SORTING SYSTEM AND METHOD FOR CONTROLLING A SORTING SYSTEM

Description

[0001] The present invention relates to a sorting system and to a method, optionally implemented with computer support, for controlling such a sorting system. The present invention particularly relates to a sorting system with reduced infrastructure and vehicles.

[0002] When sorting, distributing, and / or delivering goods or cargo, one requirement may be to transport these goods from one location to another. Manual, machine-assisted, or even semi-automated or fully automated processes are conceivable for this. In most cases, goods to be sorted arrive in sorting systems in stacked or bulk form, e.g., in trolleys or containers. These are usually removed manually and placed individually on a conveyor belt. In some cases, automatic devices are also used, into which the goods are conveyed in bulk. However, these require a certain amount of space and are relatively cost-intensive.

[0003] After separation (i.e., the creation of a gap between the individual parcels) has taken place, the goods to be sorted are fed to the actual sorter. Permanently installed linear or ring-shaped sorting systems are used for automatic sorting. These systems have, for example, a large number of folding trays or conveyor belts driven transversely to the conveying direction, onto which the previously separated goods are discharged at a relatively high speed at a central infeed.

[0004] The sorter is usually mounted on a stand. The goods to be sorted are then conveyed on the exemplary folding trays along the end stations, which are usually arranged on both sides and are available in large numbers. At the end station assigned to the goods to be sorted, the goods are discharged to the side. The end station is usually designed as a chute so that the end station is reached by gravity and a certain buffer capacity is achieved. Mounting the sorter on a stand is advantageous for this purpose. The goods to be sorted are then usually removed manually from the end stations and placed, for example, in a trolley or container, if necessary with additional mechanical support.

[0005] In addition, sorting systems with automated vehicles are also known in isolated cases. All systems known to date share the feature that the vehicles used have an active load-handling device, specifically a tray that folds on one side or a conveyor belt that can be driven in both directions. The routes in the sorting system are either designed in a grid pattern, for example, a plurality of them all configured for parcel shipments, or in a circular pattern, possibly with secondary circuits, for example, for transporting suitcases.

[0006] EP 3 690 775 A1 relates to a system for sorting objects using transport devices.

[0007] CN 208 018 986 U relates to the provision of a non-stop sorting robot that determines a delivery start time and then slides the parcel down by tilting the drop-off. The goal is to avoid stopping the robot.

[0008] The disadvantage of the known sorting systems is the complex setup of such routes and the infrastructure used.

[0009] There is therefore a need for a flexible sorting system and a method for controlling such a sorting system.

[0010] An object of the present invention is therefore to provide a sorting system that can be set up flexibly and further to provide a method for controlling such a sorting system.

[0011] This problem is solved by the subject matter of the independent patent claims.

[0012] According to one embodiment, a sorting system comprises a first number of entry points configured to provide goods to be sorted, a second number of end points configured to receive the goods to be sorted, and a third number of driverless sorting vehicles configured to transport the goods to be sorted between the first number of entry points and the second number of end points. Furthermore, a control device is provided configured to control the driverless sorting vehicles between the first number of entry points and the second number of end points. At least one driverless sorting vehicle is configured to deliver the goods to be sorted based on a change in a speed vector of the driverless sorting vehicle, using kinetic energy of the goods to be sorted provided by a travel movement of the driverless sorting vehicle.

[0013] According to one embodiment, a method for controlling a sorting system comprises controlling driverless sorting vehicles between a first number of entry points and a second number of end points in order to provide goods to be sorted at the first number of entry points and to receive the goods to be sorted at the second number of end points by transporting the goods to be sorted between the first number of entry points and the second number of end points using a third number of driverless sorting vehicles. The method is carried out such that at least one driverless sorting vehicle releases the goods to be sorted based on a change in a speed vector of the driverless sorting vehicle using kinetic energy of the goods to be sorted provided by a travel movement of the driverless sorting vehicle.

[0014] A further embodiment provides a computer program product with a program code for executing such a method.

[0015] Further advantageous embodiments are the subject of dependent patent claims.

[0016] Particularly preferred embodiments are explained in more detail below with reference to the accompanying drawings. In the drawings: Fig. 1a is a schematic block diagram of a sorting system according to an embodiment; Fig. 1b is a schematic block diagram of a sorting system according to Fig. 1a modified sorting system according to an embodiment; Fig. 2 a schematic perspective view of a sorting material receiving station according to an embodiment; Fig. 3 a schematic perspective view of an alternative material receiving station according to an embodiment; Fig. 4a a schematic perspective view of a sorting vehicle according to an embodiment, which can be located adjacent to a tool in the sorting system; Fig. 4b state of the vehicle Fig. 4a , which is coupled to the tool according to an embodiment; Fig. 5 a schematic perspective view of a possible implementation of one or more sorting vehicles according to an embodiment with an omnidirectional chassis; Fig. 6 a schematic perspective view of a sorting vehicle according to an embodiment with a folding tray; Fig. 7 a Fig. 6 corresponding representation, in which, in addition, according to an embodiment, a spring loading by means of one or more spring elements is set up; Fig. 8a a schematic perspective representation of a state during an approach of a sorting vehicle according to an embodiment to the sorting material receiving station from Fig. 2 ; Fig. 8b a schematic representation of a Fig. 8a building situation in which the sorting vehicle has approached the sorting material receiving station and is braking according to an embodiment; Fig. 9a-d schematic representations for additional explanation of the utilization of a mass inertia of the sorting material according to embodiments; Fig. 10a a schematic block diagram of a sorting vehicle according to an embodiment, which comprises an omnidirectional drive system designed to provide movement of the vehicle; Fig. 10b schematic block diagram of an omnidirectional drive device of the sorting vehicle, with a decentralized computing device according to an embodiment; Fig. 11a a schematic plan view of a sorting vehicle according to an embodiment in connection with the individual control of different drive devices according to an embodiment; Fig. 11b a possible effect of the embodiments described herein from Fig. 11a to correct a deviation occurring there according to an embodiment; Fig. 12 is a schematic side sectional view of a sorting vehicle according to an embodiment, designed to detect a ground condition of the surface by means of a detection unit in order to localize the vehicle; Fig. 13 is a schematic representation of a sorting system according to an embodiment in connection with a selection of trajectories for the sorting vehicles; Fig. 14 is a schematic block diagram of part of a sorting system according to an embodiment, with an optional identification device; Fig. 15 is a schematic perspective view of a comb-like infeed point according to an embodiment; Fig. 16 is a schematic plan view of two sorting vehicles coupled to one another according to an embodiment;17 shows a schematic plan view of two uncoupled sorting vehicles for the joint transport of sorted goods according to an exemplary embodiment; and Fig. 18 shows a schematic block diagram of an arrangement comprising a sorting vehicle and a trailer coupled thereto by means of a coupling; a schematic plan view of two coupled sorting vehicles according to an exemplary embodiment.

[0017] Before exemplary embodiments of the present invention are explained in more detail below with reference to the drawings, it is pointed out that identical, functionally identical or equivalent elements, objects and / or structures in the different figures are provided with the same reference numerals, so that the description of these elements shown in different exemplary embodiments is interchangeable or can be applied to one another.

[0018] Embodiments described below are described in conjunction with numerous details. However, embodiments may also be implemented without these detailed features. Furthermore, for clarity, embodiments are described using block diagrams as a substitute for detailed illustrations. Furthermore, details and / or features of individual embodiments may be readily combined with one another, unless explicitly described otherwise.

[0019] The exemplary embodiments described herein relate to a sorting system and to a corresponding method. Unlike known sorting systems, in which, for example, the distribution of sorted goods or loads takes place along predefined, mechanically arranged ring-shaped or linear paths, such as tilt-tray sorters or conveyor belt sorters, and / or unlike automatic vehicles, in which there is a fixed grid of paths along which vehicles can then move, a control device in connection with the sorting systems described herein is designed such that vehicle routes can be dynamically changed, for example, should this be necessary due to changing arrangements of individual objects in the sorting system and / or in that a number of vehicles in the sorting system is variable.Such a control device can be centrally located and communicate with the vehicles, for example, via wireless communication, such as Bluetooth, Wi-Fi, 4G, 5G, or the like, or by other means. Alternatively or additionally, a control device can also be implemented entirely or partially distributed throughout the vehicles, so that a corresponding route and / or driving behavior is determined locally.

[0020] While in known sorting systems, such as the designs described for the tilt-tray sorter with fixed infrastructure, obstacles from the tilt trays along the predefined, mechanically configured paths are not expected, meaning that the system does not need to react to such obstacles, other known systems with automated vehicles are designed to be able to react to a sudden obstacle on the predefined routes, for example by stopping, slowing down, or aborting the journey, or by taking evasive action. An example of such a scenario is an obstacle, such as an object or a person, that enters the path of travel.

[0021] Embodiments are also directed at moving vehicles at comparatively high speeds, which makes it difficult or even impossible for the vehicle to evade or stop before a collision, for example due to physical constraints such as inertia. Embodiments are therefore directed at performing dynamic route planning that detects collisions in advance and plans the route accordingly to avoid the need for sudden evasive maneuvers or braking.

[0022] Embodiments relate to a sorting system that has infeed points or infeed locations and that has end points. An end point can be understood as a point in the sorting system at which the sorted goods are taken out or removed from the sorting system, but it can also be a transfer point from which, after the first partial transport has taken place, a further partial transport to another end point or transfer station takes place by again picking up the sorted goods with a sorting vehicle, which is why an end point can serve synonymously as a transfer station in some embodiments and / or a transfer station can be regarded as the end point for a partial transport. Both facilities, the end point and the transfer stations, can be understood as a sorted goods receiving station.However, such a sorting goods receiving station can also be understood as an entry point, in which the sorting goods are made available again for a journey.

[0023] Fig. 1a In this context, FIG. 1 shows a schematic block diagram of a sorting system 100 according to an exemplary embodiment. The sorting system 100 comprises a first number of infeed points 12 1 to 12 3 , which are configured to provide goods 14 1 to 14 3 to be sorted, i.e., to introduce them into the sorting system, to distribute them further, and / or to make them available for transport.

[0024] The sorting system further comprises an equal or different number of end stations 16 1 to 16 3 , which are designed to receive the sorting goods 14 1 to 14 3 .

[0025] Furthermore, the sorting system 100 comprises a number of driverless sorting vehicles 18 1 and 18 2 which is the same as or different from the number of entry points 12 and / or the number of end points 16 and which are designed to transport the goods to be sorted 14 1 to 14 3 between the entry points 12 1 to 12 3 and the end points 16 1 to 16 3. For this purpose, for example, at least one of the sorting vehicles 18 can transport at least one item of goods to be sorted 14 according to a travel order along a route or trajectory 22 1 or 22 2, wherein the term route or trajectory can mean a completely or partially straight course of the route traveled, alternatively or in combination with an at least partially curved course of the route.

[0026] The sorting system 100 further comprises a control device 24 which is designed to control the driverless sorting vehicles 18 1 and / or 18 2 between the infeed points 12 and the end points 16.

[0027] Preferably, the driverless sorting vehicles are equipped with an omnidirectional drive system. Such vehicles can also be referred to as holonomic vehicles. This means that the number of controllable degrees of freedom can be equal to the total number of degrees of freedom present in the system. A holonomic vehicle or holonomic robot can be understood as a device that is capable of traversing any trajectory in the so-called configuration space—that is, effectively the space formed by the example three degrees of freedom with the positions X, Y, and rotation—as long as the boundary condition of acceleration is met. In contrast, there are vehicles, such as a car, which are normally unable to drive sideways into a parking space.For such a parking maneuver, relatively complex trajectories must be chosen to move the vehicle 2 meters laterally, for example, since the car only has two controllable degrees of freedom. For this purpose, it is assumed that systems of ground-moving vehicles have a total of three degrees of freedom: the two for the X and Y positions and one for rotation.

[0028] Several concepts are possible for the implementation of a so-called omnidirectional drive system, with embodiments particularly aimed at vehicles whose drive systems comprise omniwheels and / or so-called Mecanum wheels, which exhibit good properties for vehicle movement. One difference between omniwheels and Mecanum wheels, for example, is that omniwheels can absorb little or no lateral forces in the direction of travel, whereas Mecanum wheels can. Regardless, Mecanum wheels can achieve the same or similar kinematics as omniwheels, which leads to good usability of both systems.

[0029] Fig. 1b shows a schematic block diagram of a sorting system 100' modified compared to the sorting system 100, which consists of the configuration according to the Fig. 1a can arise, for example, by adding an additional infeed point 12 4 to the sorting system 100 and / or by removing an existing infeed point, such as the infeed point 12 1 . As will be described in more detail below, a certain type of physical device can be provided or implemented at an infeed point 12, but this is not necessarily required, since an infeed point, like a terminal, can already be operated as a defined area or space from which sorting goods are received or into which sorting goods are delivered. In one example, an infeed point and / or a terminal is designed as a mechanically passive frame on which a sorting vehicle 18 can strip and / or pick up transported sorting goods. By removing such a device, a terminal can be deactivated.Alternatively, by additionally setting up such a device, a corresponding point in the sorting system can be additionally put into operation. In both cases, the control device 24 is designed to adapt the control of the sorting system accordingly, for example, by adjusting the routes or trajectories 22. Combinatorially, it is also possible, for example, to relocate the inlet point 12 1 in order to reach the inlet point 12 4 .

[0030] The aforementioned changes can, for example, be made ad hoc, i.e., during ongoing operation. A corresponding signal to the control device 24 to adapt the existing control system may be sufficient to continue the operation of the sorting system 100 or 100' without interruption.

[0031] The described redesign of the sorting system with regard to the entry points can easily be carried out for the end points 16 as well.

[0032] The sorting system 100 or the sorting system 100', for example, allows operation as a decentralized sorting system in which the entry points 12 and / or the end points 16 can be arranged decentrally within the sorting system. Decentralized entry points can be understood, for example, as a configuration in which at least two entry points 12 are arranged such that the distance between them is greater than the distance to the nearest end point. This can also be considered complementary for decentralized end points.

[0033] It should also be noted at this point that the term "inlet point" or "end point" does not necessarily imply an initial entry or final exit into the sorting system, respectively. Rather, an end point can also be designed to forward a sorted item after receiving it, for example, to another sorted item. Similarly, an inlet point 12 can also already receive the sorted item from a sorting vehicle. Examples of implementations of such combinations include reloading points in a sorting system, for example, at connecting points between two warehouses or the like.

[0034] Optionally, additional devices can also be arranged in the sorting system 100 or 100', for example tools and / or identification devices, i.e., an identification device. Such an identification device can be designed to identify a sorting vehicle and / or a sorted item. For example, an identification device can have a camera designed to capture recognition features of the object to be recognized, for example a shape, a pattern arranged therein, or the like, or other properties. Alternatively or additionally, other identification devices can also be provided, for example using radio technology, such as RFID (radio-frequency identification).At least one of the number or location of an entry point 12, a terminal 16, and / or such an identification device can be changed independently of one another. The control device 24 can be configured to take such a change into account, for example, during route planning.

[0035] Fig. 2 shows a schematic perspective view of a sorting material receiving station 26 according to an exemplary embodiment, which can be used, for example, as a terminal station 16 and / or for re-sorting or redistribution as an infeed point 12. The sorting material receiving station 26 can have a base 28 which comprises a front side 12a, on which a shock absorber and / or spring element 32 (bumper) is preferably arranged. On the base 28 of the sorting material receiving station 26, which is formed, for example, from an angle profile, there is a receiving area 34 which can be open at the front side 28a of the base 28 and otherwise can preferably have side edges 36 in order to limit the movement space of a sorting material. In the exemplary embodiment shown, the bottom surface of the receiving area 34 initially slopes downwards; this area is designated 34a; the rear area is, for example, horizontal or less inclined and is designated 34b.

[0036] Fig. 3 shows a schematic perspective view of an alternative sorting material receiving station 26, which differs from that according to the Fig. 2 differs in that no shock absorber element and / or spring element 32 is provided.

[0037] The sorted goods receiving station 26 illustrates only one of the advantageous embodiments for an infeed point or a terminal. Thus, it can be seen that in the receiving area 34a, as a sorting vehicle 18 approaches, possibly at high speed to utilize mass inertia, the sorted goods 14 can reach the receiving area 34, possibly slide down, and be picked up again by the area 34b. However, the area 34b, like the receiving area 34a, can also be implemented, for example, on a floor surface onto which the sorted goods 14 are placed or from which they are picked up.

[0038] The sorting material receiving station 26 can also be regarded as a tool, which means that at least one of the infeed points 12 can have a tool that is designed to receive a sorting material.

[0039] Fig. 4a shows a schematic perspective view of a sorting vehicle 18 according to an exemplary embodiment, which can be located adjacent to a tool 38 in the sorting system 100. The tool 38 can have one or more devices 42 for conveying a sorted item, for example by moving upwards or downwards or from a first area 42a to a second area 42b or in the other direction. The tool 38 can be stationary or mobile. For example, a chassis can be rotatably mounted about an axis 44, so that the tool can be movable along a direction of movement 46.

[0040] The sorting vehicle 18 may have an interface configured to be coupled to the tool 38, i.e., to receive the tool 38 based on a coupling. The coupling may, for example, be mechanically configured, for example, by snapping, a screw connection, a bayonet connection, by hooking, or the like, but may also use other principles, such as a magnetic coupling. The tool 38 may have a corresponding interface for coupling to the sorting vehicle 18.

[0041] With at least parallel alignment, but preferably coincidence of movement axes 52a of the sorting vehicle 18 and 52b of the tool 38, the coupling can be carried out, for example, when the sorting vehicle 18 approaches the tool 38. The tool 38 can, for example, be designed to pick up a sorting item 14, for example from a floor surface or in connection with the Fig. 2 und 3 For example, the sorting material receiving stations in Fig. 4b The vehicle 18 coupled to the tool 38 can approach an item 14 1 and / or 14 2 to be sorted, for example, in order to pick it up in the area 42a, so that the tool 38 can transport the item 14 1 or 14 2 to be sorted to a item receiving area 54 of the sorting vehicle 18. Optionally, it can be provided that, to assist in picking up the item, the sorting vehicle 18 drives against a possibly stationary or at least heavy obstacle, so that the item 14 1 or 14 2 to be sorted is pushed onto the area 42a of the tool 38. Alternatively or additionally, it is possible for the control device 24 to control another sorting vehicle in such a way that it pushes an item to be sorted onto the area 42a. By reversing a conveying direction of the conveyor belt, transport from the sorting material receiving area 54 in the direction of the area 42a can also take place, for example by sharply braking the sorting vehicle 18 or the like.

[0042] After the sorted goods have been picked up or delivered, the vehicle 18 can decouple from the tool 38 and, for example, leave the tool 38 behind. The tool 38 can be arranged or left behind at an infeed point 18, or even define this infeed point. This also results in a dynamic positioning of an infeed point, for example, if the tool 38 can be left behind at a variable location.

[0043] The above explanations also apply to other tools, for example, a gripper for gripping goods to be sorted, a trailer that can provide an additional surface for load-bearing and can be towed by a sorting vehicle 18 or another trailer, a device for identification, or the like. This means that a sorting system according to one embodiment is designed to provide, at or adjacent to an infeed point and / or a terminal point and / or another location, a tool intended for identifying goods to be sorted for pickup or coupling by a sorting vehicle. This also results in the possibility that one of the above-mentioned tools, alternatively or in addition to use by a sorting vehicle, is transported by a sorting vehicle to another location, for example, to be used there.

[0044] With reference to the explanations in connection with the Fig. 4a and the Fig. 4b An infeed point of a sorting system described herein can be designed to transfer the sorted goods to a sorting vehicle 18 using the tool 38 or another tool suitable for this purpose. According to one embodiment, the infeed point is designed to pick up the sorted goods 14 from a floor surface and / or to transfer the sorted goods to at least one of a sorting vehicle, a transfer station of the sorting system, and a storage volume, such as a roll container or the like. A further use of the tool 38 is, for example, to pick up sorted goods that have fallen onto the floor surface using the tool 38, which can take place in an area of ​​the infeed point but also away from it. Thus, some embodiments provide for the formation of ad-hoc infeed points comprising mobile tools in combination with the sorting vehicles, i.e.A sorting vehicle can use a mobile tool, controlled by the vehicle control system and / or the control device of the sorting system, to provide an ad-hoc infeed point at which items to be sorted, such as packages, can be picked up from the floor. For this purpose, a control function of the sorting system can be set up to control the infeed point and / or the sorting vehicle accordingly. Determining that items to be sorted are on the floor, for example due to an error in the sorting system or an accidental fall, can be done, for example, by mobile or stationary detection devices, such as a camera system. A stationary camera system can comprise at least one camera, which is arranged, for example, at an elevated position, such as on a mast or a room ceiling, in order to monitor at least a portion of the floor area.A mobile camera system, which can be arranged alternatively or in addition to a stationary camera system, can, for example, comprise at least one camera mounted on a sorting vehicle or another ground or aerial vehicle, which is configured to capture the floor area. Drones, for example, can be suitable for this purpose.

[0045] Embodiments thus provide a sorting system comprising a tool configured to receive a sorting item and / or to enable identification of a sorting item, and configured to be coupled to the interface of the vehicle, wherein the coupling may be effected mechanically and / or magnetically, for example.

[0046] According to one embodiment, at least one of the sorting vehicles is designed to couple to the provided tool, to use the tool to pick up the material to be sorted, to then decouple the tool and to leave it at a delivery location or storage location.

[0047] According to one embodiment, at least one sorting vehicle is configured to receive a tool intended for identifying an item to be sorted and to use it for identifying an item to be sorted. Based on the identification, a destination of the item to be sorted can be determined, wherein the vehicle can be configured to determine a destination of the item to be sorted based on the identification, for example via corresponding data that is stored in the sorting vehicle or at least accessible. Alternatively or additionally, a result of the identification can be transmitted to the sorting system, which can enable a destination determination at another device of the sorting system.

[0048] According to one embodiment, at least one sorting vehicle is configured to receive and transport a tool intended for identifying a sorted item. This makes it possible, for example, to provide a small number of such identification tools in the sorting system and to transport them to a required position or area by means of a sorting vehicle.

[0049] As it is related to the Fig. 4a und 4b As described in the preceding paragraph, a sorting vehicle can be designed to pick up a sorting item from a floor surface. For this purpose, the sorting vehicle can have corresponding elements or tools, or can, as described in the Fig. 4a und 4b shown, be designed to at least temporarily provide a coupling with a tool, such as the tool 38, in particular a belt conveyor device, in order to pick up the sorted material using the tool.

[0050] Fig. 5 shows a schematic perspective view of a possible implementation of one or more sorting vehicles 18 according to an exemplary embodiment. The sorting vehicle 18 can have a chassis or undercarriage 56, which is designed, for example, as an omnidirectional chassis. A transport area 62, which can provide the sorted goods receiving area 54, can be arranged on an optional intermediate body 58, such as spacer webs or the like. For example, the sorted goods receiving area 54 can be partially delimited by a holding area or limiting area 64, over which slipping or sliding out of a sorted goods is made difficult or impossible.

[0051] In unlimited areas of the sorting material receiving area 54, however, slipping or sliding out of a sorting material 14 may be possible, preferred or even desirable.Such a sorting vehicle with the sorting material receiving area 54, which is arranged on the chassis 56, wherein the sorting material receiving area or the transport area 62 can have a securing holding element, the holding area 64, at the edge of the sorting material, can be controlled by means of a control device or vehicle control, for example locally or centrally, by the control device 24, such that the vehicle control aligns the holding area 64 in each case on the basis of a current or expected acceleration or deceleration (negative acceleration) of the chassis 56 to the current direction of travel about a vertical axis 66 such that the holding area 64 is located at least on the side of the transport area 62 or the sorting material receiving area 54, towards which the sorting material moves after overcoming a static friction between the surface of the sorting material receiving area 54 and the contact surface of the sorting material.For example, rotation about the vertical axis 66 can be provided by means of the omnidirectional drive system in the chassis 56. If, due to the acceleration or deceleration of the vehicle, there is a possibility, probability, or the like that the goods to be sorted would slip beyond the open area of ​​the transport area 62, the vehicle can be rotated, while at the same time maintaining the vehicle's movement trajectory in the sorting system itself.

[0052] Sorting vehicles in the exemplary embodiments described herein can have a load-handling device for receiving the goods to be sorted and a load-discharging device for discharging the goods to be sorted. This can be a tool and / or a mechanical device and / or a vehicle control system that, for example, causes an abrupt braking to discharge the goods to be sorted, in order to trigger a sliding of the goods to be sorted and thus to discharge the goods to be sorted. The braking is preferably triggered when approaching a terminal or transfer point in order to discharge the goods to be sorted there. The load-handling device and the load-discharging device can thus also be provided by a different use of an identical mechanical and / or software-implemented device.

[0053] When looking at the sorting vehicle 18 from the Fig. 5 It becomes clear that in the event of an abrupt deceleration during a journey along the direction of movement 46, a schematically illustrated item of sorted goods 14 could slip over an edge 62a relative to the sorting vehicle 18. During a journey, the vehicle control system can be configured to prevent this by means of the rotational movement of the vehicle. However, it may also be desirable to utilize or even provoke such a slipping, for example to deliver the item of sorted goods, for example to the item receiving station 26 of the Fig. 2 and / or 3. For example, a movement of the sorting vehicle 18 can be carried out in such a way that the edge 62a is moved towards the area 34a of the sorting material receiving station and, for example, by a chassis control and / or with the aid of the spring element 32, which can alternatively or additionally also be arranged on the vehicle, to generate the abrupt deceleration.

[0054] Based on Fig. 6 , which shows a schematic perspective view of a sorting vehicle 18 with a folding tray, an aspect is to be highlighted that can be implemented alternatively or in addition to other transfer mechanisms of the embodiments described herein. For example, starting from the illustration of Fig. 5 the transport area 62 can be tiltably mounted, so that the sorting material receptacle for transporting sorting material and for transferring the sorting material to a sorting material receiving station is coupled to the chassis and the chassis located therein. The chassis is coupled to a drive unit, such as the omnidirectional drive units. A vehicle control system of the sorting vehicle 14 is designed to tiltably deflect the sorting material receptacle about a tilt axis 68 on the chassis. For this purpose, for example, a tilt bearing 72 can be provided, which provides the tilt axis 68. Several such tilt bearings 72 can be combined with one another, for example to provide tilting along different directions. By means of mechanical design, a force required to trigger the tilting of the sorting material receptacle area 54 can be adjusted. Although the sorting vehicle of the Fig. 6 is shown so that at least one area is excluded from the holding area 64, this can also be removable and temporarily present, for example via an actively controllable folding mechanism or other active devices.

[0055] The tilt axis 68 can be aligned such that they are arranged in correspondence with one another at a delivery edge 62a such that, when the sorting material receiving area 54 is tilted, the sorting material can be transferred over the delivery edge 62a to the sorting material receiving station, i.e., slides down, or is moved in some other way. To transfer the sorting material to the sorting material transfer station, the sorting material receiving area can be tilted about the tilt axis 68 by changing the speed vector, such as a rapid deceleration or, alternatively, a rapid acceleration of the sorting vehicle 14. Alternatively or in addition to changing the vector length or a speed change, it is also possible for the vehicle control and / or a central instance of the control device 24 of the sorting system to change the direction of the speed vector, e.g.to trigger a sudden change of direction or cornering of the sorting vehicle 18, which can also enable a transfer, since the resulting inertial forces on the sorting material receptacle can trigger a tilting of the same about the tilting axis 68. Such control is just as possible with a tiltable transport area 62 as without such a tilting axis 68. Even without a tilting axis 68, a change in the speed vector can be used to cause the sorting material to intentionally slide down from the tiltable or non-tiltable transport area 62.Embodiments also provide a combination of these solutions, in which a sorting vehicle has a tiltably mounted transport area 62, but the sorting vehicle 18 is controlled, at least in some transfer situations, such that the transport area does not tilt, but the material to be sorted still slips or slides from the transport area 62, for example due to a change in direction and / or a corresponding orientation of the tilt axis 68 to the speed vector. This allows the sorting vehicle to be used with different configurations of transfer stations.

[0056] Fig. 7 shows a corresponding illustration, in which a spring loading is additionally provided by means of one or more spring elements 74, wherein the one or more spring elements 74 can support the tilting process (for example, when implemented as a compression spring) or can increase a required force, for example, when implemented as a tension spring. This means that a spring loading of the sorting material holder can be used to generate a torque to provide the tilting about the tilting axis.

[0057] Regardless of an implementation with or without spring elements and / or regardless of whether the transport area 62 is tiltable, a sorting vehicle can thus be configured to release the goods 14 to be sorted using kinetic energy of the goods provided by a travel movement of the sorting vehicle, for example, by braking the vehicle and inertia of the goods 14 to be sorted leading to a relative movement of the goods 14 to be sorted with respect to the vehicle, so that the goods 14 to be sorted are released. Such braking can also achieve a change in the speed vector, which can cause the release.

[0058] According to one exemplary embodiment, a driverless sorting vehicle, for example for use in sorting systems described herein, can be configured to have a drive device and a control device for controlling the drive device. The control device is designed to control the drive device for decelerating the driverless sorting vehicle before reaching the end point 16 in order to deliver the goods 14 to be sorted to a terminal point 16, in order to generate a relative movement of the goods 14 to be sorted with respect to the driverless sorting vehicle through the deceleration and / or targeted cornering under the influence of kinetic energy; in order to effect delivery to the terminal point 16 by means of the relative movement.Thus, by means of braking and / or cornering in the drive device to change the speed vector, the sorted goods can be caused to slide down from the sorting vehicle and / or a tilting movement of a tilting tray can be triggered.

[0059] Alternatively or additionally, the control device 24 and / or the local control of the vehicle can be configured to actuate the drive device for an impact of the driverless sorting vehicle against a contact area of ​​the end point 16 for delivery of the sorted goods 14 to a terminal 16, in order to generate a relative movement of the sorted goods 14 with respect to the driverless sorting vehicle through the impact under the influence of kinetic energy; in order to effect delivery to the end point 16 by means of the relative movement. Thus, by means of braking due to the impact, the sorted goods can slide off the sorting vehicle and / or a tilting movement of a tilting tray can be triggered. This can shorten the braking distance compared to braking in the drive train, but this can lead to greater mechanical loads.On the other hand, a braking action controlled by the drive device can enable greater braking, which can enable an even more effective inertia-based transfer. In other words, the mechanical impact can increase the mechanical constraint, i.e. the impact, the instantaneous negative acceleration of the sorting vehicle to a value that can be significantly greater than through pure braking. This means that even large frictional forces between the load and the load receiving device can be overcome because the inertial force of the load (relative to the area of ​​the load receiving device) is greater due to the strong braking of the sorting vehicle. For this purpose, embodiments provide for the receiving station and / or the sorting vehicle to have mechanical bumpers.: bumper, and the control of the sorting system and / or the sorting vehicle is arranged to control the vehicle in such a way that the impact occurs on such a bumper.

[0060] Such an impact can easily be combined with braking in the drive system in order to achieve an optimum of short braking distance on the one hand and low mechanical loads on the other.

[0061] According to an embodiment, which can be combined with both the braking in the drive train and the induced impact, the driverless sorting vehicle 18 can have a sorting material receptacle, which is arranged so as to be movable, for example tiltable, relative to a chassis of the driverless sorting vehicle coupled to the drive device, and the relative movement comprises a movement of the sorting material 14 in the sorting material receptacle relative to the chassis, as is shown, for example, in the Fig. 6 , 7 or 8bis shown.

[0062] A driverless sorting vehicle 18 of the sorting system can have the sorting item receptacle 54, which is partially delimited by the holding area 64, which is designed to at least make it difficult for a sorting item 14 to slip or slide out, as described in connection with exemplary embodiments. The control device 24 or the control device 86 of the sorting vehicle can be designed to position the holding area 64 as a transport lock for the sorting item 14 during a journey of the driverless sorting vehicle 18. This can be used to position the holding area 64 opposite to the direction of the occurring or expected inertial force in order to implement the transport lock.The current vector of the vehicle's speed and / or an expected change in the vector of the sorting vehicle's speed, i.e., an acceleration or deceleration or change in direction of the chassis, can be used as a basis. An expected change in the vector of the speed can be expected in the future, for example, based on an at least partially known trajectory into which the sorting vehicle 18 is steered and which is expected to be driven.

[0063] Furthermore, embodiments provide for the sorting vehicle 18 to be controlled, at least in some situations, into a curve or a change of direction for transfer, in particular for the discharge of the goods to be sorted 14. The sorting system can be designed for local and / or central control of the sorting vehicle 18 in order to move the holding area 64 into a position or orientation before the transfer is effected such that the holding area 64 no longer impedes the discharge, for example, if it is temporarily positioned following the speed vector as a transport safeguard.

[0064] Fig. 8a shows a schematic perspective representation of a state during an approach of a described sorting vehicle 18 to the sorting material receiving station 26. The sorting material 14 is arranged, for example, in the transport area 62 or the sorting material receiving area 54.

[0065] In the in the Fig. 8b described situation, which arises from the situation according to Fig. 8a can be seen, the sorting vehicle 18 has approached the sorting material receiving station 26 and brakes, whereby a tilting of the transport area 62 occurs, which can cause the sorting material 14 to slide down onto the sorting material receiving station 26.

[0066] In embodiments, at least one end point is defined by an installed infrastructure, for example as an access for a roll container, an additional conveyor belt, or the like. Alternatively or additionally, at least one end point can be defined by time-varying objects and / or time-varying positions in a sorting system layout, and can be independent of an infrastructure, for example. For example, a Fig. 15 The structure described above can be spatially movable to implement an entry point, a transfer point, and / or a terminal point. Moving such a structure can lead to a variable layout. According to other embodiments, a terminal point can also already be defined by a corresponding surface onto which the goods to be sorted are placed.

[0067] According to one embodiment, the at least one terminal comprises an electrically passive chute device having a flat or inclined surface that has a buffer function for a plurality of sorted goods. For example, from the illustration of the Fig. 2 and / or the representation of the Fig. 3 It is clear that possibly several sorted goods 14 can be deposited at the sorted goods receiving station 26. According to one embodiment, the terminal has an electrically passive chute device and has a flat or inclined surface which has a braking device, as for example in the Fig. 2 is shown, see the spring element 32. The braking device can be designed to brake an approaching sorting vehicle in order to thereby enable an inertia-based transfer of the sorted material to the chute device.

[0068] The previous explanations on the use of the inertia of the material to be sorted 14 are supplemented by the explanations of the Fig. 9a bis 9d It is possible that due to misplacements or other events, an undesirable placement of the sorted goods 14 on the sorting vehicle 18 occurs. Embodiments provide that the sorting vehicle 18 is configured to correct such misplacement or, more generally, to change a placement of the sorted goods 14 in the sorting goods receiving area 54. For this purpose, Fig. 9a and 9c a schematic top view and the Fig. 9b and 9d one of the Fig. 9a and 9c corresponding perspective view. According to the Fig. 9a a first position of the sorted goods 14 is given in the sorted goods receiving area 54. In the example described, it is now desired to change the position of the sorted goods 14 from the Fig. 9a shown position to the one shown in the Fig. 9c position shown in dashed lines to correct the condition according to the Fig. 9d To this end, a displacement vector v can be determined, for example by means of the control device 24 or the vehicle control system, and the vehicle control system can be caused to accelerate the vehicle opposite to the displacement vector v, wherein the omnidirectional drive unit can be advantageously used for this purpose. In doing so, it is possible, but not necessary, to deviate from the previous trajectory. For example, a rotation of the sorting vehicle 14 can also precede in order to align the displacement vector v parallel to the trajectory path in order to effect the displacement of the sorted goods 14 on or in the sorted goods receiving area 54 by means of simple acceleration or deceleration along the trajectory path.

[0069] In a complementary approach, a shift from the Fig. 9d shown position into the one shown in the Fig. 9b Position detection can be achieved, for example, by means of optics and / or weight sensors or the like. Furthermore, by knowing the properties of the goods to be sorted, such as a mass, a size, a surface condition of the goods to be sorted and / or the area of ​​the goods to be sorted, unintentional slipping can also be avoided. Knowing these properties, a trajectory of the sorting vehicle 18 in the sorting system 100 can be controlled accordingly.

[0070] This means that according to one embodiment, a sorting vehicle or the control device 86 of the sorting vehicle or the control device 24 of the sorting system is designed to adjust a control of the sorting vehicle, taking into account a property of the goods to be sorted, such as a size, a mass, a surface quality or the like, such that the sorting vehicle travel is adapted to the property of the goods to be sorted.

[0071] The control device 24 of the sorting system 100 and / or the control device 86 of the sorting vehicle 18 can be configured to position a mechanical limit, such as the holding area 64, during travel in such a way that a change in the travel or speed vector of the sorting vehicle prevents the sorting vehicle 14 from sliding down when a relative movement of the sorting item 14 occurs with respect to the sorting vehicle 18. For example, the holding area can be directed forward while the sorting vehicle 18 is traveling in order to prevent falling down in the event of abrupt braking, for example, during an emergency stop. The holding area 64 can also be positioned, for example, by the control device 24 or control device 86, during cornering to prevent falling down, for example, by a rotation of the sorting vehicle 18.Before or during the arrival of the sorting vehicle 18 at a terminal or a transfer station, the holding area 64 can be moved to a non-disturbing position, for example to allow the goods to be sorted to slide down intentionally due to braking or an impact.

[0072] According to one exemplary embodiment, at least one parameter of the load (such as weight, dimensions, surface area (coefficient of friction), center of gravity, etc.) is known to the control device 24 of the system 100 and / or the control device 86 of the sorting vehicle 18 (e.g., through the shipment information) or is identified by suitable sensors. Such sensors can be arranged internally or externally of the sorting vehicle and can, for example, be linked to shipment information. An arrangement external to the vehicle within the system can, for example, be arranged at a transfer station or in the more or less direct feed thereto, which can be combined with or substituted for an arrangement on the vehicle. It is possible for different parameters to be recorded by different sensors at different locations.

[0073] The journey can be adjusted based on these parameters. For example, the trajectory of the vehicle 18, which includes at least the path, acceleration and speed values, can be adjusted to enable the vehicle to follow this trajectory. For example, if the load is very heavy, the acceleration of the vehicle can be reduced, as the required forces could otherwise not be reliably generated by the drive. Furthermore, an adjustment of the load release trajectory is provided depending on the coefficient of friction of the load in order to enable the most precise and reliable release possible. If the coefficient of friction is high, a higher negative acceleration and possibly even a combined impact is necessary to overcome the static friction between the sorted goods and the sorted goods receiving device and to move the sorted goods to the end point. If the coefficient of friction is low, aA weaker braking is sufficient, which results in less wear on the vehicle, for example, and allows a higher throughput of the sorting system to be achieved due to less loss of speed.

[0074] According to one embodiment, the steering and / or rotation of the vehicle can be controlled during cornering to prevent the sorted goods from falling off the sorting vehicle. For example, the inertia of the sorted goods 14 can be pre-calculated and / or estimated based on the trajectory. Based on this information, the vehicle rotates, e.g., when cornering or accelerating or decelerating, such that the load securing device, such as the holding area 64 of the load handling device, is aligned to prevent the load from falling off, as described for adapting the journey to the properties of the sorted goods. For this purpose, the load receiving device has a wall on at least one side for load securing.

[0075] One or more of the described maneuvers can be performed by utilizing a rotation of the vehicle. For this purpose, it may be advantageous for the sorting vehicle to have a drive device configured to rotate the sorting vehicle relative to a center point of the sorting vehicle, thereby causing the sorting vehicle to rotate, for example, in the X / Y plane.

[0076] In one embodiment, a sorting system comprises a sensor device which is designed to detect a relative actual position of a sorting item on a sorting vehicle, wherein the control device 24 is designed to compare the actual position with a desired position, compare the dashed position of the Fig. 9c , and to determine a deviation from the target position. The control device 24 is designed to change the actual position in order to at least reduce the deviation, wherein a corresponding acceleration and / or deceleration of the vehicle can be used for this purpose. According to one exemplary embodiment, the control device 24 is designed to control the vehicle such that the actual position is changed under the influence of a mass inertia of the goods to be sorted; and / or to control a tool in order to change the actual position. This means that some type of gripper and / or passive device can also be used to move the goods to be sorted on the sorting vehicle.

[0077] Fig. 10a shows a schematic block diagram of a vehicle 18 according to an embodiment. The vehicle 18 comprises an omnidirectional drive system that is designed to provide movement of the vehicle. In the sense of an omnidirectional drive system, in accordance with the definition of a holonomic vehicle, it is possible to describe any trajectory, at least while adhering to the physical boundary conditions, such as accelerations or the like. For this purpose, the omnidirectional drive system has a plurality of omnidirectional drive devices 78 1 , 78 2 and 78 3 . The omnidirectional drive system comprises at least three, but possibly also 4, 5 or a higher number of drive devices 78, which can be attached to the sorting vehicle 18 in a symmetrically or asymmetrically distributed manner.Each of the drive devices 78 1 to 78 3 is configured, for example, to apply a force to a traveled surface in order to provide a force component and / or a movement component for a movement 82 of the vehicle 18. Movement contributions 84 1 , 84 2 and 84 3 provided by the drive devices 78 1 to 78 3 can be directed in the same direction, that is, at least in their direction, but preferably also in their amount, for example in order to execute a movement along a straight line. The movement contributions 84 1 , 84 2 and 84 3 can, however, also be arranged along different x / y directions, for example in order to provide the movement 82 along a straight line in combination or to enable a rotation of the vehicle 18.

[0078] The vehicle 18 comprises a control device 86 for providing a control command to the omnidirectional drive system, which contains an instruction to execute the movement 82. Each of the drive devices 78 1 , 78 2 and 78 3 can receive a respective control command 88 1 , 88 2 or 88 3 . The control commands 88 1 , 88 2 and 88 3 can be different from one another, but are preferably formed to be consistent or identical, so that for a consistent time interval, each of the plurality of omnidirectional drive devices can receive the same control command. For this purpose, several signals of the same content can be sent to different drive devices 78 1 , 78 2 and 78 3 and / or one signal can be sent to several drive devices.

[0079] The movement contributions 84 1 to 84 3 can be extracted directly from the control commands or derived therefrom. For example, the respective control command 88 1 to 88 3 can contain a specific instruction for the respective decentralized drive. However, it is preferred that the decentralized drive device, with knowledge of the geometry of the vehicle, such as the relative position of the decentralized drive devices, creates an applicable control for the respective actuator from a desired direction of travel, travel vector, or trajectory specified in the control commands 88 1 to 88 3, so that, for example, each of the decentralized drive devices can receive a consistent control but implements it differently based on the different position of the respective decentralized drive device 82, i.e., creates different target contributions that the respective drive device should deliver.

[0080] At this point it becomes clear that the movement of the vehicle is directly linked to the control of the individual drive devices, i.e. their target contributions, so that, given knowledge of the vehicle geometry in exemplary embodiments, a mutual transfer between the individual target contribution and the vehicle movement or the actual movement contribution and the actual vehicle movement and / or the effect that a deviation between the target movement contribution and the actual movement contribution has on the travel of the vehicle can be easily determined by the decentralized drive devices and statements on one of the respective pairs of terms refer directly to the other term.

[0081] Fig. 10b shows a schematic block diagram of an omnidirectional drive device 78 of the vehicle 18, for example the drive device 78 1 . The omnidirectional drive device comprises a decentralized calculation device 92 and an actuator 94 assigned to the decentralized calculation device and configured to provide the target movement contribution 84. In this case, it is possible for the actuator 94 to be in direct contact with a movement surface 96, for example a subsurface, a floor, or the like, in order to directly generate the movement contribution 84. Alternatively, a transmission element 98 is provided, which receives a force 102 from the actuator 94 and converts it into the movement contribution 84. For example, the transmission element 98 can comprise a wheel, in particular an omnidirectional wheel or a Mecanum wheel.However, for most of the embodiments described herein, it is irrelevant whether the actuator 94 and the transmission element 98 are understood jointly as an actuator or as separate components. This means that even if some of the embodiments explained herein refer to the actuator 94, this does not preclude consideration together with the transmission element 98. In other words, the drive device 78 can comprise a wheel, a motor / actuator, and a controller, for example, the computing device 92. The computing device 92 can, in particular, comprise a processor or CPU, a microcontroller, or another programmable control device, such as a field-programmable gate array (FPGA) or the like.

[0082] The decentralized calculation device 92 is designed to determine a desired movement contribution 84 for the vehicle from the control command 88, which may indicate a desired movement of the vehicle 104, and to determine an actuation 106 of the associated actuator from the desired movement contribution 84. While the control command 88 can be the same for all drive devices 78 1 to 78 3 of the vehicle 18, for example, the determined desired movement 104 can also be identical in all decentralized drive devices or decentralized calculation devices 92. However, the actuations 106 derived therefrom can be different from one another in the different drive devices 78 1 to 78 3, for example based on knowledge of or consideration of the location of the decentralized drive device or actuator on the vehicle.

[0083] The decentralized calculation device 78 is further configured to determine a deviation from the travel vector, for example, by the decentralized calculation device 92 receiving information about an actual movement 108 of the vehicle, which can be obtained, for example, by determining the actual movement contribution. The decentralized calculation device 92 is further configured to initiate measures to correct the deviation from the travel vector in the event of a deviation between the desired movement contribution 84 and the actual movement 108 or the actual movement contribution or actual movement contribution. Such a measure can contain an instruction to itself, for example, an adjustment of the control 106 to change a speed and / or a direction of its own movement contribution.Alternatively or additionally, the drive device 78 can send an instruction 114 to one or more other drive devices, for example via the decentralized computing device 92, containing an instruction to adapt their control. This can be an explicit instruction, but also information that allows the other drive device to infer the corrective measures to be carried out there. For example, the instruction 114 can contain information about a correction vector that contains a deviation between the desired movement 104, for example viewed as a vector, and the actual movement 108, which, due to the above explanations, is synonymous with the actual movement contribution, for example viewed as a vector.

[0084] As a result, the deviation can be significantly reduced or compensated for, or at least partially reduced, which is already an improvement. The decentralized calculation device can be designed to obtain a correction vector for a travel vector representing the desired movement from this information and to execute the control based on a combination of the travel vector with the correction vector in order to adapt the control. This means that a control adapted in this way can already be corrected in order to at least partially compensate for the error. This can be done without restrictions based on the local travel vector as well as on the global travel vector, which, unlike the local travel vector describing the movement of the decentralized drive device, can describe the travel vector of the vehicle.

[0085] According to exemplary embodiments, the decentralized drive device 78 can have a sensor device 112 assigned to the drive device 78, which makes it possible in the vehicle 18 to detect the movement of the mobile device decentrally in the drive devices 78 1 to 78 3 and to determine the deviation between the actual movement contribution and the desired movement contribution based on the decentrally determined movement. For example, the sensor device can comprise optical sensors, in particular an optical flow sensor or a sensor for detecting an optical flow, for example an image sequence. The optical flow can be understood as a vector field of the velocity of visible points of the object space projected in an image plane in the reference system of the imaging optics, which means that a displacement of points in sequentially recorded images can enable conclusions to be drawn about the velocity.It should be noted here that the results of the sensor device 112 may provide results that are valid for the location of the sensor device 112 and thus of the drive device, but may, for example, deviate from an overall motion vector of the movement 14 based on a deviation from a geometric center of the vehicle 18. Irrespective of this, the drive device may be configured to determine the movement using the sensor device 112 and, in particular, the optical flow sensor. A deviation or influencing of the sensor signal based on the local position may even be desirable, since this can provide precise information on how the control is to be adapted locally within the drive device 78.

[0086] Some of the sensors used may be a shared resource, ie, a shared sensor for several sensor devices 112. For example, the optical flow can provide information for several decentralized drive devices, while speed monitoring is carried out decentrally because the information is available decentrally.

[0087] For example, the decentralized computing device can detect that the speed of a wheel deviates from a value as defined in the target motion contribution and / or expected based on the supplied energy, such as electrical current. This could, for example, be an indication of wheel slippage or other effects. Alternatively or additionally, an optical sensor can indicate that the actual local speed deviates from the target motion contribution in magnitude and / or direction.

[0088] The drive device 78 can be configured to determine the deviation based on a rotational speed of the decentralized actuator 94, a current consumption of the decentralized actuator 94, which can be measured directly as a current or indirectly, for example via an electrical voltage or the like, and / or the movement, for example detected via the sensor device 112. Thus, the rotational speed of the decentralized actuator in combination with the power consumption or current consumption of the decentralized actuator can already provide an indication of whether the provided power is being converted into a rotational speed to the desired extent and / or whether the obtained rotational speed results in the desired movement of the vehicle. Thus, several causes of error can be monitored simultaneously.

[0089] Taken together, each of the decentralized calculation devices can be configured to determine a deviation of the movement contribution provided by the associated actuator to the target movement overall and / or with respect to the target movement contribution, and to transmit the deviation to other drive devices of the plurality of omnidirectional drive devices. In the example of the slip explained above, this can, for example, contain an instruction to reduce the drive power in order to reduce or avoid a change in the actual trajectory compared to the target movement. Such an instruction can, for example,be formulated in such a way that information, such as a correction vector, can be sent to the other drive devices, which is designed in such a way that the contribution derived from it for the creating decentralized drive device is within the limits that the decentralized drive device is currently capable of providing. This enables an adequate response to this deviation. Alternatively or additionally, it is possible for the remaining drive devices to be informed of their own deviation and to react to this case at an early stage, for example by the decentralized calculation device determining that the provided drive power or electrical current does not lead to a desired rotational speed and / or velocity. In particular, knowledge of their own control is available locally and can already be evaluated there for deviations.

[0090] Accordingly, drive devices are configured to receive corresponding information indicating a deviation between a desired movement and a movement contribution generated by another drive device. The decentralized calculation device there can be configured to adapt the control of the associated actuator based on the deviation of the other drive device.

[0091] Fig. 11a shows a schematic plan view of a sorting vehicle 18 according to an embodiment in connection with the individual control of the drive devices 78. The vehicle 18 comprises, for example, four symmetrically arranged drive devices 78 1 to 78 4 in order to enable an omnidirectional movement of the vehicle 18. In order to achieve a desired movement 82 s by means of a transmission of suitable control commands by the control device 86, the drive devices 78 1 to 78 4 are controlled. The movement contributions 84 1 to 84 4 are shown by way of example as force vectors F 1 , F 2 , F 3 and F 4 , respectively. Fig. 11a shows an error case in which, for example, the drive device 78 3 delivers an incorrect movement contribution 84 3 , which in the force diagram 116 shown leads to the actual movement 108 deviating from the target movement 82 s, for example by the deviation between the desired movement contribution 84 3,s , the target value and the actual movement contribution 84 3 . This leads to a deviation 118 which changes the actual direction and speed of the vehicle 18, which without corrective intervention would lead to a deviating trajectory 122 a of the vehicle 18 from the shown time T 0 to the next time T 1 , for example the next control interval, and compared to a target trajectory 122 s.

[0092] Fig. 11b shows a possible effect of the exemplary embodiments described herein. For example, the other drive devices 78 1 , 78 2 , and 78 4 become aware of the deviation of the drive device 78 3 and can adapt their own control based thereon, which can result in corrected controls and thus corrected movement contributions 84 1,c , 84 2,c , and 84 4,c that are adapted to the erroneous movement contribution 84 3 .

[0093] For example, the corresponding force vectors can be reduced in magnitude to arrive at a force vector F 1 -corrected, F 2 -corrected, and F 4 -corrected (corrected = corrected), so that the corrected force diagram 116 c can at least maintain the desired direction in the obtained movement 82 c , albeit possibly at a slower speed. This allows the vehicle 18 to remain on the target trajectory 122 s , even if a speed may be reduced. Since the correction can be made locally, a potentially reduced deviation from the target trajectory occurs, at least compared to centralized control.

[0094] It is clear that the variety of omnidirectional drive devices can provide decentralized anti-skid control for the drive system. Although the illustration of the Fig. 11b a force reduction takes place in the other drive devices 78 1 , 78 2 and 78 4 , according to other embodiments a change in direction can also take place, for example if this is necessary for a rotation to be carried out or the like.

[0095] According to embodiments, each of the decentralized calculation devices of the drive device is designed to determine a deviation of the movement contribution provided by the associated actuator to the target movement, and to change the control of the associated actuator for a subsequent time interval based on the deviation in order to reduce the deviation. The subsequent time interval can be relatively short based on the control cycles in the decentralized drive devices and in particular shorter than the control cycles of the control devices 86, for which, for example, periods of, for example, 20 milliseconds can elapse between the times T 0 and T 1. The decentralized drive devices, on the other hand, can be operated in time intervals that are, for example, shorter than the control cycle of the central control device 86, for example, at most 10 ms, at most 5 ms, or at most 1 ms or less.This means that the decentralized control can be faster than the centralized control by a factor of at least 2, at least 4 or at least 20, which can also apply if the centralized control is operated with a different interval.

[0096] The decentralized calculation devices can be designed to determine a correction vector for a travel vector representing the desired movement and to carry out the control based on a combination of the travel vector with the correction vector in order to reduce the deviation, as shown, for example, by the force diagrams 116 and 116c.

[0097] In other words, one aspect of the embodiments described herein is based on the fact that in highly automated vehicles today, many subsystems represent their own computers or are implemented as such. During development, it is often easier and therefore more efficient to use a programmable microcontroller or the like than to develop an analog / digital circuit for a specific purpose. This may result in unused resources, as the microcontrollers are usually oversized. These unused resources can be used to implement the embodiments described herein. For example, a corresponding method for operating a vehicle with an omnidirectional drive system configured to provide movement of the vehicle relates towherein the omnidirectional drive system comprises a plurality of omnidirectional drive devices, each of the plurality of omnidirectional drive devices comprising a decentralized movement device and an associated actuator configured to provide a movement contribution for the movement, the steps of providing a control command to the omnidirectional drive system containing an instruction to execute the movement, determining a target movement for the vehicle with each of the decentralized calculation devices, determining a control of the associated actuator from the target movement with each of the decentralized calculation devices, and determining and correcting a deviation from the travel vector with each of the decentralized calculation devices.

[0098] In the described autonomous vehicles, such as vehicle 18 and / or 18, each drive unit is equipped with a microcontroller, the computing device 92. This can control the motor / actuator and measure all relevant values ​​of the respective drive. The goal is to track a defined trajectory. Furthermore, the central control unit, the control unit 86, and all drive units communicate with each other via a serial bus, such as the bus system.

[0099] Should a drive fail to maintain the desired travel vector, a conventional method would only consider the relevant values ​​and the deviation in the next control cycle. A potential error therefore accumulates until the next control cycle.

[0100] In vehicles and / or methods according to the invention, a more complex instruction is transmitted against the central control system. Instead of the control values, which are transmitted separately to each drive, the desired travel vector is transmitted to all drives simultaneously with just one packet, e.g. via broadcast. This already leads to the first latency savings. Should it now occur that a drive is unable to maintain the desired travel vector, the affected drive unit immediately sends a correction vector. This is particularly possible because each drive unit has the same sensors and is simultaneously a measuring point for all highly dynamically relevant values. A deviation is determined based on the speed curve, current curve and the actual movement across the ground. The movement is measured using an optical flow sensor in the travel plane (X, Y).This allows each drive unit, assuming the travel vector and thus the movement of the other drive units, to not only determine its own deviation but also calculate a catch-up correction. This information is transmitted immediately or as soon as possible via broadcast to all other drive units. The other drive units then adopt the correction vector and adjust their own control accordingly.

[0101] Such a correction is a good to best possible measure at a given time. Such a rapid reaction results in a smaller deviation compared to the conventional method, as can be seen from the comparison between Fig. 11a and Fig. 11b is visible. The resulting travel vector therefore has approximately the same orientation or only slight deviations, whereby the trajectory curve is not significantly deviated or is not deviated at all. This sequence can continue until the next control cycle takes place, in which, for example, the control device 86 can take a higher-level countermeasure. This means that, according to one exemplary embodiment, the omnidirectional drive devices are designed to correct the deviation between two control steps of the control device 86. Optionally, the control device 86 can then itself carry out a global correction that takes the error that has occurred into account.

[0102] Embodiments make it possible to provide an effective anti-skid control system for vehicles with omnidirectional wheels, particularly using optical flow sensors, while maintaining the vehicle's course or direction as much as possible. If, in contrast, the spinning wheels were braked individually, the travel vector would be distorted or falsified, ultimately generating a disturbance in the control loop that would have to be corrected. This would be the responsibility of the control device 86, which, however, has latencies. Furthermore, this method offers control with lower latency, since any disturbances can be processed directly on the processors of the engine control units, the drive devices, particularly when the control units of all engines are connected to one another via a bus system, such as CAN.

[0103] Examples can be implemented primarily in vehicles with individually driven wheels. Omnidirectional vehicles with omnidirectional wheels are particularly suitable here, as the wheels are always driven individually. This particularly applies to applications requiring high vehicle dynamics, such as sorting systems with robots.

[0104] This means that in a sorting system, at least one sorting vehicle has an omnidirectional drive system configured to provide movement of the vehicle. The omnidirectional drive system has a plurality of omnidirectional drive devices, each of the plurality of omnidirectional drive devices having a decentralized computing device and an associated actuator configured to provide a movement amount for the movement. Furthermore, a control device 86 is provided in the vehicle for providing a control command to the omnidirectional drive system, which contains an instruction to execute the movement.Each of the decentralized calculation devices can be designed to determine a target movement for the vehicle and to determine a control of the associated actuator from the target movement for a target movement contribution, and to determine a deviation between the target movement contribution and an actual movement contribution and to carry out a correction based on the deviation.

[0105] Further embodiments relate to the sorting vehicle 18, as it is used, for example, in connection with the Fig. 12 described, is designed to detect a soil condition of the surface 96 by means of a detection unit 124 of the sorting vehicle 18. For example, a pattern design, color design or surface condition can serve for this purpose, which in exemplary embodiments can be randomly distributed in the surface 96. For example, so-called color sprinklers can serve this purpose, which, individually but also in combination with color sprinklers in their vicinity, can provide unique position information for the sorting vehicle 18 with regard to their shape, orientation and / or relative outward direction, at least in partial areas, in order to enable orientation and / or positioning of the sorting vehicle 18 in the sorting system 100. A detection 126 can be compared by means of suitable comparison in a database 128 that may be provided in the sorting vehicle 18 or accessible via wireless communication.For this purpose, it is necessary that a mapping of the subsurface 96 has been carried out beforehand. To increase the reliability of the positioning, it is also possible to base the positioning of the sorting vehicle in the sorting system 100 on taking into account a history of the movement of the vehicle 18. For example, in the case of ambiguities, very improbable positions can be excluded if an unusually large or even impossible distance would have to be covered from a previous position determination step to a current one, while another possible match in the database is positioned very close.The vehicle controller 86 may be configured to execute the route through the sorting system 18 based on such positioning, which makes it possible to avoid an external device for orientation, such as by means of QR codes or the like or other markings on the floor.

[0106] Such a sorting vehicle can have a processing unit, such as the control device 86, which is designed to receive scanning information provided by the detection unit from a scan of a surface 96, wherein the scanning information comprises information about an inherent feature of the surface. The processing unit can be designed to extract the inherent feature from the scanning information and, based on the extraction information, to perform a comparison with a database, such as the database 128, wherein extraction information for a plurality of inherent features of the surface is stored in the database. Based on the comparison, the processing unit can determine the position of the detection unit in the sorting system.

[0107] In a further embodiment, the controller 24 of the sorting system is designed to configure a route planning in such a way that the vehicles travel through the sorting system as quickly as possible, for which purpose a collision or possible collision with other sorting vehicles is taken into account in advance and a possible maximum speed of a sorting vehicle is reduced at least in places or temporarily in order to avoid a collision and / or a different trajectory is selected, which can then be traversed at a comparatively high speed, for example in order to enable a global or at least local maximum of possible speeds or minimum of delivery times. For example, if the Fig. 13 which represents an exemplary schematic representation of the sorting system 100, a function of the control device 24 for the selection of the trajectories 22 can also be to provide a speed profile 132 in addition to pure route information 134.

[0108] The sorting system 100 can have a coordination device 136 configured to transmit travel orders 138 1 and 138 2 to the vehicles 18 1 and 18 2 . Each of the travel orders 138 1 and 138 2 can describe a journey from one of the starting points, such as entry points 133, to one of the end points 135 of the trajectory along a trajectory 22. As part of these travel orders, a speed specification can also be transmitted, which can be modified by a collision avoidance device 142 to obtain a modified speed specification 132' 1 and / or 132' 2 that enables the vehicles to travel collision-free through the sorting system 100, even on intersecting routes or trajectories.

[0109] The control device 24 can be configured to determine dynamic routes for the travel orders and to assign them to the vehicles 18. Alternatively, a static assignment can also be made, whereby the control device 24 still assigns the travel orders for the transport of sorted goods (transport orders) or tools or other travel orders, such as for empty runs by means of the sorting vehicles, to the vehicles.

[0110] The control device 24 can be designed to assign the transport or travel orders by means of a negotiation in which the different transports and / or sorting vehicles are in competition or have different negotiating positions with each other.For example, the control device 24 can be configured to take into account, for the negotiation, at least one of a time period until the sorting material is picked up by a sorting vehicle, for example influenced by a distance between the two elements, possible waiting times and / or a possible speed, a time period until the sorting material is delivered by a sorting vehicle, a remaining battery power of a sorting vehicle, a time period until the next battery charge of a sorting vehicle, a transport capacity of a sorting vehicle and / or a number of trailers that can still be coupled to a sorting vehicle and / or trailers that are already coupled, for example because additional trailers can lead to increased energy requirements and / or slower journeys. In other words, the sorting vehicles or their associated software agents or devices can negotiate.Criteria or main criteria or arguments can be incurred costs, which in turn can significantly influence the time required for a vehicle to travel to the pickup of the assigned transport order or the starting point of a transport order, whereby optionally, any prior completion of an existing order can be taken into account. Additional criteria can be, for example, the remaining battery capacity until the next charge and / or, in the case of trailers, the number of trailers already coupled. A higher number of trailers can be interpreted as worse because it creates a slower speed and / or a larger obstacle, meaning the combination of the sorting vehicle and trailers becomes more cumbersome in the sorting system.

[0111] At least a subset of sorting vehicles can be configured to move along trajectories in the sorting system. The control device 24 can have a calculation device configured to calculate a number of trajectories between a number of starting points and a number of end points, each trajectory being assigned a speed specification for a sorting vehicle along the trajectory. The control device 24 can have a coordination device configured to transmit travel orders to the plurality of sorting vehicles, each travel order comprising a travel from one of the starting points to one of the end points along one of the trajectories.The control device 24 can have a collision avoidance device 136, which is designed to examine a trajectory for possible collisions with another sorting vehicle of the sorting system for a new travel order in order to obtain collision information indicating a possible collision. The speed specification 132 assigned to the trajectory can be changed based on the collision information in order to obtain a changed speed assignment 132', thus avoiding the possible collision. The sorting system can be designed to transmit the new travel order, comprising an instruction that includes the trajectory and the changed speed specification, to a controller of the sorting vehicle. This also makes it possible for existing or executed travel orders to no longer be changed, possibly not even with regard to the speed specification.A calculation device 144 can be configured to calculate the trajectories 22. It should be noted at this point that although a starting point of a trajectory can be an entry point, a journey between an entry point and an end point can also have multiple trajectories and thus also multiple starting points and end points.

[0112] Between a specific starting point 133 and a specific end point 135, the calculation device 144 can calculate one or more trajectories. These can be calculated, for example, as so-called splines. Multiple trajectories can make it possible to process multiple travel orders in parallel; alternatively or additionally, it may be possible to have an alternative route available should a collision need to be addressed.

[0113] According to a further advantageous embodiment, the sorting vehicles 18 of the sorting system 100 are designed to communicate with each other and / or to transmit at least one signal that can be received by other sorting vehicles, either for information exchange and / or positioning purposes. For example, a spatial area of ​​the sorting system traversed by the sorting vehicles can be spatially subdivided. It is possible for each of these sub-areas to be assigned a resource of a wireless transmission mechanism, for example, Bluetooth, WLAN, or the like, and for a sorting vehicle to use the resource of its own sub-area and / or neighboring sub-areas to communicate that it is located in this sub-area or will be traveling there shortly.Alternatively or additionally, it is possible to monitor the resource space of one's own and / or neighboring sub-areas in order to possibly detect a possible collision at an early stage, for example if a sorting vehicle has broken down in a neighboring sub-area and sends corresponding information so that the obstacle can be detected at an early stage.

[0114] Fig. 14 shows a schematic block diagram of a part of the sorting system 100 with an optional identification device 146, which is designed to identify at least one feature of the item to be sorted 14 and to assign it to the item to be sorted. The identification device 146 can for example have cameras for this purpose and / or be configured for wireless or radio-based identification. The identification device 146 can for example be designed to scan at least one side of the item to be sorted at a time for the feature. This can be done for example by scanning with a camera which, when the item to be sorted is assumed to be a cube, can capture one, two or three sides simultaneously. A larger number of sides can be scanned by multiple cameras.It is possible for the identification device to be configured, for example, to scan up to five sides of the sorted goods using two cameras, which may include a side of the cube concealed by the sorting vehicle. However, it is also possible for the identification device to be at least partially implemented within the sorting vehicle, allowing all sides to be scanned. A similar effect can be achieved if the sorting vehicle is, for example, transparent in a certain area or if other measures are implemented.

[0115] According to one embodiment, the control device 24 of the sorting system is designed to control a sorting vehicle into a first relative position for a first feature recognition attempt, and if the first feature recognition attempt is unsuccessful, to control the sorting vehicle into a second relative position for a second feature recognition attempt. According to one embodiment, the control device 24 can be designed to control the sorting vehicle in a vehicle movement comprising a vehicle rotation in order to change from the first position to the second position. It can also be understood that the item to be sorted is rotated in front of the identification device so that a greater number of sides of the item to be sorted can be scanned.

[0116] According to one embodiment, the control device 24 is configured to control the sorting vehicle such that, using a position-changing device, it moves or repositions the sorted goods from a first position to a changed second position, and to present the sorted goods to the identification device again with the second position. For example, if a first or previous identification fails, the position can be changed, for example by means of a tilting device, a gripper, or the like, and the attempt can be repeated.

[0117] According to one embodiment, the identification device is formed at least partially as part of a sorting vehicle, which means that the sorting vehicle can have at least one sensor of the identification device 146. It is also possible for the sorting vehicle to have the identification device 146 in its entirety.

[0118] According to one embodiment, the sorting system is designed to identify the goods to be sorted before being handed over to a vehicle and / or in an area of ​​a corresponding entry point, for example to link the goods to be sorted with a transport order (i.e., for example, a travel order for a trip during which goods to be sorted or another object is transported) and / or to select a vehicle to be selected for the transport order, for example by associating the identifier of the goods to be sorted with a terminal location.

[0119] According to one exemplary embodiment, the identification device 146 is transportably arranged in the sorting system 100, in particular in such a way that it is arranged outside a transport vehicle, and is designed to be coupled at least in part to at least one sorting vehicle, for example at an interface 148 of the sorting vehicle 18. During a coupling between the identification device 146 and the sorting vehicle 18, the identification device is designed to be used in the sorting system to identify sorted goods 14 and / or to be transported. For example, one piece of identification information, such as an identification number of the load, which can be represented, for example, by a barcode or the like, can be read out by means of the identification device 146.A controller of the sorting system 100 can derive the sorting destination for the goods to be sorted from the identification information as the destination for the sorting vehicle. For this purpose, the identification information could in principle also be a postal address, from which the sorting destination is then derived with the aid of a database.

[0120] According to one embodiment, at least one of the end points 16 in the sorting system is formed in a comb-like manner in order to provide at least one receiving space 152 in which the goods to be sorted can be received by at least one sorting vehicle by means of stripping at the comb-like end point. The comb-like structure can be composed, for example, by means of a frame and extensions 154 1 to 154 3 in any number ≥ 1, which together form the comb-like structure at least in part. With reference to the sorting vehicle, as shown, for example, in the Fig. 9a bis 9d As described, for example, the boundary or holding area 64 can have recesses corresponding to the extensions 154, so that the extensions 154 can engage in such recesses and a passage of the sorting vehicle through the end point 16 can result in the extensions 154 removing the sorted goods from the sorted goods receiving area 54, for example by pushing them out. Alternatively or additionally, at least one of the end points of the sorting system can have an actuator for removing a sorted goods from a sorting vehicle, for example a gripper or the like.

[0121] Correspondingly, alternatively or additionally, at least one of the inlet points can be formed in a comb-like manner, as shown, for example, in the schematic perspective view of the Fig. 15 is shown to provide at least one discharge space from which the sorted goods can be picked up by at least one sorting vehicle by stripping them off the comb-like infeed point. The area 152 can be arranged in a floor area and / or on a plateau, so that the comb-like structure can also be used, for example, for loading the sorted goods onto the sorting vehicle, for example in order to achieve a Fig. 4a und 4b to achieve a comparable result. For example, a storage area can be provided elevated from a floor surface, so that a sorting vehicle moving on the floor surface travels under the storage area and, in doing so, strips the goods to be sorted from a loading area, for example on the top side of the vehicle, using the comb-like structure and is thus positioned on the storage area. For this purpose, it can be assumed, for example, that a holding area 64 of the sorting vehicle has corresponding recesses for the engagement of the extensions 154 and that the holding area is oriented, for example, forward in the direction of travel, so that the goods 14 to be sorted can be stripped over the edge 62a. Another or the same vehicle can, for example, travel the same route under the transfer station using a relative position rotated by 180°, i.e.In the example, the holding area 64 is directed rearward in the direction of travel, whereby the holding area 64 strips the sorted goods 14 from the storage area or takes them away.

[0122] From a combination of the explanations to Fig. 15 to an entry point and a terminal, it also follows that both an entry point and a terminal can be set up as a transfer station and can be designed to receive a sorted item from one vehicle, whereby the sorted item is picked up by another sorting vehicle. The structure according to the Fig. 15 can be designed passively as an alternative to using an actuator.

[0123] However, if a movement of an element is implemented at the infeed point, the end point, and / or the transfer station, it may be advantageous to control the transfer of a sorted item to a sorting vehicle at an infeed point by the control device 24 of the sorting system, so that a movement of the sorted item in a region of the infeed point is synchronized with a movement of the sorting vehicle, so that the sorting vehicle picks up the sorted item while maintaining a residual speed. This can prevent the sorting vehicle from coming to a standstill, which can enable an overall increase in efficiency or increased throughput of the sorting system.

[0124] The previous embodiments relate to the transport of sorted goods by a sorting vehicle. However, according to one embodiment, it is also provided to transport so-called bulky goods, which means oversized sorted goods and / or particularly heavy sorted goods. For this purpose, according to one embodiment, it is provided that a first sorting vehicle and a second sorting vehicle are designed for mutual coupling in the sorting system in order to form a common vehicle. This common vehicle can carry out a joint transport of sorted goods based on a trajectory influenced by the coupling. Such a scenario is described in the Fig. 16 and can be easily implemented in a sorting system described herein. For example, sorting vehicles 18 1 and 18 2 are coupled to one another by means of a coupling 156. The coupling can, for example, comprise a mechanical coupling and / or a magnetic coupling, as described in connection with tools to be coupled. From a trajectory 22 possibly intended for a small item to be sorted, trajectories 22 1 and 22 2 can result for the sorting vehicles 18 1 and 18 2, which run parallel to one another, for example, wherein a distance can also be changed, for example when the combinatorial vehicle from the sorting vehicles 18 1 and 18 2 performs a combinatorial rotation.

[0125] According to one embodiment, the control device 24, for example, determines a master and a slave of two vehicles. With a larger number of vehicles to be coupled, a larger number of slaves, for example, this enables one vehicle, the master, to take control of the other vehicle(s), for example to coordinate control commands generated locally on the vehicle(s). The vehicles can identify themselves if necessary, for example through patterns arranged on the sides of the vehicles, whereby a central control can also fulfill this function or make it obsolete. Alternatively or additionally, the sorting vehicles can determine their position, for example using a ground camera and / or external localization, and can exchange this information with one another.

[0126] According to an embodiment described in connection with the Fig. 17 As described, it is also possible for at least a first sorting vehicle and a second sorting vehicle to be directly uncoupled from one another but to be controlled on mutually dependent trajectories 22 1 and 22 2 in order to enable a joint transport of the goods 14 to be sorted. In other words, the sorting vehicles 18 1 and 18 2 can behave based on a control by the sorting system 100 or based on a vehicle control as if they were coupled by means of the coupling 156, even if a corresponding mechanical or magnetic coupling is not provided at this point. Notwithstanding this, the goods 14 to be sorted can lead to a mechanical connection between the two sorting vehicles 18 1 and 18 2, which, however, cannot be considered a mechanical coupling in the sense of the coupling 156 from Fig. 16 is to be understood.

[0127] Depending on a (theoretical) trajectory related to the goods to be sorted, the speed vector that the sorting vehicle should maintain at any time during the transport of the goods to be sorted can be mathematically calculated for each participating vehicle, depending on its initial offset from this theoretical trajectory when picking up the load. For example, if the sorting vehicle has an omnidirectional drive system, this can also include determining the orientation around the vertical axis that the vehicle should have at each time point. Thus, the trajectory of the goods to be sorted can be determined by the control device 24, and the trajectories of the vehicles can be derived therefrom, and / or the trajectory of another vehicle can be mathematically derived from the trajectory of one vehicle.

[0128] Fig. 18 shows a schematic block diagram of an arrangement comprising a sorting vehicle 18 and a trailer 158 coupled thereto by means of a coupling 156 1, which also has a chassis but is pulled along by the transport vehicle 18 by being coupled by means of the coupling 156 1. The sorting vehicle of the Fig. 18 is designed for coupling to at least one trailer, wherein the trailer 158 1 is designed to receive a sorting item. Optionally, at least one additional trailer 158 2 can also be coupled, wherein at least one additional sorting item can be received in each of the trailers 158 1 and / or 158 2. It is possible, but not necessary, to couple the trailer to a specific side, such as a rear side, of the sorting vehicle or the other trailer. Rather, coupling can take place on any side, in particular using an omnidirectional drive unit or omnidirectional active or passive chassis, which also opens up the possibility of coupling multiple trailers to different sides of a sorting vehicle or trailer.Alternatively, it is possible to provide two adjacent vehicles, such as the sorting vehicle 18 and the trailer 158 1 and / or the trailer 158 1 and the trailer 158 2, for receiving a common sorting item.

[0129] A sorting system according to one embodiment is configured to control buffering and / or sequencing of a plurality of goods to be sorted on a sorting vehicle and at least one trailer or on at least two trailers. For this purpose, the sorting system can adapt the order in which the goods to be sorted are presented on the loaded column of loading areas to one or more criteria. For this purpose, one, several, or all of the goods to be sorted can optionally be identified in advance, which can provide additional information, such as their destination within or outside the sorting center, weight, or other relevant parameters.For example, the sequence in which the goods to be sorted are placed on the sequence or column of loading areas when the sorting vehicle 18 and one or more trailers 158 pass through can be aligned with the destinations of the goods to be sorted in the sorting system, which makes it possible, for example, to always deposit the frontmost goods to be sorted or always deposit the last goods to be sorted, for example by uncoupling the trailer or the like. If sequencing is carried out on trailers, this can take place, for example, in the area of ​​the end points. In this case, a chute-like end point, as described herein, is not required; a staging area can also suffice. During sorting, the individual goods to be sorted arrive in the area of ​​the end point, for example, in a random order.In the case of trailers, for example, they could be parked at the final destination in an orderly fashion, essentially according to their arrival order, or sorted into a predetermined sequence. This sequence can, in particular, represent the optimal loading sequence for a subsequent entity, such as a parcel delivery vehicle, a roll container, a truck, or the like, depending on the delivery route to the final parcel recipient. Optimization steps for such routes can be directly incorporated into the sequencing. This eliminates manual sorting during loading, and reduces the effort required to search for the correct parcel in the parcel delivery vehicle during delivery.Buffering, which means the temporary reception of goods to be sorted, and / or sequencing can, for example, be carried out exclusively on vehicles, exclusively on trailers or a combination.

[0130] As can be seen, for example, from the Fig. 18As explained, the sequencing can be controlled by the sorting system in such a way that a plurality of sorted goods takes place on a plurality of loading areas of a loading area column. Each loading area can belong to a sorting vehicle or a trailer, whereby the trailer is directly coupled to the vehicle or indirectly, for example coupled via other trailers, moved by the sorting vehicle. Several variants are conceivable for the sequencing. Buffering and / or sequencing only on sorting vehicles. For this purpose, several vehicles can be controlled individually or in combination. Alternatively or additionally, buffering and / or sequencing can take place exclusively on trailers, so that a plurality of sorted goods takes place on a plurality of trailers. The trailers can be arranged by one or more sorting vehicles or positioned at the appropriate location.Alternatively or additionally, buffering and / or sequencing can be carried out on trailers and vehicles, so that a plurality of goods to be sorted are carried out on at least one vehicle and at least one trailer, possibly arranged or positioned by at least one sorting vehicle.

[0131] The designs of a sorting system described here aim to enable efficient sorting of at least one, but usually several, incoming streams of piece goods or sorted goods into several, usually many, outgoing streams. A main application, for example, can be the sorting of parcel shipments, particularly in parcel sorting centers, which may also be used in the outgoing goods area of ​​large distribution centers. It is also conceivable that the described sorting systems could also be used to sort suitcases at airports. Another application could be in two-stage picking. Goods that were previously picked on an article-related basis, i.e. not related to specific orders, can then be sorted by the sorting system on an order-related basis, i.e. distributed among the individual orders.

[0132] Even though the embodiments described herein are primarily related to the main application of sorting parcel shipments, the applications of the present invention are therefore not limited thereto.

[0133] The examples of implementation focus particularly on the context of an overall system.

[0134] A sorting system according to embodiments may comprise one or more of the following components: Infeed points, at least one or more central or decentralized ∘ Infeed points do not have to be defined areas, they can also be ad-hoc areas on which goods to be sorted (especially parcels) lie loose on the floor (also in containers / swap bodies, etc.) ▪ From there, optional automatic picking up by sorting vehicles from the floor, e.g. by rolling them up using a small inclined belt conveyor either via additional tools, which all sorting vehicles have, or preferably a replaceable (e.g. mechanically or magnetically) dockable tool, which is located in the area of ​​the infeed points and which the sorting vehicles only use to pick up goods to be sorted and then undock them again so that the next sorting vehicle can use the tool ∘ Goods to be sorted can be placed on the vehicle using the gripper of an (articulated arm) robot; if necessary, the vehicle does not even have to stop completely for this,because the movement paths of the robot and vehicle are synchronized; the (articulated arm) robot can also be mounted on its own vehicle ∘ passive entry points from which the vehicle picks up the goods to be sorted on its way out (passive in the sense that no actuators are required for the actual picking process by the sorting vehicle at the pick-up station, but exclusively the vehicle's actuators are used); e.g. comb-like entry point ∘ in principle, goods to be sorted can also be placed on the sorting vehicle by hand (when stationary or while slowly driving past) Identification devices (optional): one or more central or decentralized,which identify one or more characteristics of the sorted goods (e.g. a barcode) and from this derive a transport destination for the vehicles (and transmit this to the vehicle or control system) ∘ first of all background: Because an identification feature in a typically roughly cube-shaped sorted goods (e.g. cardboard) can in principle be located on six different sides of the sorted goods, so-called scanner gates are used in classic sorting systems (6-side reading),which can identify the sorted goods regardless of their position. These are very expensive due to the large number of complex sensors (due to high speed requirements). Therefore, they have advantageously existed only once or very rarely per sorting system near the (previously always central) infeed. ∘ Vehicle-based sorting systems according to exemplary embodiments also enable decentralized infeeds. To enable cost-effective automatic identification in exemplary embodiments, one or two sensors are sufficient. For this purpose, the vehicle, for example, drives with the sorted goods past the sensor, which is aligned diagonally "facing" the sorted goods and can thus always scan at least two sides of the sorted goods. If the sorted goods cannot be identified, the vehicle rotates until it has been identified. If the vehicle has rotated 360° once and the identification was not successful,The identification feature was on the current underside of the goods being sorted. Several variants are conceivable: ▪ The underside is checked by a second sensor before the load is picked up at the infeed point ▪ The vehicle deposits the goods being sorted onto a tipping device, from which it is then picked up / placed back, with the goods being sorted resting on a different side than before on the vehicle. The vehicle then passes the stationary sensor again and is rotated if necessary. The identification feature should now be read. Otherwise, an error has occurred and the goods being sorted must be taken to a separate manual clearing station. ▪ The vehicle has its own sensor that can detect an identification feature located on the underside of the goods being sorted ∘ If necessary, this (or a separate) sensor system can also be usedto check the alignment of the goods to be sorted on the vehicle. If this is not optimal / safe for transport, the control system or the control system on the vehicle can correct the position of the goods to be sorted on the vehicle by means of a targeted, jerky movement of the drive motors. ∘ The identification device can also be mounted movably on a vehicle and can be used at different locations / end points. Sorting vehicles, several automatically moving ∘ Sorting vehicles can rotate around their center point (central differential kinematics), alternatively and preferably even with a surface-moving chassis ∘ Sorting vehicles have a load pickup and load release device ▪ Automatic load release without an additional motor,Movement of the load initiated by the vehicle's movement → kinetic energy for load transfer results from the drive motors (vehicle can travel relatively fast) Transfer through mass inertia, driving against a bumper (padded or spring-loaded stop) or through strong braking; alternatively or additionally: load securing and unlocking through friction changes on the support surface Load transfer with folding tray, whereby the force for folding during load transfer also results from the travel movement ▪ Load picking up of static load (i.e. without the need for synchronised movement) automatically by the sorting vehicle without an additional motor (comb load handling device principle, i.e. a comb-like attachment on the vehicle on which the picked-up load stands, or similar) ∘ Sorting vehicle can steer / turn when corneringthat the load is prevented from falling sideways in curves ∘ Sorting vehicles can be coupled together and also connect and disconnect passive trailers ∘ Several sorting vehicles can transport larger items together without being physically coupled; this means that even large / bulky items that do not fit on a single vehicle can be transported (in conventional automatic sorting centers, the sorting of bulky items is invariably a complex, special manual process); in the state of the art of vehicle-based sorting systems, no automatic transport of bulky items is known ∘ Sorting vehicles can optionally have an information device, such as a display and / or an acoustic output, which provides the person dropping off / receiving the items with additional information about the items to be sorted; this can be, for example, the position of the items to be sorted (especially the parcel consignment) in the delivery sequence,which enables route-optimized sorting in the delivery vehicle; this additional information can, for example, also be the location of several available trolleys / ULDs (especially for luggage) into which the sorted goods should be deposited by the person. This means that at least one sorting vehicle can have an information interface to output information associated with the sorted goods. ∘ The vehicle can use a ground camera as a localization method. Alternatively or additionally, other methods (e.g., SLAM or external localization using cameras) are also conceivable. ∘ The vehicle can use an anti-skid control system. End points, multiple ∘ End points can be defined not by simple installed infrastructure (chutes, etc.), but also by changing objects (delivery vehicles, swap bodies, ULDs (Unit Load Devices, especially for suitcases) and also changing positions at essentially any position in the layout (especially trolleys).without the need for infrastructure as in the state of the art ∘ can be passive chutes, with flat or sloping surfaces; they then also have a buffer function ▪ Discharge by inertia (see description of sorting vehicle) ∘ can be comb-like discharge points ▪ onto which the sorting vehicle discharges / scrapes the sorted goods when entering (possibly also, but not necessarily, when passing through) ∘ Acceptance by (possibly mobile) robot with gripper, which places the sorted goods in the delivery vehicle, ULD, shelf, swap body, roll container or other buffer ∘ Acceptance from the sorting vehicle possibly by a person (possibly including display of additional information, see sorting vehicle) Control logic (central or decentralized) ∘ Coordination of order allocation (negotiation if necessary) ∘ Coordination of routes (fastest / shortest route vs. collisions),especially when driving without fixed routes on preferably direct routes ∘ System can control buffering and sequencing of trailers ∘ Layout is highly variable, location of entry points, end points and identification devices can be adjusted as required, number of vehicles as well; control logic takes this into account,

[0135] In the aforementioned sorting system, in which at least one driverless sorting vehicle 18 has an information interface for outputting information associated with the goods 14 to be sorted, the sorting vehicle can be configured to record parameters of the load, for example, using sensors and / or configured tools, and to supplement the load carrier information in the central management system. For example, the sorting vehicle can measure the weight of the load and / or recognize the barcode and / or dimensions using an identification unit.

[0136] Due to the use of vehicles as sorting media, a vehicle-based sorting system is much more scalable in terms of throughput than conventional, permanently installed sorting systems. Because no or very little technology is required in the infeed and singulation areas (if the goods to be sorted are manually loaded onto the vehicles), infeed can also take place at several decentralized locations. This has the advantage that vehicles have a much shorter empty run shortly after being dropped off at a final location than if they had to return to a central infeed (like the clamshell containers of a conventional sorter, for example). However, even with a central infeed in a vehicle-based sorting system, a vehicle can drive back towards the infeed directly after being dropped off, while the clamshell container (for example) must first complete the entire circuit on a ring sorter.

[0137] Compared to the current state of the art, the load handling device of the sorting vehicles does not necessarily require a separate motor. Furthermore, in some variants, load handling is possible without stopping the vehicle. Load delivery can also occur without stopping (comb-like) or at high speed (inertial delivery).

[0138] Ideally, the sorting system only requires an empty space, i.e. a building of any shape with a flat floor (it makes sense to have loading ramps for trucks, swap bodies, delivery vehicles, etc. on the exterior walls). Incoming parcels are separated and channeled in using dockable tools, mobile articulated-arm robots, or manually. The parcels now on the sorting vehicle are then identified using an identification device, for example, attached to another vehicle. After the journey to the sorting destination, either a robot or a person is at the final destination to collect the parcel and place it on a trolley. In this ideal scenario, no permanently installed infrastructure is required (perhaps only a communications infrastructure).

[0139] But even in a technically less demanding case of load handling at the infeed, only very simple and space-saving comb-like racks are required, from which the sorting vehicles pick up the parcels. These do not need to be bolted to the hall floor. The same applies to load drop-off at the end points. Here, either simple racks onto which the vehicles drop off are conceivable, or, if the end point requires buffering, simple inclined surfaces (sheets, rollers) onto which the vehicle drops the parcels, preferably without touching the end point. In this case, too, very little infrastructure is required. Furthermore, it can be set up and dismantled very quickly.

[0140] Overall, such a sorting system is very flexible because throughput, number of infeeds and number of end points are scalable and it is extremely adaptable (quick assembly / conversion / dismantling or relocation).

[0141] Although some aspects have been described in connection with a device, it should be understood that these aspects also represent a description of the corresponding method, so that a block or component of a device can also be understood as a corresponding method step or as a feature of a method step. Analogously, aspects described in connection with or as a method step also represent a description of a corresponding block, detail, or feature of a corresponding device.

[0142] Depending on specific implementation requirements, embodiments of the invention may be implemented in hardware or software. The implementation may be performed using a digital storage medium, such as a floppy disk, a DVD, a Blu-ray Disc, a CD, a ROM, a PROM, an EPROM, an EEPROM, or a FLASH memory, a hard disk, or other magnetic or optical storage device storing electronically readable control signals that can interact or cooperate with a programmable computer system to perform the respective method. Therefore, the digital storage medium may be computer-readable.Some embodiments according to the invention thus comprise a data carrier having electronically readable control signals capable of interacting with a programmable computer system such that one of the methods described herein is carried out.

[0143] In general, embodiments of the present invention can be implemented as a computer program product with program code, wherein the program code is effective to perform one of the methods when the computer program product is run on a computer. The program code can also be stored, for example, on a machine-readable medium.

[0144] Other embodiments include the computer program for performing one of the methods described herein, wherein the computer program is stored on a machine-readable carrier.

[0145] In other words, one embodiment of the method according to the invention is thus a computer program comprising program code for performing one of the methods described herein when the computer program is run on a computer. Another embodiment of the method according to the invention is thus a data carrier (or a digital storage medium or a computer-readable medium) on which the computer program for performing one of the methods described herein is recorded.

[0146] A further embodiment of the method according to the invention is thus a data stream or a sequence of signals that represents the computer program for carrying out one of the methods described herein. The data stream or the sequence of signals can be configured, for example, to be transferred via a data communication connection, for example via the Internet.

[0147] A further embodiment comprises a processing device, for example a computer or a programmable logic device, which is configured or adapted to carry out one of the methods described herein.

[0148] A further embodiment comprises a computer on which the computer program for performing one of the methods described herein is installed.

[0149] In some embodiments, a programmable logic device (e.g., a field-programmable gate array, an FPGA) may be used to perform some or all of the functionality of the methods described herein. In some embodiments, a field-programmable gate array may interact with a microprocessor to perform any of the methods described herein. In general, in some embodiments, the methods are performed by any hardware device. This may be general-purpose hardware, such as a computer processor (CPU), or method-specific hardware, such as an ASIC.

[0150] The above-described embodiments are merely illustrative of the principles of the present invention. It is understood that modifications and variations of the arrangements and details described herein will be apparent to others skilled in the art. Therefore, it is intended that the invention be limited only by the scope of the following claims and not by the specific details presented in the description and explanation of the embodiments herein.

Claims

1. A sorting system comprising: a first number of insertion points (12) configured to provide sorting goods (14); a second number of terminal points (16) configured to receive the sorting goods (14); a third number of driverless sorting vehicles (18) configured to transport the sorting goods (14) between the first number of insertion points (12) and the second number of terminal points (16); and a control device (24) configured to control the driverless sorting vehicles (18) between the first number of insertion points (12) and the second number of terminal points (16); wherein at least one driverless sorting vehicle (18) is configured to discharge the sorting good (14) using kinetic energy of the sorting good (14) provided by a travel motion of the driverless sorting vehicle, based on a change of a speed vector of the driverless sorting vehicle.

2. The sorting system according to claim 1, wherein the driverless sorting vehicle is configured to obtain, for discharge of the sorting good (14) at a terminal point (16), braking based on a control of the control device and / or by an impact of the driverless sorting vehicle, and / or the change of the speed vector based on taking a specific turn, and to generate a relative movement of the sorting good (14) relative to the driverless sorting vehicle under the influence of the kinetic energy.

3. The sorting system according to claim 2, wherein the driverless sorting vehicle (18) comprises an omnidirectional drive system and is configured to obtain the change of the speed vector based on a control of the omnidirectional drive system.

4. The sorting system according to one of the preceding claims, wherein the driverless sorting vehicle comprises a drive device and a control device for controlling the drive device; wherein the control device is configured to control the drive device for braking the driverless sorting vehicle before reaching the terminal point (16) for discharge of the sorting good (14) to a terminal point (16), in order to generate a relative movement of the sorting good (14) relative to the driverless sorting vehicle as a result of the braking under the influence of the kinetic energy; in order to effect discharge to the terminal point (16) by means of the relative movement.

5. The sorting system according to one of the preceding claims, wherein the driverless sorting vehicle comprises a drive device and a control device for controlling the drive device; wherein the control device is configured to control the drive device for an impact of the driverless sorting vehicle against a contact area of the terminal point (16) for discharge of the sorting good (14) to a terminal point (16), in order to generate a relative movement of the sorting good (14) relative to the driverless sorting vehicle as a result of the impact under the influence of the kinetic energy; in order to effect discharge to the terminal point (16) by means of the relative movement.

6. The sorting system according to one of the preceding claims, wherein the driverless sorting vehicle (18) comprises a sorting good receptacle for transporting the sorting good (14) and for transferring the sorting good (14) to a sorting good transfer station, the sorting good receptacle being arranged on a chassis with running gear, the running gear being coupled to a drive device; and furthermore a control device is provided as a vehicle controller, and the sorting good receptacle is articulated to the chassis so as to be tiltable about a tilting axis and is configured so as to be open or openable at least at a discharge edge, the tilting axis and the discharge edge being arranged relative to each other such that, in the tilted positioning, the sorting good (14) can be transferred to the sorting good transfer station via the discharge edge, wherein, in order to transfer the sorting good (14) to the sorting good transfer station, the sorting good receptacle is tilted about the tilting axis by a torque generated by a change in a vector of the speed of the driverless sorting vehicle and / or by spring loading of the sorting good receptacle.

7. The sorting system according to one of the preceding claims, wherein at least one driverless sorting vehicle (18) of the third number of driverless sorting vehicles (18) comprises an interface (148) configured to receive different tools based on a coupling.

8. The sorting system according to one of the preceding claims, wherein control and / or rotation of the vehicle is controlled during a turn to counteract the sorting good (14) from falling off the vehicle.

9. A method for controlling a sorting system, comprising the following steps: controlling driverless sorting vehicles (18) between a first number of insertion points (12) and a second number of terminal points (16); to provide sorting goods (14) at the first number of insertion points (12); to receive the sorting goods (14) at the second number of terminal points (16); by transporting the sorting goods (14) between the first number of insertion points (12) and the second number of terminal points (16) by a third number of driverless sorting vehicles (18); so that at least one driverless sorting vehicle discharges the sorting good (14) using a kinetic energy of the sorting good (14) provided by a travel motion of the driverless sorting vehicle, based on a change of a speed vector of the driverless sorting vehicle.

10. A computer program comprising program code for performing the method of claim 9, when the program runs on a computer.