LOGISTICS SYSTEM

Description

[0001] The invention relates to a logistics system comprising a first rack storage unit and at least one further rack storage unit, as well as at least one robot arm with multiple links and joints connecting the links in an automatically adjustable manner, wherein one of the links is a base-forming basic link of the robot arm. The logistics system according to the invention can be designed in particular for the automated operation of a greenhouse. Such a greenhouse can be configured for the production of food, in particular in the form of so-called "vertical farming."

[0002] WO 2019 / 109006 A1 describes a system for producing agricultural food in multi-story buildings.

[0003] DE 39 41 754 A1 comprises the features of the preamble of claim 1 and discloses a device for storing and retrieving load units in a rack storage system, wherein each row of shelves in the rack storage system is equipped with a horizontally extending rail. A conveyor is movably arranged on this rail, and the conveyor may have a robot as the load-handling device.

[0004] The object of the invention is to create a logistics system that enables the transfer and / or supply of goods within individual rack warehouses in a particularly economical manner, particularly with low personnel requirements and high efficiency. Specifically, the object of the invention is to create a logistics system that enables the transfer and / or supply of plants, particularly in the context of agricultural food production, in buildings in a particularly economical manner, particularly with low personnel requirements and high efficiency.

[0005] The object is achieved according to the invention by a logistics system comprising a first rack storage and at least one further rack storage, as well as at least one robot arm with several links and joints connecting the links in an automatically adjustable manner, wherein one of the links is a base-forming base link of the robot arm, wherein the first rack storage has a first robot arm carrier which has a first coupling device which, when the robot arm is coupled to the first robot arm carrier, interacts with a counter-coupling device of the base link of the robot arm, such that in a first configuration of the logistics system, the base link of the robot arm is automatically locked and automatically detachably connected to the first robot arm carrier, and the further rack storage has a further robot arm carrier which has a further coupling device,which, in a state of the robot arm coupled to the further robot arm carrier, cooperates with the counter-coupling device of the base member of the robot arm, such that in a second configuration of the logistics system different from the first configuration, the base member of the robot arm is automatically locked and automatically releasably connected to the further robot arm carrier.

[0006] This logistics system can be used in particular in the form of production logistics or distribution logistics. It is part of the planning, execution, and control of the movement or storage of objects or goods within an organizational system that handles objects or goods according to predetermined, specific tasks. Handling can be the mere transport or the short-term or long-term storage of the objects or goods within the organizational system. Even if, in a specific embodiment, this logistics system is described as a vertical farming logistics system, this logistics system can also serve other purposes, such as the picking of shipping goods or similar.

[0007] The shelving system is used to store objects or goods on several levels arranged one above the other. Individual objects or goods can be grouped together, for example, in containers, on shelves ("trays"), or in the form of bundles. Depending on the specific design of the logistics system, the shelving system can generally be either stationary (i.e., fixed in place) or mobile (i.e., movable, particularly mobile).

[0008] In the same way, each additional shelving unit serves to store the objects or goods on several storage levels arranged one above the other. Individual objects or goods can also be grouped together, for example, in containers, on shelves ("trays"), or in the form of bundles. Depending on the specific design of the logistics system, each additional shelving unit can be either stationary (i.e., fixed in place) or mobile (i.e., movable, in particular, movable). The term "additional shelving units" specifically means that any number of shelving units can be provided within the logistics system. For example, in addition to the first shelving unit, the logistics system can have a second shelving unit, a third shelving unit, a fourth shelving unit, etc. Each shelving unit can form a separate storage unit within the logistics system. The logistics system can be implemented within a single building.However, the logistics system can also be spread across two or more buildings, so that different rack storage areas can be provided in different buildings.

[0009] The logistics system has at least one robot arm. However, the logistics system can also have two or more robot arms. Each robot arm can form an independent robotic unit. Each robot arm has several links and joints that connect the links in a way that allows them to be automatically adjusted relative to one another. To automatically move the respective joint of the robot arm, a joint motor can be assigned to the joint. This motor, controlled by a control device, automatically moves the joint in the desired manner, thus adjusting the links of the robot arm connected by the joint relative to one another.

[0010] The basic link of each robot arm can also be referred to as the base frame. It represents the foundation from which the other links and joints of the robot arm are moved. In the kinematic chain of links and joints of the robot arm, the basic link forms the proximal end of the kinematic chain. At a distal end of the kinematic chain opposite the proximal end, a mounting flange of the robot arm is usually provided, which is designed to attach an end effector to be moved by the robot arm. The robot arm can generally be designed in any kinematic configuration. However, it can be particularly useful to design the robot arm in the style of a SCARA robot arm or a lightweight robot arm.In the design as a lightweight robot arm, it can be a serial articulated arm kinematics with, in particular, seven degrees of freedom (joints).

[0011] The first robot arm carrier is part of the respective first rack storage system assigned to it. The first robot arm carrier can be either stationary, i.e., fixedly attached to a structural component of the first rack storage system, or the first robot arm carrier can be mobile, i.e., movable or movable or adjustable with respect to the structural components of the first rack storage system, mounted on one of the structural components of the first rack storage system. A single first robot arm carrier can be provided on the first rack storage system, or several first robot arm carriers can be provided on the first rack storage system. The mobile mounting of the first robot arm carrier on the first rack storage system is described in more detail below.

[0012] The first coupling device is designed to interact with the counter-coupling device of the robot arm in a positive and / or non-positive manner, and can either have a locked state in which the first coupling device is rigidly connected to the counter-coupling device in a positive and / or non-positive manner—this is a temporary, rigid connection that can be automatically released as needed—or a released state in which the positive and / or non-positive connection between the first coupling device and the counter-coupling device is removed, so that the first coupling device and the counter-coupling device automatically separate from one another, and as a result, the robot arm can be separated from the first storage rack. In other words, in the automatically released state, the robot arm can be removed from the first storage rack.The removal of the robot arm from the first storage rack and / or the attachment of the robot arm to the first storage rack can therefore be automated, for example, by a separate manipulator from the robot arm or by a coupling machine, which will be described in more detail below. The coupling machine can be either mobile or stationary.

[0013] The first coupling device can be configured to couple only a single robot arm. Alternatively, the first coupling device can be configured to couple two or more robot arms to the same robot arm carrier. Thus, instead of just a single robot arm, two or more robot arms can be simultaneously coupled to the first rack storage system by means of the first coupling device. Depending on the specific design of the first coupling device, the two or more coupled robot arms can also be mounted on the first rack storage system in a manner that is adjustable relative to one another in their coupled states.For example, the first coupling device can be formed by a rack rigidly attached to the first rack storage system, wherein two or more robot arms can each have a drivable pinion, so that the two or more robot arms slidably mounted on the rack of the first rack storage system can be moved independently of one another along the rack, since the pinions of the two or more robot arms each engage the rack. In such a configuration, the two or more robot arms can therefore only be moved relative to one another, since they "sit" on the same rack and therefore cannot change their order, i.e., swap.However, the two or more robot arms can be detached from the first coupling device or attached to the first coupling device independently of one another, for example in order to change the number of robot arms on the first rack storage system, in particular to reduce or increase it, or to be able to swap the order of the various robot arms on the first coupling device. Instead of a combination of rack and pinion, a combination of spindle and spindle nut can also be provided, for example. The pinion or spindle nut can accordingly be provided on the respective robot arm. The pinion or spindle nut is in particular designed to be driven, so that by driving the pinion or spindle nut, the respective robot arm can be moved along the rack or spindle.A drive for the pinion or the spindle nut, which is part of the robot arm, can be supplied with electrical energy, for example, via a power rail of the first rack storage or by an accumulator of the robot arm.

[0014] The counter-coupling device can be designed according to the plug / socket principle, corresponding to the first coupling device. The counter-coupling device and the first coupling device can accordingly have interlocking form-locking elements, such as claws, latches, locking hooks, and / or bayonet connection means. The corresponding form-locking elements can have corresponding bevels or conical surfaces to facilitate automatic joining of the counter-coupling device and the first coupling device. In the same way, the further coupling device can also be designed according to the plug / socket principle, corresponding to the counter-coupling device. The counter-coupling device and the further coupling device can accordingly have interlocking form-locking elements, such as claws, latches, locking hooks, and / or bayonet connection means.The corresponding form-locking elements can have corresponding bevels or conical surfaces to facilitate automatic joining of the counter-coupling device and further coupling device.

[0015] In the coupled state, the counter-coupling device of the robot arm is temporarily rigidly connected to the first coupling device or the respective additional coupling device. The rigid connection can be automatically released as needed to automatically resolve the coupled state. In an automatically released state of the counter-coupling device, the robot arm can be automatically removed from the respective first rack storage device or additional rack storage device and then brought together with another rack storage device and automatically coupled to this other rack storage device.

[0016] By optionally coupling the robot arm to the first rack storage or the second rack storage, or by detaching the robot arm from the first rack storage or the second rack storage, the current configuration of the logistics system can be changed. This change can be carried out automatically, without requiring personnel, for example, using a separate manipulator or a coupling machine (described in more detail below), each of which can be controlled automatically.

[0017] Accordingly, the connection of the counter-coupling device to the first coupling device or to the respective further coupling device is designed to be automatically lockable and automatically releasable.

[0018] Such a locking device can, for example, be electrically controlled.

[0019] The additional robot arm carrier is part of the additional rack storage unit assigned to it. The additional robot arm carrier can either be stationary, i.e., fixed to a structural component of the additional rack storage unit, or the additional robot arm carrier can be mobile, i.e., movable or movable or adjustable with respect to the structural components of the additional rack storage unit, mounted on one of the structural components of the additional rack storage unit. A single additional robot arm carrier can be provided on the additional rack storage unit, or several additional robot arm carriers can be provided on the additional rack storage unit. The mobile mounting of the additional robot arm carrier on the additional rack storage unit is described in more detail below.

[0020] The additional coupling device is designed to interact with the counter-coupling device of the robot arm in a positive and / or non-positive manner and can either have a locked state, in which the additional coupling device is rigidly connected to the counter-coupling device in a positive and / or non-positive manner—this is a temporary, rigid connection that can be automatically released as needed—or a released state, in which the positive and / or non-positive connection between the additional coupling device and the counter-coupling device is removed, so that the additional coupling device and the counter-coupling device automatically separate from one another, and as a result, the robot arm can be separated from the additional rack storage unit. In other words, in the automatically released state, the robot arm can be removed from the additional rack storage unit.The removal of the robot arm from the additional rack storage and / or the attachment of the robot arm to the additional rack storage can therefore be automated, for example, by a separate manipulator from the robot arm or by a coupling machine, which is described in more detail below. The coupling machine can be either mobile or stationary.

[0021] The additional coupling device can be designed to couple only a single robot arm. Alternatively, the additional coupling device can be designed to couple two or more robot arms to the same robot arm carrier. Thus, instead of just a single robot arm, two or more robot arms can be coupled to the additional rack storage at the same time using the additional coupling device. Depending on the specific design of the additional coupling device, the two or more coupled robot arms can also be mounted on the additional rack storage in a manner that is adjustable relative to one another in their coupled states.For example, the additional coupling device can be formed by a rack rigidly attached to the additional rack storage unit, wherein two or more robot arms can each have a drivable pinion, so that the two or more robot arms slidably mounted on the rack of the additional rack storage unit can be moved independently of one another along the rack, since the pinions of the two or more robot arms each engage the rack. In such a configuration, the two or more robot arms can therefore only be moved relative to one another, since they "sit" on the same rack and therefore cannot change their order, i.e., swap them.However, the two or more robot arms can be detached from the additional coupling device or attached to the additional coupling device independently of one another, for example in order to change the number of robot arms on the additional rack storage device, in particular to reduce or increase it, or to be able to swap the order of the various robot arms on the additional coupling device. Instead of a combination of rack and pinion, a combination of spindle and spindle nut can also be provided, for example. The pinion or spindle nut can accordingly be provided on the respective robot arm. The pinion or spindle nut is in particular designed to be driven, so that by driving the pinion or spindle nut, the respective robot arm can be moved along the rack or spindle.A drive for the pinion or the spindle nut, which is part of the robot arm, can be supplied with electrical energy, for example, via a power rail of the additional rack storage or via an accumulator of the robot arm.

[0022] If, within the scope of the invention, a technical partial solution or a technical connection with reference to a robot arm, i.e. a single robot arm, is described, it is nevertheless within the scope of the disclosure of the invention that a second, third or further robot arm can also be designed according to such a technical partial solution or in such a technical connection.

[0023] In a further developed embodiment, the logistics system can comprise an automatic adjustment device which is designed to mount the base member of the robot arm in an automatically driven, adjustable manner relative to the first shelf storage in the first configuration of the logistics system, in which the base member of the robot arm is coupled to the first robot arm support of the first shelf storage, and to mount the base member of the robot arm in an automatically driven, adjustable manner relative to the further shelf storage in the second configuration of the logistics system, in which the base member of the robot arm is coupled to the further robot arm support of the further shelf storage.

[0024] In a first embodiment of the automatic adjustment device, it can be fully integrated into the respective rack storage unit, i.e., the first rack storage unit or each additional rack storage unit. This means that, for example, the first coupling device or the respective additional coupling device is adjustably mounted relative to the structural components of the first rack storage unit or the additional rack storage unit by means of the automatic adjustment device. Once the robot arm is then coupled to the corresponding coupling device with its counter-coupling device, the robot arm can be automatically adjusted relative to the structural components of the first rack storage unit or the additional rack storage unit by means of the automatic adjustment device.

[0025] In a second embodiment of the automatic adjustment device, it can be fully integrated into the robot arm. This means, for example, that the base link of the robot arm is adjustably mounted relative to its counter-coupling device by means of the automatic adjustment device. When the robot arm is then coupled with its counter-coupling device to the corresponding coupling device of the respective rack storage unit, the robot arm can be automatically adjusted relative to its counter-coupling device and thus relative to the structural components of the first rack storage unit or the additional rack storage unit using the automatic adjustment device.

[0026] In a third embodiment of the automatic adjustment device, this can be formed by a connecting joint between the counter-coupling device of the robot arm and the corresponding coupling device of the respective rack storage unit. For example, a driven pinion can be mounted on the robot arm, which engages with a rack of the respective rack storage unit when the robot arm is coupled to the respective rack storage unit. The rack can be rigidly connected to one of the structural components of the first rack storage unit or the further rack storage unit. Through a driven rotary movement of the pinion of the robot arm, the robot arm is reactively adjusted to this rack storage unit due to the engagement of the pinion with the rack of the rack storage unit when the robot arm is coupled to this rack storage unit.When the robot arm is coupled to the respective rack storage unit, the pinion of the robot arm engages with the rack of the rack storage unit. When the robot arm is coupled to another rack storage unit, the pinion of the robot arm engages with the other rack of the other rack storage unit. In this third design variant, the automatic adjustment device is therefore always formed by a connection between the robot arm and the respective coupled rack storage unit.

[0027] In all versions, the automatic adjustment device can be designed as a linear drive. In the case of a linear drive, the automatic adjustment device performs a linear movement.

[0028] The linear movement of the automatic adjustment device can, in particular, take place in a vertical direction. In such a design, the automatic adjustment device thus forms a lifting device.

[0029] Alternatively, the linear movement of the automatic adjustment device can also occur horizontally or diagonally, for example, or in another direction. The movement does not necessarily have to be linear; rather, in a special design variant, the automatic adjustment device can specify a path other than a straight path.

[0030] Using the automatic adjustment device, the robot arm, when coupled to the respective rack storage unit, can be variably moved either near a first storage level of the rack storage unit or near another, further storage level of the rack storage unit. If necessary, the automatic adjustment device can be configured to move the robot arm from one lateral side of the respective rack storage unit to another lateral side of the respective rack storage unit. This allows the robot arm to selectively access the respective storage level from different sides.

[0031] The automatic adjustment device can be designed to mount the base member of the robot arm in a linear height-adjustable manner in the first configuration of the logistics system on the first shelf storage in an automatically driven manner and to mount it in a linear height-adjustable manner in the second configuration of the logistics system on the further shelf storage in an automatically driven manner.

[0032] Using the linear height-adjustable adjustment device, the robot arm, when coupled to the respective rack storage system, can be variably moved either near a first storage level of the rack storage system or near another, additional storage level located at a different height within the rack storage system. The linear height-adjustable adjustment device can thus form a lifting device.

[0033] The linear height-adjustable adjustment device can, for example, comprise a driven pinion that engages a rack. The rack can, for example, be rigidly connected to one of the structural components of the first rack storage unit or the second rack storage unit. The driven pinion can, for example, be mounted on the coupling device or directly in the robot arm.

[0034] By means of a driven rotary movement of the pinion, the robot arm coupled to the respective rack storage or to the respective coupling device of the rack storage is reactively adjusted to this rack storage.

[0035] Instead of an adjustment device in the form of a rack and pinion, the adjustment device can also be formed by a lifting spindle, for example, on which a spindle nut runs that can be adjusted in height. The lifting spindle can, for example, be mounted on one of the structural components of the first rack storage unit or the further rack storage unit in a rotatable manner. The spindle nut, whose height is adjustable by the lifting spindle, can, for example, be connected to the coupling device or directly to the robot arm. A driven rotary movement of the lifting spindle adjusts the robot arm coupled to the respective rack storage unit or to the respective coupling device of the rack storage unit reactively to this rack storage unit. In a modification, the lifting spindle can be rigidly attached and the spindle nut can be mounted in a rotatable manner.

[0036] As an alternative to a spindle drive or a rack and pinion drive, the adjustment device can also be mounted in an adjustable manner using a hydraulic cylinder or pneumatic cylinder.

[0037] The automatic adjustment device can have a drive which, when activated, is designed to move the base member of the robot arm in the first configuration relative to the first shelf storage in an automatically driven manner and to move it in the second configuration relative to the further shelf storage in an automatically driven manner, wherein the drive is designed as a part of the robot arm which, in a state decoupled from the first shelf storage and / or from the further shelf storage, is decoupled together with the robot arm from the first shelf storage and / or from the further shelf storage.

[0038] The drive can be designed to drive an adjusting device designed as a spindle drive, rack and pinion drive, hydraulic device and / or pneumatic device, as described above.

[0039] The drive can, in particular, be an electric motor drive. Accordingly, the drive can comprise an electric motor.

[0040] The motor, in particular the electric motor, can be associated with a transmission. The motor, in particular the electric motor, can be automatically controlled by a drive control, in particular an electrical or electronic drive control.

[0041] The drive can, in particular, be designed as part of the robot arm. Alternatively, depending on the design, the drive can be designed as part of the respective rack storage system.

[0042] The robot arm can have an energy storage device which is designed to supply the drive and / or at least one joint motor of the robot arm, each associated with a joint of the robot arm, with drive energy independently of the respective configuration of the logistics system.

[0043] Because the robot arm has an energy storage device, the robot arm can be moved, i.e. driven, independently of an external energy supply, in particular independently of an energy supply via the shelf storage.

[0044] The energy storage device can in particular be an electrical energy storage device, a hydraulic energy storage device or a pneumatic energy storage device.

[0045] In the case of an electrical energy storage device, this can be, for example, an electric accumulator. The electric accumulator can, in particular, be designed to be rechargeable.

[0046] On the one hand, the energy storage device can serve to supply the described drive of the adjustment device with energy, in particular electrical energy, so that the entire robot arm can be adjusted relative to the rack storage to which it is coupled by means of a supply from this energy storage device.

[0047] On the other hand, the energy storage device can be used to supply the joint motors of the robot arm with energy, in particular electrical energy, so that the robot arm can be adjusted in its respective pose by means of a supply from this energy storage device, ie the relative position of the links of the robot arm to each other can be adjusted by driven movements of the joints of the robot arm.

[0048] Because the robot arm has the energy storage device, the robot arm can be repositioned and / or its pose can be changed automatically or the robot arm can be moved, regardless of the configuration of the logistics system.

[0049] The energy storage device can be connected to a recuperation system, such as a recuperation brake of the robot arm, so that, for example, the braking energy from decelerating and / or stopping the moving robot arm can be used to recharge the energy storage device. Such energy recovery is particularly useful when the robot arm in question is mounted on the respective racking system in a height-adjustable manner, so that the potential energy released by the robot arm when lowering from a higher position to a lower position can be stored, preferably in the form of electrical energy.

[0050] The configuration of the logistics system is generally characterized in particular by the respective current assignment of a robot arm or multiple robot arms to a rack warehouse or to multiple rack warehouses. For example, a single robot arm can be assigned to several different rack warehouses, with the robot arm optionally being coupled to a single one of the multiple rack warehouses at any one time. Alternatively, multiple robot arms can be assigned to a single rack warehouse, so that this rack warehouse can optionally be equipped with one robot arm, two robot arms, or multiple robot arms at a given time. Thus, either a single robot arm or two or more robot arms can be coupled to one of the rack warehouses at the same time, in particular to a common robot arm carrier, a common rack, a common spindle, or a common rail, such as a power rail.

[0051] The first shelf storage can have at least one first power rail which is designed to supply electrical energy to the robot arm via the first shelf storage when, in the first configuration, the robot arm is coupled to the first shelf storage by means of the first coupling device, and the further shelf storage can have at least one further power rail which is designed to supply electrical energy to the robot arm via the further shelf storage when, in the second configuration, the robot arm is coupled to the further shelf storage by means of the further coupling device.

[0052] By means of the at least one first busbar and / or the at least one further busbar, electrical energy can be supplied to the robot arm via the respective rack storage system when the robot arm is coupled to this rack storage system. In this embodiment, a separate energy storage device on the robot arm may be omitted.

[0053] In a specific embodiment, the logistics system can comprise at least one vehicle, in particular a driverless and / or autonomous vehicle, which has an automatic coupling machine which is designed to automatically couple the robot arm transported by the at least one vehicle into spatial proximity to the first rack warehouse to the first coupling device of the first rack warehouse when the logistics system is to be brought into the first configuration, and the automatic coupling machine is designed to automatically couple the robot arm transported by the at least one vehicle into spatial proximity to the further rack warehouse to the further coupling device of the further rack warehouse when the logistics system is to be brought into the second configuration.

[0054] The vehicle can be designed in any way in its basic configuration. Accordingly, the vehicle can be driven by a person. Alternatively, the vehicle can be a driverless or autonomous vehicle.

[0055] If the vehicle is designed to be driven by a person, it can be provided, for example, that the person, i.e. the driver, manually couples the robot arm to be coupled to the first rack storage unit or to the additional rack storage unit. Alternatively, a mechanical or only partially automated coupling machine can be provided which is designed to be manually operated or manually controlled by a person, i.e. the driver. However, a fully automated coupling machine can also be provided in the case of a vehicle with a person as driver. If the vehicle is controlled by a person, i.e. a driver, the person, i.e. the driver, can also finely position the vehicle with respect to the first rack storage unit or the additional rack storage unit in order to precisely position the robot arm to be coupled in relation to the first rack storage unit or the additional rack storage unit so that the robot arm can be securely coupled.In such a design, for example, special sensors for fine positioning of the vehicle may be omitted.

[0056] The driverless vehicle doesn't necessarily have to drive autonomously, but can, for example, drive automatically along fixed or predefined paths. For example, the driverless vehicle could be an automated guided vehicle (AGV).

[0057] Automated guided vehicle systems (AGVs) are in-house, floor-based conveyor systems with automatically controlled vehicles whose primary function is to transport materials, not people. They are used inside and outside buildings.

[0058] The vehicle can generally comprise a vehicle body and wheels arranged on the vehicle body, at least one of which is assigned a drive system, and the at least one drive system is assigned a control device configured to move the vehicle within the logistics system. The drive system can preferably be an electric drive system, in particular a regulated electric drive system. The driverless transport vehicle can, for example, be designed as a holonomic or omnidirectional driverless transport vehicle. In this case, the driverless transport vehicle comprises omnidirectional wheels, preferably so-called Mecanum wheels, whose drive systems are controlled by the control device.

[0059] Such an omnidirectional wheeled vehicle can be designed for driverless driving. For this purpose, the omnidirectional wheeled vehicle has a control device, which can also be referred to as a driving control device. The control device controls and / or regulates the directions of rotation and the rotational speeds, or possibly also the rotational accelerations, of the driven wheels of the omnidirectional wheeled vehicle. In addition to the driven wheels, the omnidirectional wheeled vehicle can also have non-driven wheels, which are simply rotatably mounted on the vehicle body of the omnidirectional wheeled vehicle without being controlled by the control device and without being connected to a drive device. The omnidirectional wheeled vehicle can, for example, be a driverless transport system (AGV).

[0060] In the case of an autonomous vehicle, which can be configured according to the embodiments described above, the vehicle can include a navigation system, a localization system, and, in the broadest sense, a path planning system. In such a configuration, the vehicle can, to a certain extent, determine its own travel, in particular the path, speed, and acceleration. The autonomous vehicle is also preferably driverless.

[0061] The automatic coupling machine decouples the robot arm from a storage rack to which it is currently coupled and then couples the robot arm to another storage rack. The automatic coupling machine can be designed as a simple device that automatically couples and uncouples the robot arm. In this respect, it may be sufficient if the coupling machine, for example, has only a single degree of freedom. Alternatively, the automatic coupling machine can be formed by a separate robot with multiple degrees of freedom. The robot can be configured—for example, using a specially adapted end effector—to decouple the robot arm from one storage rack and couple it to another.In a first variant, the automatic coupling machine, in particular the robot, can be mounted on the described driverless and / or autonomous vehicle and, by driving the vehicle, the automatic coupling machine, in particular the robot, can be transported from one rack storage area to the next rack storage area in order to couple or uncouple the robot arm there.

[0062] The spatial proximity arises from the fact that the vehicle has moved at least close enough to the corresponding rack storage area for the automatic coupling machine to decouple the coupled robot arm from the rack storage area. The automatic coupling machine can then pick up the robot arm and temporarily store it on the vehicle. The robot arm can then be moved (i.e., transported) to another rack storage area by the vehicle, where it can be coupled to the other rack storage area by the automatic coupling machine.

[0063] The logistics system can additionally or alternatively also have a stationary changing station and at least one vehicle, in particular a driverless and / or autonomous vehicle, which is designed to selectively pick up the first rack storage or the further rack storage by driving the at least one vehicle, wherein the stationary changing station has an automatic coupling machine which is designed to automatically couple or uncouple the robot arm to the first rack storage transported by the at least one vehicle into a spatial proximity of the stationary changing station when the logistics system is to be changed between the first configuration and the second configuration, or to automatically couple or uncouple the robot arm to the further rack storage transported by the at least one vehicle into a spatial proximity of the stationary changing station,if the logistics system is to be switched between the first configuration and the second configuration.

[0064] In this variant, the automatic coupling machine is located at the stationary exchange station and not on the vehicle. The vehicle, in turn, has receiving devices designed to pick up and transport a respective rack storage unit. As a result, the automatic coupling machine does not come to the rack storage unit, but rather the rack storage unit comes to the stationary coupling machine.

[0065] The first rack warehouse, each further rack warehouse, the at least one vehicle, in particular driverless and / or autonomous vehicle, the robot arm and / or the stationary changing station can each have at least one sensor device which is designed to automatically determine the current relative position and / or relative location of the robot arm with respect to the first rack warehouse, each further rack warehouse, the at least one vehicle, in particular driverless and / or autonomous vehicle and / or the stationary changing station.

[0066] The sensor device can include, for example, optical sensors such as cameras, laser scanners, or similar, but also capacitive or magnetic sensors. The sensor device can also include optical markers such as barcodes or QR codes. Depending on the application, the sensor device can also include RFID tags.

[0067] In a special embodiment of the logistics system, the logistics system can be a production logistics system and can be set up to produce food, in particular in the form of so-called "vertical farming".

[0068] The first rack storage and each further rack storage can accordingly each have a plurality of receiving levels for plants, wherein the respective plurality of receiving levels form groups of first receiving levels which have lighting devices for plants, of second receiving levels which have water supply devices or nutrient solution supply devices for plants and / or of third receiving levels which have intermediate storage locations for plant supports, wherein the robot arm is designed and configured to automatically transfer plants or plant supports between the first receiving levels, the second receiving levels and the third receiving levels within a first rack storage or a further rack storage when the robot arm is automatically coupled to the respective first rack storage or further rack storage.

[0069] The multiple plant storage levels can be formed, for example, by shelves. Individual plants, for example, arranged in nursery pots or trays, can be placed directly on such shelves. Alternatively, multiple plants can be placed on the shelves, for example, arranged in groups on a shelf, pallet, or plant tray. In another embodiment, the multiple storage levels can be formed by lateral support rails of the shelving system, into which, for example, trays or pallets can be inserted or placed, on which the plants or plant trays are placed.

[0070] Each storage level can be assigned a specific function. The different storage levels within a racking warehouse or between two different racking warehouses can therefore be equipped for different purposes.

[0071] For example, lighting devices for plants can be assigned to first receiving planes. The lighting devices can be arranged at a distance above the storage area of ​​the respective first receiving plane. For example, the lighting devices can be arranged on a downward-facing underside of a receiving plane immediately above. The lighting devices can be formed, for example, by LED lamps.

[0072] Second receiving levels can, for example, be assigned to water supply devices or nutrient solution supply devices for plants. The water supply devices or nutrient solution supply devices can include corresponding outlet openings or outlet nozzles through which the water or nutrient solution exits and can be directed to the respective plants or their root balls placed in this second receiving level.

[0073] Third storage levels can, for example, be designed as intermediate storage areas for plant supports. These intermediate storage areas can, for example, be shaded to prevent light penetration or be conditioned in a different climate, e.g., with regard to humidity and / or temperature.

[0074] The respective robot arm, in the configuration in which it is coupled to a specific rack storage system, can be designed and configured to automatically transfer the plants, plant containers, and / or plant supports from one receiving level of the rack storage system to another receiving level of the rack storage system. Furthermore, the robot arm can be designed and configured to automatically remove plants, plant containers, and / or plant supports from the specific rack storage system or to automatically place newly added plants, plant containers, and / or plant supports into the rack storage system.

[0075] Such a logistics system, in the specific form of so-called "vertical farming," can enable the automated and, in particular, mobile deployment of specialized robotic arms or manipulators used for planting, tending, and harvesting plants in vertical farming on multiple, particularly stationary, racks. This promises to reduce costs, as cost-intensive automation technology does not need to be purchased multiple times, or only as much as is needed globally in the facility. It simplifies scaling and response to unforeseen market developments.

[0076] A mobile vehicle can be used for this purpose, which can transport one or more manipulators, i.e. robot arms, such as SCARA arms, with specialised end effectors, within the production facility. The mobile vehicle can be equipped with a mechanism, i.e. the automatic coupling machine, which can connect the carried robot arm to the rack storage, for example by means of a guide carriage of a linear guide and stationary linear rails. The mechanism can, for example, be actuated multi-axis kinematics, but a lifting mechanism with mechanical compliance can also be sufficient. The mobile vehicle, for example, can be equipped with sensors that allow it to localise itself in relation to the environment and to detect the position of the linear rails for docking to the mobile robot with sufficient precision, for example using cameras, laser scanners or the like.

[0077] The shelves can, as already described, have devices for supplying water and / or nutrients, as well as lighting and / or support systems for the plants, which can be equipped with or without substrate. In addition, a linear rail can be mounted along a vertical path on the shelf bearings, to which the robot arm can be coupled. For this purpose, the mechanism, i.e. the automatic coupling machine, can be used, which allows the coupled robot arm to raise or lower itself along the linear rail, for example by means of a rack on the shelf into which a driven gear (pinion) on the robot arm engages. There can be an electrical connection between the shelf and the robot arm, for example via a rail with sliding contacts, into which the robot arm can engage to supply itself with electrical energy, provided it does not have a battery or accumulator for this purpose.The shelf can be equipped with markings in the sense of a linear measuring system, on the basis of which a sensor on the robot arm can, for example, determine the height of the robot arm on the shelf and precisely adjust a desired target position.

[0078] One or more robot arms can be equipped with a carriage for a guide mechanism that can be connected to the linear axis attached to the shelf. The linear axis can be, for example, a profile rail or a simple T-beam; accordingly, the robot arm can be equipped with a (ball) guide carriage or a roller carriage. For this purpose, the robot arm can be equipped with a lifting motor that allows the robot arm to be raised on the shelf. Sliding contacts that act on the power rails can also be provided. Depending on the purpose of the robot arm, it can be equipped with one or more driven axes, for example in a SCARA configuration, and possibly with at least one sensor and / or a special end effector.

[0079] Each robot arm carrier, in particular each carriage, each guide mechanism, each adjustment device can have at least one sensor, which, for example, detects the current position, in particular the height of the respective robot arm on the robot arm carrier, in particular on the carriage, on the guide mechanism, on the adjustment device. In this way, each robot arm on the corresponding coupled shelf storage device can be automatically moved to a specific position or height. The respective sensor can, for example, have a marking, such as a barcode, a QR code, or other coding, which can be detected by an optical pickup of the sensor and which contains information about its respective position or height. Instead of an optical marker, a magnetic marker can also be used, for example. Alternatively or in addition to permanently attached markers on the shelf storage devices, i.e.Sensors, markers, and information carriers can also be attached to the racks or frames of the shelving systems, such as shelves or adjustable trays, trays, or flexibly deployable trays. These sensors, markers, or information carriers can be designed to trigger an automatic control program, based on the specific information from the sensors, markers, or information carriers, to control—i.e., move—the robot arm connected to the specific shelving system in a manner determined by the specific information.

[0080] Possible applications include cleaning plant trays, filling them with substrate, planting seeds, pricking out small plants and / or transplanting to larger distances, weeding, applying fertilizers and / or pesticides, and / or harvesting. All of this can be automatically controlled or monitored using sensors or cameras.

[0081] The logistics system can thus be used for the automated operation of a greenhouse. In particular, the logistics system can thus enable particularly efficient vertical farming. Unlike conventional agricultural greenhouses, which generally operate on a single planting level and rely solely on natural sunlight for plant growth, vertical farming utilizes artificial light. This allows plants positioned at multiple levels of the shelving system to thrive, based on the use of artificial light sources.

[0082] The technologies known so far for vertical farming are still in the development stage and are generally based on greenhouses that operate on one or more levels. Plants are cultivated using aeroponics or hydroponics. Combined with lighting technology for plant growth and ventilation systems, the plants thrive within the building or on the shelves of the facility, i.e., the greenhouse, until harvest.

[0083] In the well-known shelving systems for vertical farming, automated technology can be used, very similar to the high-bay warehouse technology used in logistics facilities. This technology, which includes manual or automatic storage and retrieval machines, handles interchangeable trays installed in the racks in which the plants thrive. To harvest the plants, workers move along the storage and retrieval machines, or the trays are transported to the harvesting area using complex conveyor technology.

[0084] The tray can be bowl-shaped and / or closed-walled, i.e., watertight. The trays contain the plant support(s). The trays remain in the greenhouse, but the plant supports can be removed from the trays, for example, during harvesting. The plant supports can, for example, have a solid frame, particularly an aluminum frame. The frame defines a grid on which the plants are arranged. The grid can have a close mesh.

[0085] The automated operation of a greenhouse creates a solution that makes the production of agricultural food in buildings particularly economical, particularly with minimal personnel requirements and high energy efficiency. In particular, existing buildings, such as high-rise buildings or abandoned factories, especially in large cities, can be converted to alternative uses as greenhouses.

[0086] The plants can be, in particular, plants that serve as food for living beings, such as vegetables, fruit, culinary herbs, and tea plants. However, the plants can also be other useful plants, such as medicinal plants, cosmetic plants, or aromatic plants.

[0087] The plant support located in the trough forms a receptacle for the required substrate on which the plants thrive. At the same time, the plant support has the function of supporting the plants planted in the substrate. Each plant support can be designed to hold a single plant. Alternatively, the respective plant support can be designed to hold several plants simultaneously, in particular the same plant species and / or plant variety. Several plant supports can be arranged on the same level of a rack storage system. Alternatively or additionally, several plant supports can be arranged at several different height levels of one or more rack storage systems. The multiple plant supports can in particular be stored in one or more troughs in a common mobile or stationary rack storage system. Each trough can have one or more plant supports.

[0088] Concrete embodiments of the invention are explained in more detail in the following description with reference to the attached figures.

[0089] They show: Fig. 1 is a schematic representation of a basic logistics system according to the invention, Fig. 2 is a schematic representation of an exemplary automatic adjustment device of the logistics system with a drive on the robot arm, Fig. 3 is a schematic representation of an exemplary automatic adjustment device of the logistics system with a drive on the rack warehouse, Fig. 4 is a schematic representation of an exemplary automatic adjustment device of the logistics system with an energy storage device on the robot arm, Fig. 5 is a schematic representation of an exemplary automatic adjustment device of the logistics system with a power rail on the rack warehouse, Fig. 6 is a schematic representation of an exemplary driverless / autonomous vehicle with a robot as an automatic coupling machine and a robot arm handled thereby for coupling optionally to the first rack warehouse or the further rack warehouse, Fig.Fig. 7 is a schematic representation of an exemplary driverless / autonomous vehicle with a mounted, transportable rack storage system and a stationary changing station, and Fig. 8 is a schematic representation of a rack storage system of the vertical farming type.

[0090] In the Fig. 1 a logistics system 1 according to the invention with its basic components is shown.

[0091] The logistics system 1 comprises a first rack storage 2.1 and at least one further rack storage 2.2, as well as at least one robot arm 3 with several links 3a and joints 3b connecting the links 3a in a manner that is automatically adjustable relative to one another. One of the links 3a is designed as a base-forming base link 4 of the robot arm 3. The first rack storage 2.1 has a first robot arm carrier 5.1, which has a first coupling device 6.1, which, when the robot arm 3 is coupled to the first robot arm carrier 5.1, interacts with a counter-coupling device 7 of the base link 4 of the robot arm 3, such that in a first configuration of the logistics system 1 ( Fig.1 above) the base member 4 of the robot arm 3 is automatically locked and automatically releasably connected to the first robot arm support 5.1. The further shelf storage 2.2 similarly has a further robot arm support 5.2, which has a further coupling device 6.2, which, when the robot arm 3 is coupled to the further robot arm support 5.2, interacts with the counter-coupling device 7 of the base member 4 of the robot arm 3, such that in a state different from the first configuration ( Fig.1 above) different second configuration ( Fig.1 below) of the logistics system 1, the base member 4 of the robot arm 3 is automatically locked and automatically releasably connected to the further robot arm carrier 5.2.

[0092] In the case of the exemplary embodiment shown, the logistics system 1 comprises an automatic adjustment device 8.1, 8.2 which is designed to mount the base member 4 of the robot arm 3 in an automatically driven, adjustable manner relative to the first shelf storage 2.1 in the first configuration of the logistics system 1, in which the base member 4 of the robot arm 3 is coupled to the first robot arm carrier 5.1 of the first shelf storage 2.1, and to mount the base member 4 of the robot arm 3 in an automatically driven, adjustable manner relative to the further shelf storage 2.2 in the second configuration of the logistics system 1, in which the base member 4 of the robot arm 3 is coupled to the further robot arm carrier 5.2 of the further shelf storage 2.2.

[0093] The automatic adjustment device 8.1, 8.2 can be designed to mount the base member 4 of the robot arm 3 in the first configuration of the logistics system 1 in a linearly height-adjustable manner on the first shelf storage 2.1 in an automatically driven manner and to mount it in the second configuration of the logistics system 1 in a linearly height-adjustable manner on the further shelf storage 2.2 in an automatically driven manner.

[0094] In a first embodiment according to Fig. 2 the automatic adjustment device 8.1, 8.2 can have a drive 9a which, when activated, is designed to move the base member 4 of the robot arm 3 in the first configuration relative to the first shelf storage 2.1 in an automatically driven manner and to move it in the second configuration relative to the further shelf storage 2.2 in an automatically driven manner, wherein the drive 9a is designed as a part of the robot arm 3 which, in a state decoupled from the first shelf storage 2.1 and / or from the further shelf storage 2.2, is decoupled together with the robot arm 3 from the first shelf storage 2.1 and / or from the further shelf storage 2.2.

[0095] In a second embodiment according to Fig. 3 the automatic adjustment device 8.1, 8.2 can have a drive 9b which, when activated, is designed to automatically move the base member 4 of the robot arm 3 in the first configuration relative to the first shelf storage 2.1 and to automatically move it in the second configuration relative to the further shelf storage 2.2, wherein the drive 9b is designed as a part of the first shelf storage 2.1 and as a part of the further shelf storage 2.2. In this case, each drive 9b can be assigned a lifting spindle 11, for example, i.e. a lifting spindle 11 is provided for each first shelf storage 2.1 and each further shelf storage 2.2, which is driven by the drive 9b. A height-adjustable spindle nut 12 is seated on the lifting spindle 11 and is connected to the base member 4 of the robot arm 3.

[0096] In the version according to Fig. 4 the robot arm 3 has an energy storage device 13 which is designed to supply the drive 9a and / or at least one joint motor of the robot arm 3, each associated with a joint 3b of the robot arm 3, with drive energy independently of the respective configuration of the logistics system 1.

[0097] In the version according to Fig. 5 The first rack storage unit 2.1 has at least one first busbar 14.1, which is designed to supply electrical energy to the robot arm 3 via the first rack storage unit 2.1 when, in the first configuration, the robot arm 3 is coupled to the first rack storage unit 2.1 by means of the first coupling device 5.1. The further rack storage unit 2.2 can also have at least one further busbar 14.2, which is designed to supply electrical energy to the robot arm 3 via the further rack storage unit 2.2 when, in the second configuration, the robot arm 3 is coupled to the further rack storage unit 2.2 by means of the further coupling device 5.2.

[0098] In a version according to Fig. 6 the logistics system 1 can have at least one driverless and / or autonomous vehicle 15, which has an automatic coupling machine 16, for example in the form of a robot, which is designed to automatically couple the robot arm 3, which is transported by the at least one vehicle 15 into spatial proximity to the first shelf warehouse 2.1, to the first coupling device 5.1 of the first shelf warehouse 2.1 when the logistics system 1 is to be brought into the first configuration, and the automatic coupling machine 16 is designed to automatically couple the robot arm 3, which is transported by the at least one vehicle 15 into spatial proximity to the further shelf warehouse 2.2, to the further coupling device 5.2 of the further shelf warehouse 2.2 when the logistics system 1 is to be brought into the second configuration.

[0099] In a modified embodiment, the logistics system 1 can have a stationary change station 17 and at least one driverless and / or autonomous vehicle 15, which is designed to selectively pick up the first rack storage 2.1 or the further rack storage 2.2 by driving the at least one vehicle 15, for example by means of a lifting platform 18, wherein the stationary change station 17 has an automatic coupling machine 16a, which is designed to automatically couple or uncouple the robot arm 3 to the first rack storage 2.1 transported by the at least one vehicle 15 into a spatial proximity of the stationary change station 17 when the logistics system 1 is to be changed between the first configuration and the second configuration, or to automatically couple the robot arm 3 to the further rack storage 2 transported by the at least one vehicle 15 into a spatial proximity of the stationary change station 17.2 to be automatically coupled or uncoupled when the logistics system 1 is to be switched between the first configuration and the second configuration.

[0100] The first rack storage 2.1 and each additional rack storage 2.2 can, as shown in Fig. 8is shown schematically, each have a plurality of receiving levels 20 for plants, wherein the respective plurality of receiving levels 20 form groups of first receiving levels 20.1, which have lighting devices 21 for plants 22, of second receiving levels 20.2, which have water supply devices 23 or nutrient solution supply devices 24 for plants and / or of third receiving levels 20.3, which have intermediate storage locations for plant supports 20, wherein the robot arm 3 is designed and configured to automatically transfer plants 22 or plant supports 20 between the first receiving levels 20.1, the second receiving levels 20.2 and the third receiving levels 20.3 within a first shelf warehouse 2.1 or a further shelf warehouse 2.2, when the robot arm 3 is automatically coupled to the respective first shelf warehouse 2.1 or further shelf warehouse 2.2.

Claims

1. Logistics system comprising a first rack store (2.1) and at least one further rack store (2.2), as well as at least one robot arm (3) having a plurality of links (3a) and joints (3b) that connect the links (3a) such that they can be automatically adjusted with respect to one another, wherein one of the links (3a) is a base-forming base link (4) of the robot arm (3), wherein the first rack store (2.1) has a first robot arm carrier (5.1) having a first coupling device (6.1) which, when the robot arm (3) is coupled to the first robot arm carrier (5.1), interacts with a counter-coupling device (7) of the base link (4) of the robot arm (3), and the further rack store (2.2) has a further robot arm carrier (5.2) having a further coupling device (6.2) which, when the robot arm (3) is coupled to the further robot arm carrier (5.2), interacts with the counter-coupling device (7) of the base link (4) of the robot arm (3), characterized in that, in a first configuration of the logistics system (1), the base link (4) of the robot arm (3) is connected to the first robot arm carrier (5.1) in an automatically locked and automatically releasable manner, and in that, in a second configuration of the logistics system (1) that differs from the first configuration, the base link (4) of the robot arm (3) is connected to the further robot arm carrier (5.2) in an automatically locked and automatically releasable manner.

2. Logistics system according to Claim 1, characterized by an automatic adjustment device (8.1, 8.2) which is designed, in the first configuration of the logistics system (1) in which the base link (4) of the robot arm (3) is coupled to the first robot arm carrier (5.2) of the first rack store (2.1), to mount the base link (4) of the robot arm (3) so as to be adjustable in an automatically driven manner relative to the first rack store (2.1), and, in the second configuration of the logistics system (1) in which the base link (4) of the robot arm (3) is coupled to the further robot arm carrier (5.2) of the further rack store (2.2), to mount the base link (4) of the robot arm (3) so as to be adjustable in an automatically driven manner relative to the further rack store (2.2).

3. Logistics system according to Claim 2, characterized in that the automatic adjustment device (8.1, 8.2) is designed, in the first configuration of the logistics system (1), to mount the base link (4) of the robot arm (3) on the first rack store (2.1) in a linearly height-adjustable manner so as to be adjustable in an automatically driven manner, and, in the second configuration of the logistics system (1), to mount it on the further rack store (2.2) in a linearly height-adjustable manner so as to be adjustable in an automatically driven manner.

4. Logistics system according to Claim 2 or 3, characterized in that the automatic adjustment device (8.1, 8.2) has a drive (9a) which is designed, when activated, to move the base link (4) of the robot arm (3) relative to the first rack store (2.1) in an automatically driven manner in the first configuration and to move it relative to the further rack store (2.2) in an automatically driven manner in the second configuration, wherein the drive (9a) is formed as a part of the robot arm (3) which, together with the robot arm (3), is uncoupled from the first rack store (2.1) and / or from the further rack store (2.2) in a state uncoupled from the first rack store (2.1) and / or from the further rack store (2.2).

5. Logistics system according to one of Claims 1 to 4, characterized in that the robot arm (3) has an energy store (13) which is designed to supply the drive (9a) and / or at least one joint motor of the robot arm (3), which is respectively assigned to a joint (3b) of the robot arm (3), with drive energy independently of the respective configuration of the logistics system (1).

6. Logistics system according to one of Claims 1 to 5, characterized in that the first rack store (2.1) has at least one first busbar (14.1) which is designed to supply electrical energy to the robot arm (3) via the first rack store (2.1) if, in the first configuration, the robot arm (3) is coupled to the first rack store (2.1) by means of the first coupling device (5.1), and the further rack store (2.2) has at least one further busbar (14.2) which is designed to supply electrical energy to the robot arm (3) via the further rack store (2.2) if, in the second configuration, the robot arm (3) is coupled to the further rack store (2.2) by means of the further coupling device (5.2).

7. Logistics system according to one of Claims 1 to 6, comprising at least one vehicle (15), in particular a driverless and / or autonomous vehicle (15), which has an automatic coupling machine (16) which is designed to automatically couple the robot arm (3), which is transported by the at least one vehicle (15) into a spatial proximity of the first rack store (2.1), to the first coupling device (5.1) of the first rack store (2.1) if the logistics system (1) is intended to be brought into the first configuration, and the automatic coupling machine (16) is designed to automatically couple the robot arm (3), which is transported by the at least one vehicle (15) into a spatial proximity of the further rack store (2.2), to the further coupling device (5.2) of the further rack store (2.2) if the logistics system (1) is intended to be brought into the second configuration.

8. Logistics system according to one of Claims 1 to 6, comprising a stationary changing station (17) and at least one vehicle (15), in particular a driverless and / or autonomous vehicle (15), which is designed to selectively receive the first rack store (2.1) or the further rack store (2.2) in a transportable manner by movement of the at least one vehicle (15), wherein the stationary changing station (17) has an automatic coupling machine (16a) which is designed to automatically couple the robot arm (3) to first rack store (2.1) transported by the at least one vehicle (15) into a spatial proximity of the stationary changing station (17) or to uncouple it from this if the logistics system (1) is intended to be changed between the first configuration and the second configuration, or to automatically couple the robot arm (3) to the further rack store (2.2) transported by the at least one vehicle (15) into a spatial proximity of the stationary changing station (17) or to uncouple it from this if the logistics system (1) is intended to be changed between the first configuration and the second configuration.

9. Logistics system according to one of Claims 1 to 8, characterized in that the first rack store (2.1), each further rack store (2.2), the at least one vehicle (15), in particular driverless and / or autonomous vehicle (15), the robot arm (3) and / or the stationary changing station (17) has / have at least one sensor apparatus which is designed to automatically determine the instantaneous relative position and / or relative bearing of the robot arm (3) with respect to the first rack store (2.1), each further rack store (2.2), the at least one vehicle (15), in particular driverless and / or autonomous vehicle (15), and / or the stationary changing station (17).

10. Logistics system according to one of Claims 1 to 9, characterized in that the first rack store (2.1) and each further rack store (2.2) each have a plurality of receiving levels (20) for plants (22), wherein the plurality of receiving levels (20) in each case form groups of first receiving levels (20.1) having lighting apparatuses (21) for plants (22), groups of second receiving levels (20.2) having water supply apparatuses (23) or nutrient solution supply apparatuses (24) for plants (22), and / or groups of third receiving levels (20.3) having intermediate storage locations (25) for plant carriers (26), wherein the robot arm (3) is designed and configured to automatically relocate plants (22) or plant carriers (26) between the first receiving levels (20.1), the second receiving levels (20.2) and the third receiving levels (20.3) within a first rack store (2.1) or a further rack store (2.2) if the robot arm (3) is automatically coupled to the respective first rack store (2.1) or further rack store (2.2).