Storage cube drone and storage or production system with such a drone

Abstract

A storage or production system (10) and a drone (44) for use in the system (10), which includes a storage cube (11), are disclosed, the drone (44) comprising: a landing gear (62) configured to land and sit on a grid (22) of the storage cube (11) while the drone (11) stores / removes a top storage container (12) of a storage container stack (14) into / from the storage cube (11), the grid (22) serving as a roadway for conventional storage vehicles (21) traveling on the grid (22); and a gripping unit (56) configured to be moved from above through the grid (22) to grasp the top storage container (12); the landing gear (62) and the gripping unit (56) being adapted to the grid (22) of the storage cube (11).

Description

[0001] The present disclosure relates to a drone for use in a storage or production system with a storage cube, which can be used, for example, in intralogistics distribution centers (e.g., in retail), in production facilities, and / or in warehouses. Furthermore, the disclosure relates to a storage or production system with the storage cube, i.e., a CubeStorage system, which is operated by the drone or a flying AMR.

[0002] High-density storage systems (HDS systems) represent a special type of storage solution designed to maximize space utilization within a warehouse. They are regularly used in intralogistics. Features of HDS systems include: high space utilization; reduced access times; adaptability to different load carriers and handling aids (e.g., containers, boxes, trays, pallets, etc.); and a high degree of automation. Well-known types of HDS systems include: drive-through racking; shuttle (racking) systems, such as "Cuby" or "Flexi" from SSI Schäfer; automated storage and retrieval systems (ASRS) with conventional storage and retrieval machines, such as "SSI Miniloads"; mobile racking; and vertical and / or horizontal carousel storage systems (e.g., paternoster lifts, carousels, etc.).

[0003] Furthermore, there are so-called cube storage systems (see, for example, WO 2022 / 228 894 A1), which are special high-density storage (HDS) systems characterized by extremely compact space utilization and innovative warehouse organization. The term "storage cube" is closely linked to a robot-based warehouse in which items (preferably in stackable, standardized storage containers of a standardized size) are stored in a 3D grid (cube structure) and moved by robots ("bots"). Well-known examples of this technology are the systems from AutoStore and Ocado. However, there are also smaller system providers such as GridStore, Jungheinrich ("PowerCube"), and Cellgo.

[0004] Fig. Figure 6 illustrates a conventional cube storage system (WLS) with a conventional storage cube (LW) in a production environment. Deviating from the usual approach, where first workstations (AP1) are positioned directly adjacent to the storage cube (LW), second workstations (AP2) are arranged further away from the cube storage (WL). Generally, the items in the storage cube (LW), preferably sorted by type and sometimes also divided into compartments, are stored in standardized, stacked storage containers, usually made of plastic. A top level (OE) of the storage cube (LW) or the WLS system serves as a work and transport level for conventional storage and transport robots (LTB), which run on a grid (G) of rails (S) (see also Figure 6). Fig. 7) The (horizontally oriented) "roof" of a modular system frame made of aluminum or steel profiles forms the basis of the system. This frame structure defines a 3D grid in which the containers are stacked directly by the LTB robots, which move bidirectionally across the roof. The frame thus supports the robots' path network and must be sufficiently stable. The frame is essential.

[0005] Fig. 7 illustrates one, in which Fig. 6. Sub-area of ​​the conventional cube bearing system WLS surrounded by a dotted line. Fig. 6 in an enlarged view. In Fig. In section 6, the grid G ​​extends beyond the physical boundaries of the storage cube LW in order to couple or connect the (production) workstations AP2 to the storage cube in terms of material flow. Fig. Figure 7 shows some of the second workstations AP2 in more detail, where, for example, items or parts for just-in-time production can be (manually) removed and further processed. The workstations AP2 are arranged at floor level and each is vertically connected to the (transport) grid G ​​above via a lift L. The lifts L can be equipped with their own lifting unit (not shown), or the vertical transport of the containers can be carried out using a lifting unit of the vehicles LTB. Outside the storage cube LW, another storage level for the temporary storage of containers can be provided below the grid G.

[0006] One advantage of the WLS system is that the transport of containers between the storage cube LW and the workstations AP2 does not take place on the floor. This eliminates the need for floor-based conveyor technology, allowing people to move freely, especially in the AP2 workstation area, without being blocked by the conveyor system or risking collisions. This makes it easier to comply with and meet the high, standard safety regulations. Traditionally, floor-based conveyor technology was used to connect the AP2 workstations, such as conventional continuous conveyors (e.g., roller, belt, chain, or overhead conveyors) and / or a floor-based AMR system or AGV (Automated Guided Vehicle). AMRs move freely on the floor and determine their own route to a destination independently.autonomously, whereas AGVs (driverless transport vehicles) navigate in a track-guided manner.

[0007] Installation and maintenance of grid G ​​and the LTB vehicles of the WLS system Fig. Option 6 is complex and expensive because it requires working "overhead." The grid G ​​must either be mounted on stands, which restricts floor space, or suspended from a building ceiling, requiring a higher ceiling load-bearing capacity. The grid only allows for two-dimensional transport. The more branched and longer the transport routes, the more system performance suffers. Complexity increases significantly because the two dimensions are limiting.

[0008] Furthermore, flight-based AMRs, i.e., drones, are well-known. These are increasingly used in intralogistics, but generally not for transport purposes. For example, drones scan and check warehouse inventory by automatically reading barcodes or RFID tags from stored items while in free flight (inventory and stock management). Drones can transport small to medium-sized items within a warehouse (intra-warehouse transport and delivery) by directly picking up the items. Drones can be used for surveillance to detect security breaches or to verify compliance with safety regulations, for example, by checking the integrity of shelves 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).

[0009] However, drones are not yet widely used in intralogistics for several reasons. Drones have limited payload capacity and are unsuitable for transporting 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 limited battery capacity and require regular recharging, leading to operational interruptions. Battery replacement is labor-intensive and time-consuming. Operating drones consumes a lot of energy, especially when transporting heavy loads, which can increase operating costs. Acquiring and maintaining drones, as well as implementing the necessary infrastructure, can be costly.

[0010] 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. outside of buildings or between adjacent warehouses.

[0011] 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.

[0012] 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.

[0013] DE 10 2024 124 004 B3 (post-publication prior art pursuant to Section 3 (2) PatG) relates to a mechanical guidance (landing gear) and electrical charging of drones in the field of intralogistics.

[0014] According to its summary, US 9,487,356 B1 concerns an inventory system and procedure for improving access time to less frequently accessed inventory items. Specifically, a mobile drive unit can be selected from a variety of mobile drive units to retrieve or store an inventory item based on the density of the inventory item's storage location and / or estimated costs (e.g., estimated time) associated with retrieving or storing the inventory item. For example, an overhead drive unit can be selected over a floor drive unit to retrieve or store inventory items in densely packed storage areas. As another example, an overhead drive unit can be selected over a floor drive unit when the cost of using the floor drive unit exceeds a certain threshold.

[0015] According to its summary, US 2017 / 0 190 510 A1 concerns an overhead storage system for use in a warehouse with a ceiling and storage racks supported by the warehouse floor, the storage system comprising: drawers configured to receive packages at specific locations within individual cells in the storage racks and capable of opening and closing; flight corridors defined along the storage racks adjacent to the individual cells; drones with gripper heads that can be moved relative to open drawers to retrieve packages; and a communication subsystem that communicates with the drones to control their flight along the flight corridors and between a specific docking station, selected specific package retrieval points, and selected specific package drop-off points, and that also communicates with the drones to control their gripper heads relative to open drawers.and communicates with individual cells to open and close drawers as drones approach and move away from the selected individual cells.

[0016] According to its summary, US 2023 / 0410028A1 concerns a device and system for an automated robot, drone, and / or courier service for delivering, storing, protecting, and returning packages. The multi-user system features DRONEDEK docking capabilities and includes a compact design, a capacity of nine to 400 packages, a multi-belt conveyor and turntable for packages, omnidirectional and cross-roller rotation, compatibility with reusable packaging, package tilting and reloading capabilities for returns, a lightweight frame, a secure outer shell and access hatches for maintenance, communication with and control via the DRONEDEK docking station, robotic unloading / pickup and placement, multiple deliveries / receiving, and connectivity to other third-party package systems.A multi-user box is simply a unit with the functionality of one or more DRONEDEK docking stations and has numerous / multiple compartments and container spaces for the safe storage of items for different users at a central location.

[0017] Therefore, one task is to enable better conveyor technology connections from one or more workstations to a storage cube. Another task is to provide an improved storage or production system that includes a storage cube.

[0018] This task is solved by a drone for use in a storage or production system comprising a storage cube, wherein the drone has: a landing gear configured to land and remain stationary on a grid of the storage cube while the drone stores / retrieves the topmost storage container of a storage container stack into / out of the storage cube, the grid serving as a pathway for conventional storage vehicles traveling on it; and a gripping unit configured to move downwards through the grid to grasp the topmost storage container; wherein the landing gear and gripping unit are adapted to the grid of the storage cube. The gripping unit may be integrated into the frame.

[0019] The present concept optimizes transport and / or order picking activities within a warehouse and production system, particularly with regard to customer-specific requirements. The drone can potentially handle all additional vertical movements, potentially eliminating the need for elevators within the system. The drones can place storage containers into the storage cube, retrieve them from the cube, and transport them to any desired destination, including multiple destinations (multi-stop strategy).

[0020] Ideally, conventional conveyor technology connecting the storage cube to one or more remotely located workstations can be completely eliminated. This results in lower operating costs and reduced investment costs. However, it is also possible for the drone to interact with conventional conveyor technology and / or assist with automated material handling (AMR). This means, in particular, that the drones can carry storage containers, pick items from them, or maneuver in coordinated movement modes to, for example, facilitate item transfers with bots via fluid mobile contacts. The drones could be equipped with a picker for single-item picking, allowing them to deliver a single, removed item to any desired destination.

[0021] Transport by drone results in a finely structured modularity and simplicity of the system. The system can be flexibly expanded.

[0022] The system layout is highly flexible. While in conventional cube storage systems the grid is fixed and the workstations must be precisely defined, connecting the workstations via drones offers an infinite number of layout options.

[0023] The third, vertical dimension is fully utilized, preventing grid congestion. Shorter routes become possible.

[0024] The drone can directly load and unload storage containers, thereby accelerating material flow (optimized warehouse logistics). Since the grid is already used by conventional warehouse vehicles, the drone can be integrated into an existing system without requiring additional infrastructure (combined use).

[0025] Preferably, the drone further comprises: a frame; and a flight unit (in particular a propeller and a motor, which is connectable to the frame and which is configured to lift the drone including the storage container and to navigate through the air).

[0026] The drone can not only move on the grid but also navigate through the air, enabling the rapid relocation of storage containers (flexibility in movement). The drone can transport containers without the need for physical pathways, which particularly facilitates access to hard-to-reach areas. Utilizing airspace relieves pressure on the warehouse floor and reduces congestion in confined spaces.

[0027] In particular, the flight unit is set up and adapted to be detachably attached to a conventional storage vehicle in order to turn the storage vehicle into a drone.

[0028] The drone can be flexibly integrated into existing warehouse vehicles, reducing the need for additional specialized machinery (modularity and adaptability). System operators can retrofit existing warehouse vehicles instead of purchasing new, expensive drone systems (cost savings).

[0029] Preferably, the landing gear further comprises: wheels, so that the drone can be moved on the grid; and / or legs, with which the drone sits stably on the grid when the drive is switched off, with the wheels preferably being provided at the lower ends of the legs.

[0030] The drone can either move along the grid or remain stationary on it, enabling versatile use (multifunctionality). The legs ensure that the drone remains stable when not flying (stability in inactivity).

[0031] Driving on the grid consumes less energy than flying, which extends the operating time (lower energy consumption).

[0032] In particular, the wheels are implemented using omnidirectional rollers.

[0033] The drone can move multidirectionally, enabling efficient route planning and improved navigation in confined storage areas (greater maneuverability). Improved navigation allows for precise positioning of the drone (increased accuracy).

[0034] Preferably, the legs are adjustable so that the drone can be positioned on grids of different dimensions.

[0035] The drone can be used on various grid structures, making it universally applicable to different storage environments (adaptability). Adjustable legs allow for better alignment on uneven or differently sized grids (optimized stability).

[0036] In particular, the gripping unit further comprises: a gripper designed to detachably grip the storage container; a traction element; and a lifting unit; wherein the gripper is connected to the lifting unit via the traction element in order to vertically raise / lower the gripped storage container.

[0037] The lifting unit enables precise height adjustment when gripping and setting down the storage containers (precise handling). The combination of gripper and lifting unit ensures a smooth material flow between the storage stacks (efficient vertical movement). The gripper securely holds the containers to prevent them from falling during movement (safe transport).

[0038] Preferably, the landing gear further comprises: at least one charging contact which is arranged and configured to come into contact with a corresponding charging contact of the grid, so that the drone is electrically charged while the drone is sitting on the grid for loading / unloading the storage container.

[0039] The drone can be recharged during warehouse operations, extending operating time and minimizing charging times (efficient energy management). No manual intervention is required for electrical charging, increasing efficiency and reducing operating costs (automatic power supply). The charging contacts offer a durable, mechanically robust solution compared to conventional connectors (reduced maintenance).

[0040] Furthermore, the task is solved by a storage or production system that includes: a drone of the type mentioned above; and a storage cube with a (horizontal) grid on top, so that conventional storage vehicles can drive (horizontally) on top of the storage cube to storage shafts to store or retrieve storage containers (vertically).

[0041] The system combines conventional warehouse vehicles with drone technology to enable seamless automation (integrated automation). Additional drones can be easily integrated into the system to increase throughput (scalability). The combination of the grid structure and drone operation optimizes the use of warehouse space (improved space utilization).

[0042] Furthermore, the advantages described above for the individual drone can be achieved.

[0043] In particular, the system further features: at least one workstation that is located remotely from the storage cube and that is not directly, i.e., not exclusively, connected to the storage cube via the grid.

[0044] Workstations can be optimally positioned, especially to maximize ease of use (improved ergonomics). Material flow does not have to be exclusively via the grid, allowing for alternative transport routes and more efficient processes (flexibility).

[0045] Preferably, at least one workstation is arranged lower than the grid of the storage cube.

[0046] Positioning the workstation beneath the grid allows for better use of vertical space (efficient space utilization). Containers can be lowered directly from above, improving material flow and reducing walking distances (optimized material handling). Operators can retrieve goods without stretching or bending (improved ergonomics).

[0047] In particular, the grid has at least one charging contact which is arranged and configured to come into contact with a corresponding charging contact of the drone, so that the drone is electrically charged while the drone is sitting on the grid for loading / unloading the storage container.

[0048] The drone can be charged during normal operations, minimizing downtime (continuous power supply). Consistent charging cycles prevent deep discharges, thus extending battery life (increased battery lifespan). An integrated charging system reduces the space required for charging stations and increases the efficiency of the storage system; no separate charging infrastructure is needed.

[0049] It is understood that the features mentioned above 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 this disclosure.

[0050] Exemplary embodiments of the invention are shown in the drawing and are explained in more detail in the following description. Fig. Figure 1 shows a perspective view of a transport drone during a storage / retrieval operation ( Fig. 1A), while the drone is sitting on a storage cube, and a perspective view of the drone during a transport flight ( Fig. 1B). Fig. Figure 2 shows a general block diagram of a storage or production system comprising a storage cube and at least one drone. Fig. Figure 3 shows a perspective view of a possible design of a shelf structure according to Fig. 2. Fig. Figure 4 shows a block diagram of a drone. Fig. Figure 5 shows a perspective view of another transport drone during a storage / retrieval operation ( Fig. 5A), while the other drone sits on the storage cube, and a perspective view of the other drone during a transport flight ( Fig. 5B). Fig. Figure 6 shows a perspective view of a conventional production system illustrating a storage cube with workstations, supplied by conventional storage vehicles with storage containers via a grid extending to these workstations. Fig. 7 shows a detailed view of the Fig. 6.

[0051] The present disclosure relates to a storage or production system 10, which will hereinafter also be referred to simply as system 10. System 10 is preferably used in intralogistics.

[0052] The term "intralogistics" refers to the organization, control, execution, and optimization of all internal material flow and storage processes. This discipline encompasses the management of goods movements within a company's boundaries, including warehousing, transportation, and distribution. Intralogistics plays a crucial role in the efficiency and productivity of production and warehousing operations by integrating modern technologies and systems such as automated conveyor systems, robots, warehouse management software, and advanced information technologies. The main objectives of intralogistics include optimizing the flow of goods within the company to shorten delivery times, reduce costs, improve space utilization, and / or increase productivity. By implementing intralogistics systems, a company can streamline its internal processes.

[0053] The present concept is used in particular for the picking of individual items (articles) that are stored in (storage) containers 12 in a storage cube 11, cf. Fig. 1 and Fig. 2. The term "order picking" refers to a process in which specific (individual) goods, items, products, etc., are assembled from a stored assortment according to orders, particularly from customers (picking orders). The terms goods, items, products, and similar terms are used interchangeably in the following text. This process is, for example, a central component of distribution or production logistics. The process typically begins with the receipt of a (customer) order, whereupon the required items are taken from the warehouse, packed, and prepared for shipment. Order picking can be carried out manually by employees or automatically using technical systems such as robots or automated storage and retrieval systems that deliver the necessary products directly to the person picking or the robot.

[0054] Fig. Figure 1A shows a perspective view of a storage or production system 10 with a storage cube 11 and a (transport) drone 44 during a storage or retrieval process. During the storage or retrieval process, the drone 44 is positioned on the storage cube 11, of which only a portion is shown. Fig. Figure 1B shows a perspective view of drone 44 during a transport flight from below, with drone 44 loaded.

[0055] System 10 can be used like that of the Fig. The system is constructed as follows: with a grid 22 extending to remotely located workstations 29 (not shown), so that the storage cube 11 is directly connected to the workstations 29 via the conveyor system. Preferably, however, the grid 22 is only located directly above the storage cube 11, and optionally also directly above the workstations 29, so that transport of storage containers between the storage cube 11 and the workstations is not directly possible, i.e., not solely, using the conventional storage and transport robots (LTBs). It is understood that the drone 44 can also be used in a conventional cube storage system (WLS) of the type mentioned above, where the conventional LTB vehicles are directly connected to the (second) workstations (AP2) via the conventional grid G.

[0056] In the Fig. 1A The drone 44 sits with its landing gear 62 on top of a grid 22 of the storage cube 11. The drone 44 preferably sits stably, and in particular without propulsion, on the grid 22 during the entire loading / unloading process. This means in particular that a flight unit 54, which with reference to Fig. 4 will be explained in more detail later, during which time the process may be inactive.

[0057] A gripper 70 of the drone 44 is in Fig. Figure 1A shows the gripper 70 in a lowered position. Its dimensions are adapted to the grid 22 of the storage cube 11 by allowing it to move through a cell-like opening 19 in the grid 22. The gripper 70 is designed to engage and hold the uppermost storage container 12 of a storage container stack 14. The gripper 70 can be connected to a lifting unit 68 via one or more traction elements 72 (e.g., steel cables). Fig. Figure 1A shows four ropes as an example of a pulling element 72. The gripper 70, together with the held or fixed storage container 12, can be moved (vertically) through the grid 22.

[0058] As in Fig. As shown in Figure 1A, the landing gear 62 can, for example, comprise a plurality of legs 74. Wheels 76 can be provided at the lower ends of the legs 74, which can be configured to (force-guided) travel on rails 23 that form the grid 22 and define the opening 19 between them. The wheels 76 can be implemented by omnidirectional rollers so that the drone 44, while alternatively resting on a building floor, can move (horizontally) in any desired direction by the flight unit 54 generating a corresponding thrust (instead of lift).

[0059] Furthermore, the grid 22 can be provided with charging contacts 78, e.g. on its upper side, of which in Fig. Figure 1A illustrates three examples. The charging contacts 78 of the grid 22 can interact with the charging contacts 80 of the drone 44. The charging contacts 80 of the drone 44 can, for example, be implemented by electrically conductive wheels 76. In this case, the charging contacts 78 are arranged like the legs 74, see the two dashed guidelines in Figure 1A. Fig. 1A. The charging contact(s) 80 of the drone 44 can also be located remotely (not illustrated) from the legs 74 or wheels 76. The charging contacts 78 and 80 are positioned so that they come into contact with each other when the drone 44 is seated on the grid 22, particularly for container loading / unloading. When the charging contacts 78 and 80 are in contact with each other, the drone 44 can be electrically charged. It is understood that the charging contacts 78 are preferably distributed over the entire grid 22, even at the remotely arranged workstations 29 (not illustrated in Figure 1). Fig. 1, cf. but Fig. 2) which are located remotely from storage cube 11, in particular separated, so that the workstations 29 are not directly connected to storage cube 11 via the conveyor system through the grid 22. “Not connected via the conveyor system” means that the grid 22 does not extend horizontally from storage cube 11 to beyond the corresponding workstation 29. In other words, this means that there may be workstations 29 that are not accessible via the grid 22 for conventional storage vehicles 21 (not shown).

[0060] Such workplaces 29 can, however, be reached by air using drone(s) 44. In Fig. 1B is drone 44 of the Fig. 1A illustrated in flight. The drone 44 of the Fig. 1B is loaded with a storage container 12 and can be moved in all three dimensions through the space to these workstations 29. It is understood that the drones 44 can also fly the storage containers 12 to those workstations 29 that are directly connected to the storage cube 11 via the conveyor system using the grid 22. In this case, the connection is made as described in Fig. Figure 6 illustrates conventional systems.

[0061] Fig. Figure 2 shows a general block diagram of System 10. System 10 has a high storage density because it is a cube storage system, where the storage containers 12 are stored in a cube or cell arrangement. System 10 comprises the storage cube 11. The storage cube 11 can be virtually or organizationally subdivided into cubes or cells, with the containers 12 being stacked vertically on top of each other in columns or stacks 14, e.g., on a building floor, a floor slab, or a mezzanine ceiling. The containers 12 preferably all have an identical base area 13. Thus, the stacks 14 also have a correspondingly dimensioned base area 16. The base areas 13 and 16 are preferably square or rectangular.

[0062] The stacks 14 are laterally supported by a shelf structure 18, see also Fig. 3. The racking structure 18 comprises vertical rack posts 20, often also referred to as uprights, and above them a horizontal (rail) grid 22, on which conventional warehouse vehicles 21, e.g., ground-based autonomous mobile robots, can also travel. The posts 20 are in the Fig. 1 and Fig. 5 not illustrated.

[0063] The grid 22 preferably extends over the entire cube structure and can also reach as far as the remote workstations 29. Preferably, however, the grid 22 overlaps only the storage cube structure, whereby the workstations 29 can also be overlapped by a grid-like structure provided separately from the storage area. The conventional vehicles 21 could be implemented by the LTB mentioned above. The racking structure 18 can do without horizontal shelves because the containers 12 are stacked on top of each other like cubes for storage. Cross braces, which can run diagonally between directly adjacent posts 20, can be used. The posts 20 are preferably provided below the grid 22 at its intersection points.

[0064] As exemplified in Fig. As illustrated in Figure 3, the grid 22 can be formed by (driving) rails 23 on which the vehicles 21 can travel and which are arranged horizontally and preferably perpendicular to each other in a regular grid that can have the grid constants g1 (in the longitudinal direction X of the system 10) and g2 (in the transverse direction Z of the system 10). The grid constants g1 and g2 can be equal and perpendicular to each other if the container or stack bases 13 and 16 are, for example, square. The grid constants g1 and g2 can define the openings 19 (see Figure 3). Fig. 1A) define. The rails 23 can be configured (not illustrated) to engage positively with the wheels of the vehicles 21 and to guide the wheels mechanically. Intersecting parallel pairs of rails define between them the opening 19 and a base area 25 of a shaft 24, which is configured either to receive one of the stacks 14 at a time (storage) or to exchange one or more of the containers 12 with the outside world (by a vertical movement) (supply). In other words, the shafts 24 comprise at least one storage shaft 26 and preferably also at least one supply shaft 28. The shafts 24 together form the storage cube 11, even though its total base area is neither square nor rectangular.If present, the supply shaft(s) 28 terminate in (first) workstations 29 positioned and connected directly to the storage cube 11, which in this case are not located far from the storage cube 11 (see AP1 in . Fig. 6).

[0065] Typically, the containers 12 are raised and lowered by one of the conventional (storage) vehicles 21, which is positioned on top of the grid 22 of the storage cube 11 and travels on it (bidirectionally horizontally), when the vehicle 21 is above the shaft 24, by means of a load handling device (LHD) 30 (see figure). Fig. 2) The vehicle 21 is inserted into the respective shaft 24 and placed on or lifted from a stack 14. The vehicle 21 is equipped with a lifting drive 32 and ropes, belts, or similar traction elements 34 for raising and lowering the storage container. The LAM 30 is coupled to the lifting drive 32 via the traction element 34.

[0066] Fig. Figure 4 shows a general block diagram of a drone 44, which in a first embodiment is located in Fig. 1 is illustrated. In accordance with Fig. Each drone 44 can have several components that work together to enable flight, transport of storage containers, and functionality of the drone 44. These components can include one or more elements of the following group, which consists of: a frame 48; propeller(s) 50; motor(s) 52, serving as propulsion 46; the flight unit 54; the gripper unit 56; a flight controller 58; an energy storage device 60 (e.g., accumulator 61); the landing gear 62; communication module 64; and / or one or more sensors 66. The gripper unit 56 can include the lifting unit 68, the gripper 70, and / or the traction element 72. The gripper 70 can be implemented by the LAM 30, as used in the vehicles 21. The same applies to the traction elements 34 and 72, as well as to the lifting unit 68 and the lifting drive 32.

[0067] The frame 48 forms the basic structure of the drone 44, to which all other drone components can be attached. It should be lightweight and stable to ensure both mechanical integrity and flight efficiency. The frame 48 can be made of composite materials, carbon fibers, aluminum, and / or plastic. The propellers 50 generate the lift that raises the drone 44 (including one or more containers 12) into the air and keeps it aloft. They allow the drone 44 to be steered and stabilized. The motors 52 drive the propellers 50. The number of propellers 50 and 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. Electronic speed controllers can regulate the speed of the individual motors 52 based on control commands from the flight controller 58.They are responsible for fine-tuning and stabilizing the drone 44. The speed controllers are connected to the motors 52 and the flight controller 58 via cables and can, for example, regulate the current flow to the motors 52. The flight controller 58 is the "brain" of the drone 44 and can include one or more processors (not shown) and one or more data storage devices (not shown). The flight controller 58 processes inputs from the sensor(s) 66 and from remote control commands, which are received, for example, from a (higher-level) controller of the system 10. The flight controller 58 can include, for example, a gyroscope, an accelerometer, a barometer, and / or a GPS sensor as a sensor 66. The battery(ies) 61 provide the necessary energy for operating the drone 44. Batteries are preferably not used because changing them would be too time-consuming and labor-intensive. Furthermore, batteries are expensive.

[0068] The operating costs are too high. The capacity and type of batteries 61 affect the flight time and performance of the drone 44. An (external) remote control module allows a user (e.g., a person or the higher-level control system) to control the drone 44. The communication module 64 on board the drone 44 receives signals from external sources and transmits them to the flight controller 58. The landing gear 62 protects the drone and its attached components during takeoff, landing, and container exchange. It can be fixed, adjustable, and / or retractable, depending on the drone type and application. Depending on the application, the drone 44 can be equipped with additional sensors 66, such as a LiDAR for obstacle detection, ultrasonic sensors for precise height measurement, IR sensors for thermal imaging (inspection), lasers for distance measurements (shelf inspection), barcode scanners, and / or RFID readers (inventory control).These sensors 66 can be directly connected to the flight control 58 and can provide important data for a flight, especially an autonomous one, and for navigation, especially autonomous ones, e.g. to fly to grid 22, and especially to the correct shaft 24, and to land there.

[0069] Fig. Figure 5 shows a second embodiment of a drone 44. As in Fig. 1 is the drone 44 in Fig. 5A shown during a storage or retrieval process and in Fig. 5B shown during a flight.

[0070] The drone 44 of the Fig. 5 can be obtained by using a storage vehicle 21, which is actually only movable horizontally on the grid 22, to transport a flight unit 54 (cf. Fig.4) is extended. The flight unit 54 can be detachably mounted on top of the vehicle 21. In this case, it is possible to convert a certain number of vehicles 21 into drones 44 as needed, particularly temporarily. As soon as no further drone transport is required, the flight unit(s) 54 can be removed again. REFERENCE MARK LIST 10 (storage or production) system 11 storage cubes 12 (storage) containers 13 (container) base area 14 stacks 16 (Stacking) base area 18 shelf structure 19 openings in 22 20 posts / stands 21 vehicles 22 grids 23 rail 24 Shaft 25 (shaft) floor area 26 storage shaft 28 Supply shaft 29 workplaces 30 load handling attachments (LAM) from 21 32 lifting drive of 21 34 traction elements out of 21 44 drone 46 Drive 48 frames 50 propellers 52 engine(s) 54 flight units 56 gripping units 58 Flight control 60 energy storage units 61 Accumulator 62 Landing gear 64 Communication module 66 Sensor 68 lifting units 70 grippers 72 traction elements out of 44 74 leg of 62 76 wheel 78 Charging contact on 22 80 charging contacts out of 44 WLS cube bearing system WL Cube Bearing OE top level of WLS and WL LTB warehouse and transport bots G Grid S-Bahn lines L Lift

Claims

Drone (44) for use in a storage or production system (10) comprising a storage cube (11), wherein the drone (44) has: a landing gear (62) configured to land and sit on a grid (22) of the storage cube (11) while the drone (11) stores / removes a top storage container (12) of a storage container stack (14) into / out of the storage cube (11), the grid (22) serving as a roadway for conventional storage vehicles (21) traveling on the grid (22); and a gripping unit (56) configured to be moved from above through the grid (22) to grasp the top storage container (12); wherein the landing gear (62) and the gripping unit (56) are adapted to the grid (22) of the storage cube (11). Drone (44) according to claim 1, further comprising: a frame (48); and a flight unit (54) which is connectable to the frame (48) and which is configured to lift the drone (44) including the storage container (12) and to navigate through the air. Drone (44) according to claim 2, wherein the flight unit (54) is set up and adapted to be detachably attached to a conventional storage vehicle (21) in order to make the storage vehicle (21) the drone (44). Drone (44) according to one of claims 1 to 3, wherein the landing gear (62) further comprises: wheels (76) so that the drone (44) can be moved on the grid (42); and / or legs (74) with which the drone (44) sits stably on the grid (22) when the drive is switched off, wherein the wheels (76) are preferably provided at the lower ends of the legs (74). Drone (44) according to claim 4, wherein the wheels (76) are implemented by omnidirectional rollers. Drone (44) according to claim 4 or 5, wherein the legs (74) are adjustable so that the drone (44) can be positioned on grids (22) of different dimensions. Drone (44) according to one of claims 1 to 6, wherein the gripping unit (56) further comprises: a gripper (70) configured to detachably grip the storage container (12); a traction element (72); and a lifting unit (68); wherein the gripper (70) is connected to the lifting unit (68) via the traction element (72) in order to vertically raise / lower the gripped storage container (12). Drone (44) according to one of claims 1 to 7, wherein the landing gear (62) further comprises: at least one charging contact (80) which is arranged and configured to come into contact with a corresponding charging contact (78) of the grid (22) so that the drone (44) is electrically charged while the drone (44) is sitting on the grid (22) for loading / unloading the storage container (12). Storage or production system (10) comprising: a drone (44) according to one of the preceding claims; and a storage cube (11) with a grid (22) on top, so that conventional storage vehicles (21) can drive on top of the storage cube (11) to storage shafts (26) to store or retrieve storage containers (12). Storage or production system (10) according to claim 9, further comprising: at least one workstation (29) which is arranged remotely from the storage cube (11) and which is not directly connected to the storage cube (11) via the grid (22). Storage or production system (10) according to claim 10, wherein the at least one workstation (29) is arranged lower than the grid (22) of the storage cube (11). Storage or production system (10) according to one of claims 9 to 11, wherein the grid (22) has at least one charging contact (78) which is arranged and configured to come into contact with a corresponding charging contact (80) of the drone (44) so ​​that the drone (44) is electrically charged while the drone (44) is sitting on the grid (22) for loading / unloading the storage container (12).

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