Mechanical guidance and electrical charging of drones in intralogistics

Abstract

A storage and order picking system (10) is disclosed, comprising: a drone (22) equipped for transporting a load carrier (32) and comprising a landing gear (62); and a guide frame (44) comprising at least one rail (68) extending in a longitudinal direction (X), preferably comprising an inlet section (72) and an outlet section (74) adjoining thereto, wherein the landing gear (62) and the at least one rail (68) are configured to couple to each other in order to move the drone (22) guided along the at least one rail (68); and wherein the at least one rail (68) is arranged in an area within the system (10) through which the drone is moved to perform an intralogistics function.

Description

[0001] The present disclosure relates generally to drones used in intralogistics to perform intralogistics tasks. In particular, a simple and efficient electrical charging (charging infrastructure) for the drones is disclosed while they perform the intralogistics task. More specifically, a system is disclosed in which drones and an overhead conveyor system, especially for transporting and exchanging bags, are used cooperatively.

[0002] Drones are increasingly being used in intralogistics (i.e., in warehouse and / or production environments). For example, drones scan and check inventory by automatically reading barcodes or RFID tags on stored items while flying freely (inventory and stock management). Drones can transport small to medium-sized items within a warehouse (transport and delivery within the warehouse) by directly picking them up. Drones can be used to monitor warehouse layouts to detect security breaches or to verify compliance with safety regulations, for example, by checking the integrity of shelving through image capture. They can also monitor areas that are difficult or dangerous for humans to access (surveillance and security checks). Drones can be used to rearrange items on shelves.This is particularly useful in large warehouses with high shelves, where traditional methods can be time-consuming and risky. By using drones, companies can also collect detailed data on inventory levels and movements, which can then be used to optimize warehouse processes and improve efficiency (data analysis and processing). In combination with other robotic systems, drones can take on tasks that require precise coordination (positioning accuracy), such as working alongside autonomous vehicles within the warehouse (collaborative robotics).

[0003] However, drones are not yet widely used in intralogistics for various reasons. Drones have limited payload capacity and are unsuitable for heavy or large objects. Their maximum payload is significantly lower compared to traditional transport methods such as forklifts or conveyor belts, limiting their efficiency when handling larger volumes. Drones have a limited battery life and require regular recharging, which can disrupt operations. Battery replacement is labor-intensive and time-consuming. Operating drones, especially with heavy loads, consumes a lot of energy, which can increase operating costs. Acquiring and maintaining drones, as well as implementing the necessary infrastructure, can be costly.

[0004] The internet article “Cargo drones: A potential gamechanger in the logistics industry” by the management consultancy Roland Berger describes the use of drones for deliveries in the open air, i.e. within a company premises, but outside of buildings, or between adjacent warehouses.

[0005] The online article "How drone delivery will transform the future of logistics industry" by The Cooperative Logistics Network particularly highlights the last mile of delivery in online retail. Amazon, for example, plans to use its drones to make deliveries for less than $1, which could reduce logistics costs by up to 70%. Boeing is planning a transport drone ("The Condor") that can carry loads of up to 180 kg over distances of up to 200 km.

[0006] The online article "Applications of drones in warehouse operations" (white paper) from ETH Zurich offers a comprehensive analysis of the various potential applications of drones in intralogistics. It identifies and describes three main areas of application: inventory management, transport, and inspection and monitoring. However, the intralogistics transport sector is subject to significant limitations, particularly regarding payload, range, and battery capacity. This area is therefore considered to have the lowest prospects for success.

[0007] The positioning accuracy and range of drones pose a problem in intralogistics applications.

[0008] According to its title, DE 10 2021 109 957 A1 concerns an intralogistics system.

[0009] According to its title, US 2023 / 0159192A1 concerns a drone delivery system hub to simplify package delivery using unmanned aerial vehicles.

[0010] According to its title, DE 10 2021 100 624 A1 concerns an order for the supply of drones of a drone swarm.

[0011] According to its title, WO 2017 / 190 026 A2 concerns unmanned aircraft grab and delivery systems.

[0012] It is therefore a task of the present revelation to create a system that overcomes the aforementioned disadvantages.

[0013] This problem is solved by a storage and order picking system according to claim 1.

[0014] While the drone is performing a logistical task that requires, in particular, waiting, timed movement, and / or precise positioning, it does not need to be remotely controlled. Specifically, the drone does not need to control its own path. This reduces the control effort. Furthermore, the drone can be electrically charged while performing its task, which further reduces the cycle time or throughput time.

[0015] The drone can save energy because it can be placed on its landing gear while the logistical task is being carried out. The drone's range increases. It requires less frequent recharging at dedicated charging stations. Productivity increases.

[0016] The drone is mechanically guided along the rail, which increases precision and stability during movement.

[0017] Various logistical functions, such as loading, unloading and shelf inspection, are enabled, which increases the flexibility of the system.

[0018] In particular, a synergistic effect occurs because the drones and an overhead conveyor technology are integrated to improve efficiency and enable a reduction in additional infrastructure.

[0019] Preferably, the landing gear and the guide frame interlock positively for coupling while the drone is moved along the guide frame. The guide frame can hold or support the drone during this movement.

[0020] The positive-locking coupling ensures a stable and secure connection between the landing gear and the guide frame. It also increases the accuracy of the drone's tracking along the rail and minimizes deviations.

[0021] In particular, the positive locking mechanism is such that the landing gear and the guide frame are vertically locked together.

[0022] A vertical locking mechanism provides additional stability and prevents the drone from unintentionally taking off vertically. Furthermore, the frame increases safety during drone movement, especially during vertical (disruptive) movements.

[0023] Preferably, the landing gear and the guide frame are coupled to each other in such a way and the positive locking is such that the drone can only be moved in the longitudinal direction by the guide frame.

[0024] Limiting movement to the longitudinal direction ensures controlled and predictable drone movements. Control is simplified, and process reliability is increased. In particular, restricting the drone's freedom of movement to a single dimension simplifies drone control.

[0025] Preferably, one or more, in particular free-rotating, guide rollers are provided, preferably vertically, between the landing gear and the guide frame.

[0026] The guide rollers reduce friction and enable smooth movement along the track. They also improve the guidance and accuracy of the drone's movement.

[0027] In particular, at least one leadership role is an all-rounder role.

[0028] Omnidirectional wheels allow movement in multiple directions. The drone can be supported with minimal friction in several directions. Handling and positioning the drone on the track is simplified. Docking can be easier because the drone can be inserted into the track(s) with less precision, i.e., flown into them.

[0029] Preferably, the guide rollers opposite each other enclose the at least one rail between them, particularly vertically, with the at least one rail preferably extending horizontally.

[0030] Securely locking the rail between the guide rollers prevents unwanted displacement, especially causing the drone to lift off. This increases the drone's stability while moving along the rail.

[0031] In particular, the at least one rail comprises a first rail and a separate second rail, which extend parallel to each other at a distance in a transverse direction (perpendicular to the longitudinal direction).

[0032] Parallel rails offer additional stability and support for the drone. The drone's weight can be distributed more evenly. The drone can be placed on the rails without crashing, even if its propulsion system is deactivated. A C-shaped cross-section ensures stable guidance of the drone along the rails.

[0033] Preferably, the first and second rails each have a cross-section, in particular a C-shaped cross-section, along the longitudinal direction, wherein two pairs of guide rollers are attached to the landing gear, each pair of rollers being formed from two opposing guide rollers that touch opposite sides of the rail cross-sections while the drone is moved in the longitudinal direction along the rail frame.

[0034] Even more preferred is the arrangement in which the two rollers of each pair of rollers are vertically opposite each other, wherein the C-shaped cross-section is open laterally and wherein the two guide rollers of the pairs of rollers are rotatably mounted in the roller frame about a horizontal axis of rotation.

[0035] The load carriers are HF load carriers, namely pockets, wherein the system may further have an overhead conveyor for the suspended, in particular rail-guided, transport of the overhead conveyor load carriers along, and in particular below, an HF rail, wherein the drone is equipped for the, preferably infrastructure-free, transport of the HF load carriers and is further equipped to cooperate with the overhead conveyor by enabling the drone and the overhead conveyor to automatically exchange the HF load carriers with each other, e.g. in a (pocket) transfer station.

[0036] A combination of overhead conveyors and drones increases flexibility in material handling. Furthermore, automated transfer processes between drones and overhead conveyors can be enabled, further increasing efficiency.

[0037] In particular, the guide frame includes a station for loading / unloading the load carriers, the station of which may further include a container conveying system and a robot that is arranged in an interface area between the guide frame and the container conveying system.

[0038] Combining drone guidance with container conveying technology at the station increases efficiency. Automated loading and unloading processes are enabled, and manual intervention is reduced. Positioning accuracy is improved. The automation of loading and unloading becomes more reliable, thus increasing process safety.

[0039] Preferably, the output end section is arranged such that the load carrier can be loaded or unloaded by a person or a robot while it is (in particular firmly) coupled to the drone.

[0040] Both manual and robot-assisted loading and unloading are possible, increasing the system's flexibility and versatility.

[0041] In particular, the guide frame is equipped with a driven conveyor that moves the drone to the exit section while the drone rests on the guide frame.

[0042] A powered conveyor enables the drone to move automatically, reducing battery power requirements. Furthermore, efficiency can be increased by reducing the drone's self-propelled movement (efficiency gain).

[0043] Preferably, at least one of the rails is provided with a power line extending in the longitudinal direction and configured to electrically charge the drone while the drone is being moved from the entry section to the exit section.

[0044] Continuous charging of the drone during operation is enabled, reducing downtime. Power is supplied continuously, optimizing energy efficiency and increasing the drone's operating time, resulting in overall more efficient use.

[0045] In particular, the power line is a conductor rail, wherein the landing gear may be equipped with a sliding contact-type pickup that is configured to touch the conductor rail while the drone is moved from the entry section to the exit section.

[0046] A conductor rail and a pickup enable efficient power transfer to the drone. Furthermore, continuous charging without interrupting operation can be ensured.

[0047] Preferably, the power line and the drone are set up for inductive charging of the drone.

[0048] Inductive charging enables wireless energy transfer and reduces wear and tear and maintenance. Furthermore, it can increase safety by eliminating open contacts and potential short circuits.

[0049] It is understood that the aforementioned features and those to be explained below can be used not only in the combinations specified, but also in other combinations or on their own, without leaving the scope of the present concept.

[0050] Examples of the concept are shown in the drawings and are explained in more detail in the following description. They show: Fig. 1 a block diagram of a storage and / or order picking system with different types of cooperating conveyors; Fig. 2 a perspective view of a system according to the Fig. 1; Fig. 3. A perspective view of a guide frame in a system according to the Fig. 1; Fig. 4 a block diagram of a drone; Fig. 5 a front view ( Fig. 5A) and a side view ( Fig. 5B) of a guide frame in a loading / unloading station; Fig. 6 Top views of the guide frame of the Fig. 5; Fig. 7 a front view of a modified guide frame; and Fig. 8 A front view of a multi-channel guide frame configured as a charging station.

[0051] Fig. Figure 1 shows a block diagram of an intralogistics storage and / or order picking system 10, which will also be referred to as System 10 below. System 10 is designed for planning and executing an internal material flow, in particular for order picking.

[0052] System 10 can comprise a warehouse 12 and a conveyor system 14. The warehouse 12 can comprise one or more racks 16 where items 18 are stored, e.g., in storage containers 20. The conveyor system 14 comprises one or more drones 22, which will hereinafter also be referred to simply as drones 22, and with reference to Fig. 2 will be explained in more detail. The drones 22 are discontinuous conveyors 23. The conveyor system 14 can also include continuous conveyors 24, such as an overhead conveyor 26.

[0053] The overhead conveyor 26 can be implemented as a pocket conveyor 28, where pockets 30 can be used as (overhead conveyor) load carriers 32.

[0054] A load carrier 32 (pallet, container, carton, box, bag 30, etc.) is understood below to be an aid used to transport, store, and handle items 18 (goods, articles, products, etc.). The load carriers 32 ensure that the items 18 can be moved safely and efficiently without direct contact and contribute to the optimization of logistical processes. The items 18 are stored and / or picked. In intralogistics, picking refers to the process of assembling items 18 from storage 12 according to a customer order or production order. It is a central activity in warehouse management that ensures the right items 18 are available in the right quantity at the right time and in the right place.The load carriers 32 protect the items 18 from damage during transport and storage. The use of standardized load carriers 32 enables uniform and efficient handling of the items 18. This particularly facilitates the exchange and cooperation between different conveyor technology types.

[0055] System 10 of the Fig. System 10 can further comprise a control unit 33, preferably a central one. The control unit 33 can include a warehouse management computer (WMC) 34 and / or a material flow computer (MFC) 36. System 10 comprises one or more intralogistics stations 38, namely a station 40 for loading and / or unloading the load carriers 32 or the bags 30. System 10 can also include a transfer station 42. The intralogistics stations 38 will be discussed in more detail below.

[0056] System 10 is specifically designed for cooperative material handling. Cooperative material handling is defined below as the collaboration of several types of conveyors to make the transport, storage, and / or management of the items 18 more efficient and effective. This preferably includes the integration of the overhead conveyor 26, the drone(s) 22, the LVR 34, and / or the MFR 36, which can work together seamlessly, particularly to optimize material flow. The design of a cooperative system consisting of drones 22 and an overhead conveyor 26 is described in the parallel German patent application DE 10 2024 123 981.6, to which reference is made here, especially with regard to the (drone) manipulator 96 (see below). Fig. 7) concerns the linking of the two conveyor types. In general, this collaboration allows processes to be accelerated and made more efficient. For example, the items 18 can be moved from one point to another more quickly and with less human intervention. The cooperative system 10 can dynamically adapt to changing conditions and requirements. For example, the drones 22 can deliver the bags 30 in the warehouse 12 directly to a specific overhead conveyor 26 or to one of the (optional) workstations 22. Through coordinated control and planning of the material flow, a system operator can optimally utilize resources. This includes, for example, better utilization of storage space, labor, and energy. The drones 22 can, for example, be controlled by the warehouse management computer 34 to move the items 18 (e.g., faster and via shorter routes) within the warehouse 12.The warehouse management computer 34 and / or the material flow computer 36 can plan the most efficient routes for the drones 22 and assign picking-based (transport) tasks to the drones 22, e.g. based on real-time data and stock levels.

[0057] Furthermore, system 10 includes a guide frame 44, the structure and function of which will be explained in more detail below. The guide frame 44 can be positioned at intralogistically relevant points or in corresponding areas of system 10. The perspective views of the Fig. 2 and Fig. Figure 3 schematically illustrates the integration of an exemplary guide frame 44 into a storage and order picking system 10 ( Fig. 2) or into a (pocket) loading / unloading station 40 ( Fig. 3) The guide frame 44 is designed to (mechanically) support and guide the drone 22 within this area while the drone 22 is moved continuously or stepwise through this area. The movement of the drone 22 can be passive or active. In an active movement, the drone 22 flies along or through the guide frame 44 on its own. In a passive movement, the drone 22 is moved along the guide frame 44 while a drive 46 of the drone 22 is inactive, i.e., at least does not generate any thrust. The guide frame 44 is specifically designed so that the drone 22 can rest or sit on it while the drone 22 is moved through the guide frame 44. This will be explained in more detail below.

[0058] Fig. Figure 4 shows a block diagram of one of the drones 22 of the Fig. 1. In accordance with Fig. 4 Each of the drones 22 can have several components that work together to enable flight and functionality of the drone 22. These components can include one or more elements of the following group, which consists of: a frame 48; propellers 50; motors 52, which serve as the drive 46; electronic speed controllers 54; connections 56; a flight controller 58; an energy storage device 60 (e.g., accumulator 61); a landing gear 62; a communication module 64; and / or one or more sensors 66.

[0059] The frame 48 forms the framework of the drone 22 and holds all other components together. It should be lightweight and stable to ensure both mechanical integrity and flight efficiency. Carbon fiber, aluminum, and plastic are commonly used materials. The propellers 50 generate the lift that raises the drone 22 into the air and keeps it aloft. They are used to control the drone's flight direction and stabilize it. The motors 52 drive the propellers 50. The number of motors 52 varies depending on the drone type (quadcopter, hexacopter, octocopter, etc.). Brushless electric motors are preferred because they are more efficient and durable than brushed motors. The electronic speed controllers 54 control the speed of the motors 52 based on commands from the flight controller 58. They are responsible for fine-tuning and stabilizing the drone 22.The speed controllers 54 are connected to the motors 52 and the flight controller 58 via the lines 56 and can, for example, regulate the current flow to the motors 52. The flight controller 58 is the "brain" of the drone 22 and can include one or more processors (not shown) and one or more data storage devices (not shown). The flight controller 58 processes inputs from the sensor(s) 66 and from remote control commands, which are sent, for example, from the controller 33 of the system 10 and / or a control unit 15 (see figure). Fig. 1) The flight control system 14 receives signals to control the motors 52 accordingly and to ensure the stability of the drone 22. The flight control system 58 can include sensors 66, such as a gyroscope, an accelerometer, a barometer, and / or a GPS sensor. The battery(ies) 61 provide the necessary energy for the operation of the drone 22. Rechargeable batteries are not used because changing them would be too time-consuming and labor-intensive. Furthermore, batteries are expensive, and the operating costs would be too high. The capacity and type of battery(ies) 61 affect the flight time and performance of the drone 22. An (external) remote control module allows the user (e.g., a person or the control system 33) to control the drone 22. The communication module 64 on board the drone 22 receives signals from external sources and transmits them to the flight control system 58. The landing gear 62 protects the drone and its attached components during takeoff and landing.It can be fixed or retractable, depending on the drone type and application. Depending on the application, the drone 22 can be equipped with additional sensors 66, such as a LiDAR for obstacle detection, ultrasonic sensors for precise height measurement, IR sensors for thermal imaging (inspection), lasers for distance measurements (shelf inspection), barcode scanners, and / or RFID readers (inventory control). These sensors 66 can be directly connected to the flight controller 58 and can provide important data for flight and navigation, especially autonomous flight, e.g., to approach, dock with, and depart from the guide frame 44, as shown in [reference]. Fig. 3 illustrated by example.

[0060] As mentioned above, illustrates Fig. 3 a station 40 for loading and / or unloading the load carriers 32, which are located in the Fig. 3 are realized as overhead conveyor load carriers, and in particular in the form of (overhead conveyor) pockets 30.

[0061] In Fig. Figure 3 shows several of the drones 22 in different flight and waiting states. Drones 22-1 and 22-2 are flying towards the guidance frame 44, which is encompassed by the station 40. Drones 22-3 to 22-5 are coupled to the guidance frame 44 by having their landing gear 62 rest on one or more rails 68 of the guidance frame 44. The rails 68 can be horizontally spaced parallel to the ground. In the Fig. 3. The rails 68 are mounted on the floor via unspecified (optional) stands. The rails 68 can be arranged parallel to each other at a height H1 above the floor. The rails 68 can extend along the longitudinal direction X and be spaced apart from each other in the transverse direction Z. The longitudinal direction X, the transverse direction Z, and a vertical direction H form a Cartesian coordinate system, as is common in intralogistics. The drones 22-3 to 22-5 are moved in the longitudinal direction X, from an entry section 72 to an exit section 74 of the rails 68 or the guide frame 44, through and / or along the guide frame 44, as indicated by an arrow 70 in Fig. Figure 3 illustrates this. The entrance section 72 and the exit section 74 connect seamlessly.

[0062] The bags 30 attached to the drones 22 are in the Fig. 3 unloaded, i.e., empty. At a downstream end of the rail(s) 68, for example, an articulated robot 76 can be arranged to load the bag 30 of the drone 22-5 with one of the items 18 directly, or indirectly via an intermediate continuous conveyor (not shown), which can be supplied in storage containers 20 via a roller conveyor (continuous conveyor 24). Alternatively, the bags can also be loaded manually by a person (not shown). The bag 30 of the drone 22-5 is shown in an open state. For this purpose, cams (not illustrated) can be used to move an opening jaw of a frame of the bag 30 into the shown open position. According to a picking order, the robot 76 removes one or more of the items 18 from the corresponding storage container 20 and places the items 18 into the open bag 30 (see arrow 78).The drone 22-5 can then leave the guide frame 44, in particular by continuing to move the drone 22-5 in the longitudinal direction X until the coupling to the guide frame 44 is ended and the drone 22-5 can fly freely in space again (see arrow 80).

[0063] With reference to the Fig. 5 and Fig. 6 the guide frame 44 of the Fig. 3 will be explained in more detail, whereby a box is shown as an alternative to a bag 30 as the (overhead conveyor) load carrier 32. Fig. Figure 5A shows a front view looking in the negative X direction. Fig. Figure 5B shows a side view looking in the negative Z direction. Fig. 6A shows a top view of the Fig. 5A. Fig. 6B shows a top view of the Fig. 5B.

[0064] The landing gear 62 can comprise one or more legs 82 and one or more guide rollers 84. The landing gear 62 of the Fig. 5 and Fig. 6 includes, for example, first and second legs 82-1 and 82-2 as well as eight guide rollers 84-1 to 84-8 (see Fig. 5B and Fig. 6B).

[0065] The guide rollers 84 are preferably mounted to rotate freely. An axis of rotation of the guide rollers 84 can extend parallel to the Z-direction. The guide rollers 84 can be mounted on the landing gear 62. It is understood that the guide roller(s) 84 can alternatively also be mounted on the rails 68. The guide rollers 84 are mounted such that the drone 22 can be moved in the longitudinal direction X by the guide frame 44, in particular while the drone 22 is seated with the landing gear 62 on the rail(s) 68. The guide rollers 84 are preferably provided in pairs, with the rollers 84 being vertically opposite each other (cf. e.g. 84-1 and 84-2 or 84-5 and 84-6 or also 82-1 and 84-6). These rollers 84 can enclose at least one of the rails 68 between themselves, in particular in a positive-locking manner (vertically). The guide rollers 84 can be omnidirectional rollers 86.

[0066] As an alternative to the guide rollers 84, sliding shoes or similar elements could also be used, resulting in low friction between the guide frame 44 and the drone 22 as the drone 22 is moved through the frame 44. In this case, the drone 22 glides on or along the rails 68.

[0067] Legs 82-1 and 82-2 can be U-shaped (see figure). Fig. 5B). The legs 82 can be connected via crossbars 88 (see. Fig. 5A) with frame 48 (see Fig. 5B) of the drone 22 be connected.

[0068] The landing gear 62 and the at least one rail 68 are thus designed to couple to each other in order to move the drone 22 along the at least one rail 68. The landing gear 62 and the guide frame 44 are designed to interlock positively by means of a positive locking mechanism.

[0069] In engineering, a positive locking connection refers to a type of connection or interlock between two components, such as between the landing gear 62 and the rail(s) 68, whereby the locking or interlocking prevents (relative) movement of the components through the geometric shape of contact surfaces (rail 68 and rollers 84). A positive locking connection is created by the interlocking of the components. In a positive locking connection, one component blocks the movement of the other. Such a blocking occurs in at least one direction, particularly in the vertical Y-direction, so that the drone 22 cannot leave the guide frame 44, at least in the vertical Y-direction, while the drone 22 is being moved through the stations 40. The rails 68 of the guide frame 44 of the Fig. 5A mechanically encloses the legs 82-1, 82-2 of the drone 22 in the Z-direction, thereby also creating a positive fit in the Z-direction. In the present disclosure, the locking or interlocking preferably takes place at least in the vertical direction and, in particular, also additionally in the horizontal transverse direction Z. The drone 22 is positively guided in the longitudinal direction X.

[0070] Rails 68-1 and 68-2 can have a C- or U-shaped cross-section (perpendicular to the longitudinal direction X). The short legs of the corresponding C-profile of the Fig. 5 and Fig. The 6 sections extend horizontally, and the longer leg extends vertically. The C-profiles face each other with their open sides. The guide rollers 84 come into contact with the shorter legs. The guide rollers 84 can roll on the shorter legs. The legs 82 are sufficiently long in the vertical direction Y to vertically enclose the C-profiles with the guide rollers 84. The legs 82 lie within the C-profiles when the drone 22 is moved by the guide frame 44.

[0071] At least one of the rails 68 can be equipped with a power line (electrical line) 90. In the Fig. 5 and Fig. Figure 6 shows the power line 90 implemented as a conductor rail, which cooperates with a suitably shaped pickup 92 to transmit power and / or data. The power line 90 can be arranged within the first rail 68-1. The power line 90 extends parallel to the rail 68 in the longitudinal direction X. The pickup(s) 92 can be arranged on the leg 82-1. The pickup(s) 92 can mesh with the conductor rail while the drone 22 is moved through the guide frame 44, see arrow 94 in Figure 6. Fig. 5B.

[0072] The power line 90 can be provided independently of the logistical function of the guide frame 44. This means that the power line 90 can be provided not only at station 40 for loading and unloading the load carriers 32, but also at other stations or in other areas. The rail 68, including the power line 90, could also be provided in a rack aisle and mounted on the racks 16 that enclose the rack aisle. The rails 68 can extend over the entire length of the rack aisle, so that a suitably equipped drone 22 can couple to the rail 68 at an aisle entrance, be moved through the aisle while seated on the rail 68, and be decoupled from the rail 68 at the aisle exit.While moving through the aisle on track 68, drone 22 can, for example, inspect shelves 16. This occurs while drone 22 is powered, guided along track 68, and can exchange data with line 90, particularly data acquired during its movement through the aisle. Drone 22 could also check inventory levels by recording whether the shelf storage locations are occupied or not.

[0073] Furthermore, it would be possible to place the rail(s) 68 – in particular including the power line 90 – in free space, e.g., outside the storage area 12 on a route to one of the workstations 38 as a kind of “highway”, in order to move the drone 22 at high speed through the corresponding guide frame 44. This is particularly advantageous if the drone 22 has to travel long straight distances between a starting point and a destination point, where free movement in space is not important.

[0074] The guide frame 44, including the rail(s) 68 – with or without power supply 90 – could also be comprised of a transfer station, as disclosed in DE 10 2024 123 981.6. At this transfer station, the bags 30 are exchanged between the drones 22 and the overhead conveyor 26, which is designed as a bag conveyor 28. In this case, the drones 22 are equipped with corresponding manipulators 96 to pick up and drop off the roller adapters into which the bags 30 are suspended and which are carried along by the drive element (roller chain) of the bag conveyor 28. The transfer station thus represents an interface between the drones 22 and the bag conveyor 28. At these interfaces, it may also happen that the drones 22 have to wait until they can exchange their bag 30. For the exchange of the bags 30, it is advantageous if the drones 22 are guided or moved to the exchange point with precise positioning, i.e., without much play.

[0075] Fig. 7 shows a front view similar to the Fig. 5A, wherein the guide frame 44 and the drone 22 are again used in a loading / unloading station 40. The drone 22 transported the aforementioned bag 30. The guide frame 44 again comprises, by way of example, two rails 68, which can be designed as C-profiles. In this example, the C-profiles are oriented upwards, so that the drone 22 rests on top of the upwardly open rail 68 with its guide rollers 84. Both rails 68 are each provided with a power line 90 into which contacts 92 engage in a positive (vertical) manner. The vertical length of the contacts 92 is chosen such that the drone 22 can move independently in the longitudinal direction X through the frame 44 by tilting the drone 22 slightly to generate the necessary propulsion. In this example, the positive locking does not act as a vertical upward locking mechanism. The positive locking mechanism merely ensures that the drone 22 is guided in the longitudinal direction X.The drone 22 is also guided in the lateral direction Z. It goes without saying that the paired roll arrangements of the... Fig. 5A, 84-1 / 84-2 and 84-5 / 84-6, can also be designed with a larger vertical distance between them to allow the drone 22 a vertical range to assume an inclined position, to generate propulsion in the X direction.

[0076] It is understood that the drone 22, while coupled to the guide frame 44, could also be moved by a separate conveyor (not shown), which, for example, is arranged in the rail 68. In this case, the feed is not provided by the drone 22, but by the separate conveyor. This has advantages, particularly with regard to control. It is not the drone 22 that needs to be controlled, but the separate conveyor, which is simpler. For this purpose, the drone 22 could, for example, be suspended in the conveyor to unambiguously define its position.

[0077] Furthermore, it is understood that the energy could also be transferred inductively between the guide frame 44 and the drone 22, whereby the guide frame 44 and the drone 22 would be set up accordingly.

[0078] Fig. Figure 8 shows a front view of a guide frame 44, which defines several channels 98 configured as (electrical) charging stations and each capable of accommodating several drones 22 (in the X direction) in succession for electrical charging. The drones 22 can be parked in the channels 98 or moved through them while being charged. Fig. Figure 8 shows six exemplary channels 98. Each of the channels 98 is essentially defined by the respective corresponding rails 68-1 and 68-2. The rails 68 can be connected to each other via a linkage of the guide frame 44, which is not specified in more detail. Reference symbol list: 10 (storage and / or order picking) systems 12 warehouses 14 Conveyor system 15 Control unit 16 shelves 18 Item / General cargo 20 storage containers 22 (flying) drone 23 Discontinuous conveyors 24 continuous conveyors 26 Overhead conveyors (HF) 28 pocket conveyors 30 bags 32 (HF) charge carriers 33 Control 34 LVR 36 MFR 38 workstations / intralogistics stations 40 loading / unloading stations 42 Transfer station 44 Guide frame 46 Drive 48 frames 50 propellers 52 Engine 54 speed controllers 56 Connection / Line 58 Flight control 60 energy storage units 61 Accumulator 62 Landing gear 64 Communication module 66 Sensor 68 rail 70 drone movements 72 Entrance section 74 Exit section 76 robots 78 Submission 80 flight movements 82 Leg 84 Leadership role 86 All-rounder 88 Cross brace 90 Energy line 92 customers 94 movement through 44 96 Manipulator 98 Channel

Claims

[1] Storage and order picking system (10) which features: a drone (22) equipped for transporting a load carrier (32) and having a landing gear (62), wherein the load carriers (32) are overhead conveyor bags (30); and a guide frame (44) having at least one rail (68) extending in a longitudinal direction (X) which has an inlet section (72) and an outlet section (74) adjoining it, wherein the landing gear (62) and the at least one rail (68) are configured to couple to each other in order to guide the drone (22) along the at least one rail (68); and wherein the at least one rail (68) is arranged in an area within the system (10) through which the drone is moved to perform an intralogistics function, namely loading / unloading the overhead conveyor bags or transferring bags between an overhead conveyor and the drone; and wherein at least one of the rails (68) is provided with a power line (90) which is configured to electrically charge the drone (22) while the drone (22) is moved from the entry section (72) to the exit section (74). [2] System (10) according to claim 1, wherein the landing gear (62) and the guide frame (44) interlock by means of a positive locking mechanism for coupling, while the drone (22) is moved in the longitudinal direction (X) along the guide frame (44). [3] System (10) according to claim 2, wherein the positive locking is such that the landing gear (62) and the guide frame (44) are vertically locked into each other. [4] System (10) according to claim 2 or 3, wherein the landing gear (62) and the guide frame (44) couple to each other and the positive locking is such that the drone (22) can be moved exclusively in the longitudinal direction (X) by the guide frame (44). [5] System (10) according to one of claims 1 to 4, wherein one or more guide rollers (84) are provided between the landing gear (62) and the guide frame (44). [6] System (10) according to claim 5, wherein the at least one guide roller (84) is a omnidirectional roller. [7] System (10) according to claim 5 or 6, wherein vertically opposing guide rollers (84) enclose the at least one rail (68) vertically between them, and wherein the at least one rail (68) preferably extends horizontally. [8] System (10) according to any one of claims 1 to 7, wherein the at least one rail (68) comprises a first rail (68-1) and a separate second rail (68-2) which extend parallel to each other in the longitudinal direction (X), with a distance in a transverse direction (Z). [9] System (10) according to any one of claims 1 to 8, wherein the system (10) further comprises an overhead conveyor (26) for the suspended transport of the overhead conveyor load carriers (32) along an overhead conveyor rail, wherein the drone (22) is equipped to transport the overhead conveyor load carriers (32) and is further equipped to cooperate with the overhead conveyor (26) by the drone (22) and the overhead conveyor (26) automatically exchanging the load carriers (32) with each other. [10] System (10) according to one of claims 1 to 9, wherein the guide frame (44) is comprised of a station (40) for loading / unloading the load carriers (32), wherein the station (40) may in particular further comprise a container conveying technology (24) and a robot (76) which is arranged in an interface area between the guide frame (44) and the container conveying technology (24). [11] System (10) according to claim 10, wherein the output section (74) is arranged such that one of the load carriers (32) can be loaded or unloaded by a person or a robot (76) while coupled to the drone (22). [12] System (10) according to any one of claims 1 to 11, wherein the guide frame (44) is provided with a driven conveyor which moves the drone (22) to the exit section (74) while the drone (22) is seated on the guide frame (44). [13] System (10) according to any one of claims 1 to 12, wherein the power line (90) is a conductor rail and wherein the landing gear (62) is provided with a sliding contact type (92) which is configured to touch the conductor rail while the drone (22) is moved from the inlet section (72) to the outlet section (74). [14] System (10) according to one of claims 1 to 12, wherein the power line (90) and the drone (22) are configured for inductive charging of the drone (22).

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