to a specific or adapted meaning. The term may specifically refer to a cap for protecting a tank nozzle from contamination and / or damage without limitation.

[0051] The transfer station may also include at least one tank sensor. The tank sensor may be configured to detect the position and / or type of a tank nozzle of the mobile tank. The result of the detection performed by such a tank sensor may be used to guide the mobile arm to the correct position with the correct coupling to allow automatic connection of the pipe connection.

[0052] The tank sensor may have at least one optical sensor, a camera, a laser sensor, a lidar sensor, a mechanical sensor (such as a probe), an inductive sensor, an ultrasonic sensor and / or an infrared sensor.

[0053] The transfer station may also include at least one cleaning device. The cleaning device may be configured to clean the tank nozzle of the mobile tank at least from the outside. This ensures that the fluid is not contaminated during loading or unloading.

[0054] As used herein, the term "cleaning equipment" is a broad term that should be given its ordinary and common meaning as understood by those skilled in the art. The term is not limited to a specific or adapted meaning. The term may particularly refer to equipment that is configured to at least partially remove protective or undesirable particles, deposits, etc., without limitation. In this case, the cleaning action can be physical, chemical and / or mechanical.

[0055] The transfer station can also be configured to control the temperature of the mobile tank. This allows the fluid in the mobile tank to reach and remain at a predetermined temperature.

[0056] As used herein, the term "controlling temperature" and its grammatical equivalents are broad terms that should be given their ordinary and common meanings as understood by those skilled in the art. The term is not limited to a specific or adapted meaning. The term may specifically refer to the activity of bringing a fluid medium to a predetermined temperature without limitation. In this case, the temperature may be adjusted by controlling and / or regulating.

[0057] In particular, the transfer station can be configured to heat or cool the mobile tank. Thus, the temperature of the fluid can be set.

[0058] The transfer station can be designed to detachably connect the temperature control connection to the mobile tank. Thus, the temperature control can be carried out according to the requirements. The detachable connection also saves more space and achieves greater flexibility.

[0059] As used herein, the term "temperature control connection" is a broad term that should be given its ordinary and common meaning as understood by a person skilled in the art. The term is not limited to a specific or adapted meaning. The term may refer, without limitation, in particular to a connection that can be connected to a mobile storage tank in order to supply and / or dissipate heat. In this case, the heat can be supplied and / or dissipated electrically and / or by a heat carrier (such as a liquid).

[0060] The mobile system can be designed to detachably connect the temperature control connection to the mobile tank. Therefore, the mobile system can not only move the connection system to its target location, but also move the temperature control connection. This further reduces the need for personnel, thereby improving flexibility.

[0061] The transfer station may also have at least one monitoring device. The monitoring device may be configured to monitor the loading status of the mobile storage tank. This makes it possible to reliably prevent incorrect filling of the mobile storage tank, ie deviation from the target fluid amount.

[0062] The automatic coupling system may have at least one coupling. The automatic coupling may be configured to automatically open at least one tank nozzle of the mobile tank by placing the coupling. Thus, during the placement of the coupling, the tank nozzle can be opened without any further work steps, thereby reducing the number of work steps.

[0063] The transfer station may also have at least one accessible platform. This allows operators or employees to monitor the functioning of the logistics system.

[0064] As used herein, the term "accessible platform" is a broad term that should be given its ordinary and customary meaning as understood by those skilled in the art. The term is not limited to a specific or adapted meaning. The term may specifically refer to a limited, horizontal, elevated area accessible to at least one person without limitation.

[0065] The accessible platform may have a floor with an opening and a door. In particular, the accessible platform may have a flap door and / or a sliding door. The door may be designed to selectively close and release the opening. The floor may be arranged at a height that exceeds the height of the mobile storage tank. Thus, an operator or employee may have access to the top of the mobile storage tank.

[0066] The base plate of the access platform can be arranged above the mobile tank during loading and / or unloading of the mobile tank. As a result, an operator or employee can only access the top of the mobile tank when the mobile tank is located underneath. This increases occupational safety and prevents employees from accidentally falling.

[0067] The controller can be configured to release the opening by moving the door when the mobile storage tank is located at a predetermined position below the floor. Thus, the operator or employee can only access the top of the mobile storage tank when the mobile storage tank is located below. This improves occupational safety and prevents employees from accidentally falling.

[0068] The logistics system may also include at least one mobile storage tank.

[0069] The moving system may be a robotic system. The moving arm may be a mechanical arm. This enables movement with multiple degrees of freedom.

[0070] In another aspect of the invention, a method for automatically transporting at least one fluid medium using at least one logistics system according to one of the embodiments described above or below is provided. The method comprises the method steps described below, which can preferably but not necessarily be performed in the order described. In addition, one or more method steps can also be performed simultaneously or in a time-overlapping manner. In addition, one or more method steps or all method steps can also be performed repeatedly. In addition to the method steps described, the method can include further method steps. The method comprises the following steps:

[0071] i. Bring at least one mobile tank to the transfer station;

[0072] ii. automatically opening at least one pipe connection of the transfer station by an automatic connection system;

[0073] iii. automatically opening at least one tank nozzle of the mobile tank by an automatic connection system;

[0074] iv. establishing at least one fluid connection between the tank nozzle and the pipe connection by an automatic coupling system; and

[0075] v. performing at least one process selected from the group consisting of: loading a mobile storage tank with a fluid medium from a piping system of a transfer station; unloading a fluid medium from a mobile storage tank to a piping system of a transfer station.

[0076] The method according to the present invention allows loading and / or unloading to be fully automated by automation, thereby enabling the flexible operation of the transfer station, loading and unloading a large number of mobile storage tanks on the one hand, and loading and unloading a lower number of mobile storage tanks on the other hand. This also realizes the concept of safety for the first time, wherein, for example, half of the products are intended to be transported by one mode of transport (such as inland waterway ships), and the other half of the products are intended to be transported by another mode of transport (such as railways). In case of a bottleneck in one mode of transport, such as low water level in the case of inland waterway transport, it can be flexibly changed to another mode of transport. This is possible because automation means that the loaders will not constitute a bottleneck. In this case, the logistics system according to the present invention includes the entire process from order processing to delivery: positioning under the transfer station, connecting to the transfer station, unloading process or loading process, determining the correct loading or unloading weight, monitoring during loading and unloading, closing the mobile storage tank after loading and unloading is completed, signing for the mobile storage tank, and transporting the mobile storage tank back.

[0077] As used herein, the term "bringing at least one mobile storage tank to a transfer station" is a broad term that should be given its ordinary and common meaning as understood by a person skilled in the art. The term is not limited to a specific or adapted meaning. The term may, without limitation, particularly refer to the process of providing a mobile storage tank at a transfer station. For this purpose, the mobile storage tank may be moved, in particular transported, to the transfer station.

[0078] The method can be computer controlled by a controller, thereby increasing the degree of automation.

[0079] As used herein, the term "computer-controlled" is a broad term that should be given its ordinary and customary meaning as understood by those skilled in the art. The term is not limited to a specific or adapted meaning. The term may specifically refer, without limitation, to a function or process that is performed at least in part using a computer program.

[0080] The method may also include enabling or blocking the fluid connection between the tank nozzle and the pipe connection by the controller. The controller may thus allow or prevent flow through the connection between the tank nozzle and the pipe connection.

[0081] The method may further comprise acquiring at least one parameter of the fluid medium.

[0082] The method may also include comparing at least one parameter with at least one specification, and making the fluid connection between the tank nozzle and the pipe connector unblocked or blocked according to the result of the comparison. In other words, the controller may verify whether the fluid medium corresponds to the specification and allow or prevent loading or unloading. For example, the correctness and purity of the product are tested. After quality approval has been given, the pipeline is switched to a connected fixed storage tank, other mobile storage tanks, or a pipeline leading to a consumer, and then the storage tank is emptied.

[0083] The method may also include detecting the demand for the transshipment of the fluid medium, and automatically requesting at least one mobile storage tank for transshipment according to the demand and providing the at least one mobile storage tank at the transfer station. In this case, the mobile storage tank can be requested by appropriate instructions. For example, the instruction will be transferred to the fully automated warehouse for the mobile storage tank or to the storage tank in transit. The instructions are given here to bring the appropriate mobile storage tank to the transfer station. In the fully automated case, the corresponding mobile storage tank in the tank container warehouse is grabbed by the automatic crane and loaded onto the AGV chassis provided. Via the instructions to be set by the controller, the mobile storage tank is transported to the loading station by the AGV (automatic transportation system for mobile storage tanks). In this case, the AGV positions the storage tank just below the transfer station so that the mobile storage tank can be automatically connected. In a non-fully automated system, positioning at the loading station is performed by personnel using orientation marks, as follows: the driver uses orientation marks to position, for example, a tank truck, a TC or BTC mounted on a truck chassis; the train driver uses orientation marks to position, for example, a tank truck, a tank container or BTC mounted on a transport truck; or the captain uses orientation marks to position, for example, an inland tanker. After the controller has located and identified the mobile storage tank, the controller gives the mobile system a command to connect the mobile storage tank. To this end, the mobile system is, for example, fixedly mounted on the top of the transfer station. The mobile system is equipped with specially developed couplings that allow the mobile storage tank to be connected and closed reliably and efficiently. Another option, which is also part of this patent application, is to set the mobile system at the bottom, but it makes more sense to install the mobile arm at the top.

[0084] Mobile tanks can be mounted on unmanned industrial trucks. This also makes it possible to transport or provide mobile tanks automatically, which reduces the deployment of personnel and therefore resources.

[0085] The pipe connection may include at least one hose. The method may also include grasping and moving the hose by a mobile arm. The hose may be connected or connectable to the coupling system. The mobile arm may be designed to grasp and move the hose. Compared to a relatively rigid pipe, a hose has the advantage that it is flexible and can therefore be moved to a target location more easily.

[0086] The method may also include removing a cover from the tank nozzle of the mobile tank and / or attaching a cover to the tank nozzle of the mobile tank by moving the arm. Accordingly, the cover may be removed from or attached to the tank nozzle without the need for personnel and thus in a resource-saving manner.

[0087] The method may also include detecting the position and / or type of the tank nozzle of the mobile tank. The result of the detection performed by such a tank sensor may be used to guide the mobile arm to the correct position with the correct coupling to allow automatic connection of the pipe connection.

[0088] The method may also include cleaning the tank nozzle of the mobile tank at least from the outside. This ensures that the fluid is not contaminated during loading or unloading.

[0089] The method may also include controlling the temperature of the mobile storage tank, in particular heating or cooling the mobile storage tank. This allows the fluid in the mobile storage tank to reach and remain at a predetermined temperature.

[0090] The method may further include detachably connecting the temperature control connection to the mobile storage tank. Thus, temperature control can be performed as required. The detachable connection also saves more space and achieves greater flexibility.

[0091] The temperature control connection piece can be detachably connected to the mobile tank by means of a mobile arm. Thus, the mobile system is not only able to move the connection system to its target location, but also enables the temperature control connection piece to be moved. This further reduces the need for personnel, thereby increasing flexibility.

[0092] The method may also include monitoring the loading state of the mobile storage tank. This makes it possible to reliably prevent incorrect filling of the mobile storage tank, ie deviation from the target fluid amount.

[0093] The transfer station may also have at least one accessible platform. The accessible platform may have a floor with an opening and a door, in particular a flap door and / or a sliding door. The floor may be arranged at a height that exceeds the height of the mobile storage tank. The method may also include selectively closing and releasing the opening by means of the door. This allows an operator or employee to monitor the function of the logistics system. Thus, the operator or employee can access the top of the mobile storage tank.

[0094] The method may also include releasing the opening by moving the door when the mobile storage tank is located at a predetermined position below the floor. Thus, an operator or employee can access the top of the mobile storage tank only when the mobile storage tank is located below. This improves occupational safety and prevents employees from accidentally falling.

[0095] The mobile storage tank may have a tank number. The method may further include: recording the tank number of the mobile storage tank by a sensor or an OCR system, comparing the recorded tank number with the tank number stored in the database, verifying the correctness of the recorded tank number, and if the verification of the tank number of the mobile storage tank is correct, releasing the mobile storage tank for loading and / or unloading. This improves safety when handling the contents of the mobile storage tank.

[0096] For example, the recorded tank number may be compared to the tank number stored in the instruction.

[0097] A check digit can be used to verify the correctness of the tank number.

[0098] The method can also recognize the identifier of the mobile tank using a sensor or OCR system and attach a label or warning sign by a machine for marking the mobile tank, or remove or hide the old label or warning sign according to the specifications in the computer program. Therefore, the system is also able to attach the appropriate and correct dangerous goods identifier to the mobile tank after loading and / or unloading.

[0099] In particular, the identifier may be a dangerous goods identifier.

[0100] In another aspect of the present invention, a computer program product is also proposed, which includes commands that enable a logistics system according to one of the embodiments described above or below regarding the logistics system to perform method steps according to one of the embodiments described above or below regarding the method.

[0101] In another aspect of the present invention, a computer-readable medium, in particular a non-volatile computer-readable medium, is proposed, on which a computer program according to the above-described embodiments is stored.

[0102] As part of the invention, a computer program is also proposed which, when executed on a computer or a computer network, performs a method according to the invention in one of its embodiments.

[0103] As part of the present invention, a computer program is also proposed, which contains program code means for executing the method according to the present invention in one of its embodiments when the program is executed on a computer or a computer network. In particular, the program code means can be stored on a computer-readable data carrier and / or a computer-readable storage medium.

[0104] As used herein, the terms "computer-readable data carrier" and "computer-readable storage medium" may particularly refer to a non-transitory data storage, such as a hardware data storage medium having computer-executable instructions stored thereon. In particular, a computer-readable data carrier or a computer-readable storage medium may be or include a storage medium, such as a random access memory (RAM) and / or a read-only memory (ROM).

[0105] Additionally, as part of the invention, a data carrier is proposed on which a data structure is stored which, after being loaded into a working memory and / or main memory of a computer or a computer network, enables the method according to the invention in one of its embodiments to be executed.

[0106] Also proposed as part of the present invention is a non-transitory computer-readable medium comprising instructions that, when executed by one or more processors, cause the one or more processors to . ...

[0107] As part of the invention, a computer program product is also proposed, which contains program code means stored on a machine-readable carrier for performing a method according to the invention in one of its embodiments when the program is executed on a computer or a computer network.

[0108] A computer program product is understood here to mean a program as a tradable product. In principle, it can be in any form, such as paper form or on a computer-readable data carrier, and can be distributed in particular via a data transmission network.

[0109] As part of the invention, finally a modulated data signal is proposed, which contains instructions executable by a computer system or a computer network for performing a method according to one of the described embodiments.

[0110] With regard to computer-implemented aspects of the present invention, one, several or even all of the method steps of the methods according to one or more of the embodiments presented herein may be performed by a computer or a computer network. Thus, generally, any of the method steps including the provision and / or manipulation of data may be performed by a computer or a computer network. These steps may generally include any of the method steps, except for steps requiring manual work, such as providing samples and / or performing certain aspects of actual measurements.

[0111] In summary, without limiting other possible embodiments, the following embodiments are proposed:

[0112] Embodiment 1: A logistics system for automatically transporting at least one fluid medium, comprising:

[0113] at least one transfer station, wherein the transfer station is configured to perform at least one process selected from the group consisting of loading the fluid medium into a mobile storage tank and unloading the fluid medium from the mobile storage tank, wherein the transfer station has at least one piping system having at least one pipe connection; and

[0114] At least one controller, wherein the controller is programmed to control at least one function of the logistics system; and at least one mobile system, the at least one mobile system having at least one mobile arm and an automatic connection system, wherein the mobile arm is configured to move the connection system, wherein the automatic connection system is configured to automatically open at least one tank nozzle of the mobile tank, wherein the automatic connection system is also configured to automatically open a pipe connector of the transfer station, and wherein the automatic connection system is also configured to fluidly connect the tank nozzle and the pipe connector.

[0115] Embodiment 2: The logistics system according to the previous embodiment, wherein the controller is configured to make the fluid connection between the tank nozzle and the pipe connector unobstructed or blocked.

[0116] Embodiment 3: The logistics system according to any one of the aforementioned embodiments further comprises at least one analysis device, and the at least one analysis device is used to obtain at least one parameter of the fluid medium.

[0117] Embodiment 4: The logistics system according to the previous embodiment, wherein the controller is configured to compare the at least one parameter with at least one specification, and to clear or block the fluid connection between the tank nozzle and the pipe connector according to the result of the comparison.

[0118] Embodiment 5: A logistics system according to any one of the two preceding embodiments, wherein the parameter is selected from the group consisting of: chemical properties of the fluid medium; purity of the fluid medium; physical properties of the fluid medium; type of the fluid medium; and filling quantity of the fluid medium in the mobile storage tank.

[0119] Embodiment 6: A logistics system according to one of the preceding embodiments, wherein the controller is configured to detect a need for transporting the fluid medium, wherein the controller is further configured to automatically request at least one mobile storage tank for transport based on the need and provide the at least one mobile storage tank at the transfer station.

[0120] Embodiment 7: The logistics system according to the previous embodiment, wherein the logistics system further has at least one warehouse for a plurality of mobile storage tanks.

[0121] Embodiment 8: A logistics system according to one of the preceding embodiments, wherein the mobile storage tank is installed on an unmanned industrial truck.

[0122] Embodiment 9: A logistics system according to one of the preceding embodiments, wherein the pipe connector comprises at least one hose, wherein the hose is connected or connectable to the coupling system, wherein the movable arm is designed to grip and move the hose.

[0123] Embodiment 10: The logistics system according to any one of the two preceding embodiments, wherein the mobile arm is designed to remove a cover from the tank nozzle of the mobile storage tank and / or to attach the cover to the tank nozzle of the mobile storage tank.

[0124] Embodiment 11: The logistics system according to one of the preceding embodiments, wherein the transfer station further comprises at least one tank sensor, wherein the tank sensor is configured to detect the position and / or type of the tank nozzle of the mobile tank.

[0125] Embodiment 12: A logistics system according to the preceding embodiment, wherein the tank sensor has at least one optical sensor, camera, laser sensor, lidar sensor, mechanical sensor, inductive sensor, ultrasonic sensor and / or infrared sensor.

[0126] Embodiment 13: The logistics system according to one of the preceding embodiments, wherein the transfer station further comprises at least one cleaning device, wherein the cleaning device is configured to clean the tank nozzle of the mobile tank at least from the outside.

[0127] Embodiment 14: The logistics system according to one of the preceding embodiments, wherein the transfer station is further configured to control the temperature of the mobile storage tank, in particular to heat or cool the mobile storage tank.

[0128] Embodiment 15: The logistics system according to the previous embodiment, wherein the transfer station is designed to detachably connect the temperature control connection to the mobile storage tank.

[0129] Embodiment 16: The logistics system according to the previous embodiment, wherein the mobile system is designed to detachably connect the temperature control connection to the mobile storage tank.

[0130] Embodiment 17: A logistics system according to one of the preceding embodiments, wherein the transfer station further has at least one monitoring device, wherein the monitoring device is configured to monitor the loading status of the mobile storage tank.

[0131] Embodiment 18: The logistics system according to one of the preceding embodiments, wherein the automatic coupling system has at least one coupling, wherein the automatic coupling is configured to automatically open at least one tank nozzle of the mobile tank by placing the coupling.

[0132] Embodiment 19: A logistics system according to one of the preceding embodiments, wherein the transfer station also has at least one accessible platform, wherein the accessible platform has a floor with an opening and a door, in particular a flap door and / or a sliding door, wherein the door is designed to selectively close and release the opening, wherein the floor is arranged at a height exceeding the height of the mobile storage tank.

[0133] Embodiment 20: The logistics system according to the preceding embodiment, wherein the floor of the accessible platform is arranged above the mobile storage tank during loading and / or unloading of the mobile storage tank.

[0134] Embodiment 21: The logistics system according to one of the preceding embodiments, wherein the controller is configured to release the opening by moving the door when the mobile storage tank is located at a predetermined position below the floor.

[0135] Embodiment 22: The logistics system according to one of the preceding embodiments further comprises at least one mobile storage tank.

[0136] Embodiment 23: A logistics system according to one of the preceding embodiments, wherein the mobile system is a robotic system, wherein the mobile arm is a mechanical arm.

[0137] Embodiment 24: A method for transporting at least one fluid medium using at least one logistics system according to one of the preceding embodiments, wherein the method comprises:

[0138] (i) bringing the at least one mobile storage tank to the transfer station;

[0139] (ii) automatically opening at least one pipe connection of the transfer station by the automatic connection system;

[0140] (iii) automatically opening at least one tank nozzle of the mobile tank by the automatic connection system;

[0141] (iv) establishing at least one fluid connection between the tank nozzle and the pipe connector by the automatic coupling system; and

[0142] (v) performing at least one process selected from the group consisting of: loading the mobile storage tank with the fluid medium from the pipeline system of the transfer station; unloading the fluid medium from the mobile storage tank to the pipeline system of the transfer station.

[0143] Embodiment 25: The method according to the previous embodiment, wherein the method is computer controlled by the controller.

[0144] Embodiment 26: The method according to any one of the aforementioned method embodiments further comprises enabling the fluid connection between the tank nozzle and the pipe connector to be unblocked or blocked by the controller.

[0145] Embodiment 27: The method according to one of the aforementioned method embodiments further includes obtaining at least one parameter of the fluid medium.

[0146] Embodiment 28: The method according to the previous embodiment, further comprising comparing the at least one parameter with at least one specification, and unblocking or blocking the fluid connection between the tank nozzle and the pipe connector according to the result of the comparison.

[0147] Embodiment 29: The method according to one of the aforementioned method embodiments further comprises detecting a need for transporting the fluid medium, and automatically requesting at least one mobile storage tank for transport according to the need and providing the at least one mobile storage tank at the transfer station.

[0148] Embodiment 30: A method according to one of the aforementioned method embodiments, wherein the mobile storage tank is mounted on an unmanned industrial truck.

[0149] Embodiment 31: A method according to one of the aforementioned method embodiments, wherein the pipe connector comprises at least one hose, wherein the method further comprises grasping and moving the hose by the movable arm.

[0150] Embodiment 32: The method according to the previous embodiment, further comprising removing a cover from the tank nozzle of the mobile storage tank and / or attaching the cover to the tank nozzle of the mobile storage tank by the movable arm.

[0151] Embodiment 33: The method according to one of the aforementioned method embodiments further comprises detecting the position and / or type of the tank nozzle of the mobile tank.

[0152] Embodiment 34: The method according to one of the preceding method embodiments, further comprising cleaning the tank nozzle of the mobile tank at least from the outside.

[0153] Embodiment 35: The method according to one of the aforementioned method embodiments further comprises controlling the temperature of the mobile storage tank, in particular heating or cooling the mobile storage tank.

[0154] Embodiment 36: The method according to the previous embodiment further comprises detachably connecting the temperature control connection to the mobile storage tank.

[0155] Embodiment 37: The method according to the previous embodiment, wherein the temperature control connection is detachably connected to the mobile storage tank via a movable arm.

[0156] Embodiment 38: The method according to one of the aforementioned method embodiments further includes monitoring the loading status of the mobile storage tank.

[0157] Embodiment 39: A method according to one of the aforementioned method embodiments, wherein the transfer station also includes at least one accessible platform, wherein the accessible platform has a floor with an opening and a door, in particular a flap door and / or a sliding door, wherein the floor is arranged at a height exceeding the height of the mobile storage tank, wherein the method also includes selectively closing and releasing the opening by means of the door.

[0158] Embodiment 40: The method according to the previous embodiment, further comprising releasing the opening by moving the door when the mobile storage tank is located at a predetermined position below the floor.

[0159] Embodiment 41: The method according to one of the aforementioned method embodiments also includes: recording the tank number of the mobile storage tank through a sensor or an OCR system, comparing the recorded tank number with the tank number stored in the database, verifying the correctness of the recorded tank number, and if the verification of the tank number of the mobile storage tank is correct, releasing the mobile storage tank for loading and / or unloading.

[0160] Embodiment 42: The method according to one of the aforementioned method embodiments also includes using a sensor or an OCR system to detect the identifier of the mobile storage tank, and attaching a label or warning sign, or removing or hiding the old label or warning sign through a machine for marking mobile storage tanks according to the specifications in the computer program.

[0161] Embodiment 43: A computer program product, comprising commands for causing a logistics system according to one of the preceding embodiments regarding a logistics system to execute method steps according to one of the preceding embodiments regarding a method.

[0162] Embodiment 44: A computer-readable medium, in particular a non-volatile computer-readable medium, on which the computer program according to the previous embodiment is stored. BRIEF DESCRIPTION OF THE DRAWINGS

[0163] Further details and features will become clear from the following description of the examples, in particular in conjunction with the dependent claims. In this case, the respective features can be implemented individually or two or more features can be implemented in combination with one another. The invention is not limited to the examples. The examples are schematically shown in the figures. The same reference numerals in the various figures relate to elements that are identical or have the same function or correspond to one another in terms of their function.

[0164] In detail:

[0165] Figure 1 Shows a perspective view of a logistics system according to the present invention;

[0166] Figure 2 Another perspective view of the logistics system according to the present invention is shown;

[0167] Figure 3 Another perspective view of the logistics system according to the present invention is shown;

[0168] Figure 4 Another perspective view of the logistics system according to the present invention is shown;

[0169] Figure 5 Another perspective view of the logistics system according to the present invention is shown;

[0170] Figure 6 Another perspective view of the logistics system according to the present invention is shown;

[0171] Figure 7 Another perspective view of the logistics system according to the present invention is shown;

[0172] Figure 8 Another perspective view of the logistics system according to the present invention is shown;

[0173] Fig. 9 Another perspective view of the logistics system according to the present invention is shown;

[0174] Fig.10 Another perspective view of the logistics system according to the present invention is shown;

[0175] Fig.11 Another perspective view of the logistics system according to the present invention is shown;

[0176] Fig.12 Another perspective view of the logistics system according to the present invention is shown;

[0177] Fig.13 Another perspective view of the logistics system according to the present invention is shown;

[0178] Fig.14 Another perspective view of the logistics system according to the present invention is shown;

[0179] Fig.15 Another perspective view showing the logistics system according to the present invention; and

[0180] Fig.16 Another perspective view of the logistics system according to the present invention is shown. DETAILED DESCRIPTION

[0181] Figure 1 A perspective view of a logistics system 100 according to the present invention is shown. The logistics system 100 is configured for automatically transporting at least one fluid medium. Figures 2 to 15 Further stereograms of the logistics system 100 are shown, which illustrate different details and different stages of the method according to the invention, as described in more detail below. The fluid medium can in principle be a liquid and / or a gas. The logistics system 100 comprises at least one transfer station 102. The transfer station 102 is configured to carry out at least one process selected from the group consisting of loading the fluid medium into a mobile storage tank 104 and unloading the fluid medium from the mobile storage tank 104. The transfer station 102 is fixed. As an alternative, the transfer station 102 can be mobile. The mobile storage tank 104 is mounted, for example, detachably mounted on an unmanned industrial truck 106. In this case, the mobile storage tank 104 can be part of the logistics system 100, but can alternatively be part of a separate system or be independent. The transfer station 102 has at least one pipeline system 108. The pipeline system 108 has at least one pipeline connector 110. For example, the pipeline system 108 of the transfer station 102 has a plurality of pipeline connectors 110.

[0182] As especially Figure 2 and Figure 3As can be seen in , the logistics system 100 also includes at least one mobile system 112. The mobile system 112 has at least one mobile arm 114 and an automatic connection system 116. The mobile arm 114 is configured to move the connection system 116. The automatic connection system 116 is configured to automatically open at least one tank nozzle 118 of the mobile tank 104. The automatic connection system 116 is also configured to automatically open the pipe connection 110 of the transfer station 102. The automatic connection system 116 is also configured to fluidly connect the tank nozzle 118 and the pipe connection 110. To this end, the automatic connection system 116 has at least one connection 120. The automatic connection 120 is configured to automatically open at least one tank nozzle 118 of the mobile tank 104 by placing the connection 120. Thus, the automatic coupling 120 is particularly designed to open a valve arranged in or on the tank nozzle 118 once the coupling 120 is placed on or arranged on the tank nozzle 118. The coupling system 116 can in principle be any coupling system that operates in a quick coupling manner (as in the case of a hose coupling). For example, the coupling system 116 can include a through coupling, a self-sealing coupling, or a so-called clean disconnect coupling.

[0183] The pipe connection 110 comprises at least one hose 122. The hose 122 is connected or can be connected to the coupling system 116. The mobile arm 114 is designed to grasp and move the hose 122. The mobile arm 114 is also designed to remove a cover 124 from a tank nozzle 118 of the mobile tank 104. As an alternative or in addition, the mobile arm 114 is designed to attach the cover 124 to the tank nozzle 118 of the mobile tank 104. In the embodiment shown, the mobile system 112 is a robotic system 126. In this case, the mobile arm 114 is a mechanical arm 128. As an alternative or in addition, the mobile system 114 can be a gantry system or a machine tool with a gantry drive.

[0184] As in Figure 4 As can be seen in the figure, the transfer station 102 also includes at least one tank sensor 130. The tank sensor 130 is configured to detect the position and / or type of the tank nozzle 118 of the mobile tank 104. To this end, the tank sensor 130 has at least one optical sensor, laser sensor, probe, inductive sensor and / or infrared sensor. The tank sensor 130 is particularly fixedly connected to the mobile arm 114. As an alternative, the tank sensor 130 can be detachably connected to the mobile arm 114. For example, the mobile arm 114 can be designed to grasp and move the tank sensor 130.

[0185] As in Figure 5As can be seen in the figure, the transfer station 102 also includes at least one cleaning device 132. The cleaning device 132 is configured to clean the tank nozzle 118 of the mobile storage tank 104 at least from the outside. For example, the cleaning device 132 includes a nozzle 134 for spraying or applying a cleaning agent and an associated cleaning hose 136. The cleaning hose 136 can then be fluidly connected to the pipeline system 108. As an alternative, the cleaning hose 136 can be connected to a separate cleaning pipeline system. The transfer station 102 is also configured to control the temperature of the mobile storage tank 104. The mobile storage tank 104 can be heated or cooled in particular. To this end, the transfer station 102 is designed to detachably connect a temperature control connection 138 to the mobile storage tank 104. More specifically, the mobile system 112 is designed to detachably connect a temperature control connection 138 to the mobile storage tank 104. For example, the mobile system 112 optionally has another mobile arm 114' designed to move the temperature control connection 138. Alternatively, depending on the application, the mobile arm 114 can be designed to move the temperature control connection 138. The transfer station 102 also includes at least one monitoring device 140. The monitoring device 140 is configured to monitor the loading status of the mobile tank 104. For example, the monitoring device includes a filling level sensor, a pressure sensor and / or a weight sensor, etc.

[0186] The logistics system 100 also includes at least one controller 142. The controller 142 is programmed to control at least one function of the logistics system 100. The controller 142 is particularly configured to make the fluid connection between the tank nozzle 118 and the pipe connection 110 unblocked or blocked. The controller 142 is also configured to detect the need for the transfer of the fluid medium. The controller 142 is also configured to automatically request at least one mobile tank 104 for transfer according to the demand and provide the at least one mobile tank at the transfer station 102.

[0187] The logistics system 100 further includes at least one analysis device 144, which is used to obtain at least one parameter of the fluid medium. The parameter is selected from the group consisting of: chemical properties of the fluid medium; purity of the fluid medium; physical properties of the fluid medium; type of the fluid medium; and the filling amount of the fluid medium in the mobile storage tank 104. The controller 142 is configured to compare the at least one parameter with at least one specification and to open or block the fluid connection between the tank nozzle 118 and the pipe connection 110 according to the result of the comparison.

[0188] In the illustrated embodiment, the transfer station 102 also optionally has at least one accessible platform 146. The accessible platform 146 has a floor 148 with an opening 150 and a door 152. The floor 148 is arranged at a height exceeding the height of the mobile storage tank 104. Thus, the floor 148 of the accessible platform 146 is arranged above the mobile storage tank 104 during loading and / or unloading of the mobile storage tank 104. In particular, the door 152 can be a flap door and / or a sliding door 154. In the illustrated embodiment, the door 152 is a sliding door 154. The door 152 is designed to selectively close and release the opening 150. The controller 142 is configured to release the opening 150 by moving the door 152 when the mobile storage tank 104 is located at a predetermined position below the floor 148. The logistics system 100 may also optionally have at least one warehouse (not shown in more detail) for a plurality of mobile storage tanks 104.

[0189] The following is a description of a method according to the invention for transporting at least one fluid medium. In this method, a logistics system 100 according to the invention is used. In particular, the method is computer-controlled by a controller 142 .

[0190] First, at least one mobile storage tank 104 is brought to the transfer station 102, such as Figure 1 As shown. The opening 150 of the accessible platform 146 is blocked by a door 152. The mobile storage tank 104 is brought to the transfer station 102 by means of an unmanned industrial truck 106, or is arranged on an unmanned industrial truck. In particular, the demand for the transfer of a fluid medium is detected. If, for example, monitoring of production shows that there is a demand for a predetermined fluid medium, this triggers a demand message in the controller 142. Then, the mobile storage tank 104 is automatically requested according to the demand and provided at the transfer station 102 for transfer. Optionally, the request can also be triggered manually. The demand can also indicate that the production has reached a predetermined amount of fluid medium and is therefore ready for delivery. To this end, the fluid medium must be transported to the mobile storage tank 104.

[0191] If the mobile storage tank 104 is provided at the transfer station 102 (e.g. Figure 2 When the mobile storage tank 104 is located at a predetermined position below the floor 148, the opening 150 (such as shown in FIG. 1 ) that allows access to the platform 146 is released by moving the door 152. Figure 3 Otherwise, the opening 150 remains closed by the door 152. This is to prevent falling.

[0192] The tank sensor 130 then detects the position and / or type of the tank nozzle 118 of the mobile tank 104, such as Figure 4To this end, the tank sensor 130 is grasped or held by the mobile arm 114 and moved along the area of ​​the mobile tank 104 where the tank nozzle 118 is located (e.g., along the top of the mobile tank 104). The cleaning device 132 cleans at least the tank nozzle 118 of the mobile tank 104 from the outside, such as Figure 5 Then, the mobile arm 114 removes the cover 124 from the tank nozzle 118 of the mobile tank 104, as shown. Figure 6 As an alternative or in addition, the tank nozzle 118 may be cleaned after the cap 124 has been removed. Figure 7 As shown, the moving arm 114 may position the cover 124 in an area such as the platform 146 .

[0193] Then, the movable arm 114 grasps the hose 122 (such as Figure 8 ) and moves the hose to the tank nozzle 118 of the mobile tank 104 (as shown Fig. 9 As shown). Fig.10 and Fig.11 As shown, the mobile arm 114 can connect more than one hose 122 to more than one tank nozzle 118 of the mobile tank 104. The hose 122 is connected to the coupling system 116, or is pre-connected to the coupling system. By placing the coupling 120 of the coupling system 116, the tank nozzle 118 of the mobile tank 104 is automatically opened. Additionally, the pipe connector 110 is automatically opened by the coupling system 116. Thus, at least one fluid connection is established between the tank nozzle 118 and the pipe connector 110 by the automatic coupling system 116. The controller 142 can make the fluid connection between the tank nozzle 118 and the pipe connector 110 unblocked or blocked. Therefore, at least one parameter of the fluid medium is obtained by the analysis device 144. The at least one parameter is compared with the at least one specification. Then, according to the result of the comparison, the fluid connection between the tank nozzle 118 and the pipe connector 110 is unblocked or blocked. The controller 142 thus opens the valve of the pipe connection 110 if the parameters correspond to the specifications and closes the valve if the parameters deviate from the specifications. For example, if the fluid medium and its properties correspond to the requested fluid medium and its properties, the fluid connection is unblocked; otherwise, the fluid connection is blocked.

[0194] When the fluid connection is unblocked, the mobile storage tank 104 is loaded or unloaded. Optionally, it is also possible for the fluid medium to circulate in the loop. In this case, the loading state of the mobile storage tank 104 is monitored.

[0195] Optionally, the mobile storage tank 104 or the fluid medium therein is temperature controlled, for example, heated or cooled. To this end, the temperature control connector 138 can be detachably connected to the mobile storage tank 104, such as Fig.12 The temperature control connection 138 is detachably connected to the mobile tank 104 via a further mobile arm 114 ′. In this case, the temperature control is performed in particular during the loading and / or unloading of the fluid medium. The temperature control connection 138 is then removed from the mobile tank 104 again by the robot arm 128 .

[0196] Alternatively, the tank number of the mobile storage tank 104 can be recorded by a sensor or an OCR system. The recorded tank number is compared with the tank number stored in a database (such as an instruction for providing the mobile storage tank 104). The correctness of the tank number thus recorded is verified. A check digit can be used to verify the correctness of the tank number. Only when the verification of the tank number of the mobile storage tank is correct, the mobile storage tank is released for loading and / or unloading. Otherwise, the release is not performed.

[0197] Optionally, the identifier of the mobile storage tank can also be recognized using a sensor or an OCR system, and according to the specifications in the computer program, by a machine for marking the mobile storage tank (such as a marking machine), a label or warning sign can be attached, or an old label or warning sign can be removed or hidden. In particular, the identifier can be a dangerous goods identifier. Therefore, the system is also able to attach an appropriate and correct dangerous goods identifier to the mobile storage tank after loading and / or unloading.

[0198] After the loading or unloading process, the pipe connection 110 and the coupling system 116 are removed from the tank nozzle 118 again by the robot arm 128, such as Fig.13 The tank nozzle 118 is again closed with the cover 124, as shown. Fig.14 After loading and / or unloading the mobile storage tank 104, the opening 150 of the platform 146 is closed by the door 152. This is to prevent falling. In addition, the mobile storage tank 104 can be removed from the transfer station 102. For example, the mobile storage tank 104 is transported away from the transfer station 102 by an unmanned industrial truck 106, such as Fig.15 and Fig.16 What is shown.

[0199] List of Reference Numerals

[0200] 100 Logistics System

[0201] 102 Transfer Station

[0202] 104 Mobile storage tanks

[0203] 106 Unmanned Industrial Truck

[0204] 108 Pipeline system

[0205] 110 Pipeline connector

[0206] 112 Mobile System

[0207] 114 Mobile Arm

[0208] 114' Another mobile arm

[0209] 116 Connection system

[0210] 118 Tank Nozzle

[0211] 120 Connectors

[0212] 122 Hose

[0213] 124 Cover

[0214] 126 Robotic System

[0215] 128 Robotic Arm

[0216] 130 Tank Sensor

[0217] 132 Cleaning Equipment

[0218] 134 Nozzles

[0219] 136 Cleaning hose

[0220] 138 Temperature control connector

[0221] 140 Monitoring Equipment

[0222] 142 Controller

[0223] 144 Analytical Equipment

[0224] 146 Platform

[0225] 148 Bottom

[0226] 150 Open

[0227] 152 doors

[0228] 154 Sliding Door

Claims

1. A logistics system (100) for automatically transporting at least one fluid medium, comprising: a. at least one transfer station (102), wherein the transfer station (102) is configured to perform at least one process selected from the group consisting of loading the fluid medium into a mobile storage tank (104) and unloading the fluid medium from the mobile storage tank (104), wherein the transfer station (102) has at least one piping system (108), and the at least one piping system has at least one pipe connection (110); and b. at least one controller (142), wherein the controller (142) is programmed to control at least one function of the logistics system (100); and c. at least one moving system (112), the at least one moving system having at least one moving arm (114) and an automatic coupling system (116), wherein the moving arm (114) is configured to move the coupling system (116), wherein: The automatic connection system (116) is configured to automatically open at least one tank nozzle (118) of the mobile tank (104), wherein the automatic connection system (116) is also configured to automatically open a pipe connection (110) of the transfer station (102), and wherein the automatic connection system (116) is also configured to fluidically connect the tank nozzle (118) and the pipe connection (110).

2. The logistics system (100) according to the preceding claim, wherein: The controller (142) is configured to open or block the fluid connection between the tank nozzle (118) and the pipe connection (110).

3. The logistics system (100) as claimed in any one of the preceding claims, further comprising at least one analysis device (144) for acquiring at least one parameter of the fluid medium.

4. Logistics system (100) according to the preceding claim, wherein: The controller (142) is configured to compare the at least one parameter with at least one specification and to enable or block the fluid connection between the tank nozzle (118) and the pipe connection (110) based on a result of the comparison.

5. The logistics system (100) according to any one of the preceding claims, wherein: The controller (142) is configured to detect a need for transporting the fluid medium, wherein the controller (142) is further configured to automatically request at least one mobile storage tank (104) for transport according to the need and provide the at least one mobile storage tank at the transfer station (102).

6. The logistics system (100) according to any one of the preceding claims, wherein: The pipe connection (110) comprises at least one hose (122), wherein the hose (122) is connected or connectable to the coupling system (116), wherein the moving arm (144) is designed to grasp and move the hose (122).

7. The logistics system (100) according to any one of the two preceding claims, wherein: The mobile arm (114) is designed to remove a cover (124) from a tank nozzle (118) of the mobile tank (104) and / or to attach the cover to the tank nozzle of the mobile tank.

8. The logistics system (100) according to any one of the preceding claims, wherein: The transfer station (102) also includes at least one tank sensor (130), wherein the tank sensor (130) is configured to detect a position and / or type of a tank nozzle (118) of the mobile tank (104).

9. The logistics system (100) according to any one of the preceding claims, wherein: The transfer station (102) further includes at least one cleaning device (132), wherein the cleaning device (132) is configured to clean at least the tank nozzle (118) of the mobile tank (104) from the outside.

10. The logistics system (100) according to any of the preceding claims, wherein: The transfer station (102) is also configured to control the temperature of the mobile storage tank (104), in particular to heat or cool the mobile storage tank.

11. Logistics system (100) according to the preceding claim, wherein: The transfer station (102) is designed to detachably connect the temperature control connection (138) to the mobile storage tank (104), wherein the mobile system (112) is particularly designed to detachably connect the temperature control connection (138) to the mobile storage tank (104).

12. The logistics system (100) according to any of the preceding claims, wherein: The transfer station (102) further includes at least one monitoring device (140), wherein the monitoring device (140) is configured to monitor a loading status of the mobile storage tank (104).

13. The logistics system (100) according to any one of the preceding claims, wherein: The automatic coupling system (116) has at least one coupling (120), wherein the automatic coupling (120) is configured to automatically open at least one tank nozzle (118) of the mobile tank (104) by placing the coupling (120).

14. The logistics system (100) according to any of the preceding claims, wherein: The mobile system (112) is a robotic system (126), wherein the mobile arm (114) is a mechanical arm (128).

15. A method for transporting at least one fluid medium using at least one logistics system (100) according to one of the preceding claims, wherein: The method includes: i. Bringing the at least one mobile storage tank (104) to the transfer station (102); ii. automatically opening at least one pipe connection (110) of the transfer station (102) by the automatic connection system (116); iii. automatically opening at least one tank nozzle (118) of the mobile tank (104) through the automatic connection system (116); iv. establishing at least one fluid connection between the tank nozzle (118) and the pipe connection (110) through the automatic coupling system (116); and v. performing at least one process selected from the group consisting of: loading the mobile storage tank (104) with the fluid medium from the pipeline system (108) of the transfer station (102); and unloading the fluid medium from the mobile storage tank (104) into the pipeline system (108) of the transfer station (102).

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