Method for storing multiple storage objects of different storage object types in a storage rack and a rack storage system therefor

Description

[0001] The invention relates to a method for storing multiple storage objects of different storage object types in a storage rack comprising shelf supports, stacked shelf levels, and a plurality of storage areas. The storage areas are each arranged between two shelf supports spaced apart in the longitudinal direction of the storage rack, and storage of the storage objects is controlled by a warehouse management system to which an electronic memory is assigned. Furthermore, the invention relates to a rack storage system with at least one storage rack for accommodating multiple storage objects of different storage object types, which rack comprises shelf supports, stacked shelf levels, and a plurality of storage areas, wherein the storage areas are each arranged between two shelf supports.In addition, the shelf storage system comprises at least one storage and retrieval machine that can be moved in a longitudinal direction of the storage shelf for storing the stored objects, and a warehouse management system to which an electronic memory is assigned.

[0002] Such a shelf storage system and an operating method for such a shelf storage system are known from the prior art.

[0003] JP 2013-170079 A discloses a method for storing a plurality of storage objects of different storage object types in a storage rack comprising shelf supports, stacked shelf levels and a plurality of storage areas, wherein the storage areas are each arranged between two shelf supports spaced apart in a longitudinal direction of the storage rack, wherein storage of the storage objects is controlled by a warehouse management system to which an electronic memory is assigned, and wherein the method comprises the following steps: a) Assigning a plurality of storage area segmentations to a storage area of the storage areas in the electronic memory for the plurality of storage areas, wherein the storage area segmentations each comprise a plurality of virtual storage locations for the storage objects and indicate a possible arrangement of the storage object types within said storage area, b) Selection of a virtual storage location for the storage object type of the storage object to be stored in the plurality of storage area segmentations by the warehouse management system, wherein the virtual storage location enables the storage of the storage object type of said storage object, c) Storing the storage object in a physical storage location of the storage area, which is assigned to the selected virtual storage location, by means of a storage and retrieval device movable in a longitudinal direction of the storage rack, d) Changing a status of the virtual storage location in the electronic memory, which indicates,whether the assigned physical storage location is occupied by a storage object, from unoccupied to occupied, e) restricting the virtual storage locations in the storage area segmentations assigned to the storage area to virtual storage locations that allow the storage of another storage object in a physical storage location, in the electronic storage, and f) repeating steps b) to e).

[0004] JP 2013-170079 A also discloses a shelf storage system comprising at least one storage rack for accommodating a plurality of storage objects of different storage object types, which storage rack has shelf supports, stacked shelf levels and a plurality of storage areas, wherein the storage areas are each arranged between two shelf supports spaced apart from one another in a longitudinal direction of the storage rack, at least one storage and retrieval device movable in the longitudinal direction of the storage rack for storing the storage objects, and a warehouse management system to which an electronic memory is assigned, wherein the warehouse management system is designed to carry out the following steps: a) Assigning a plurality of storage area segmentations to a storage area of the storage areas in the electronic memory for the plurality of storage areas, wherein the storage area segmentations each comprise a plurality of virtual storage locations for the storage objects and indicate a possible arrangement of the storage object types within said storage area, b) Selecting a virtual storage location for the storage object type of the storage object to be stored in the plurality of storage area segmentations, wherein the virtual storage location enables the storage of the storage object type of said storage object, c) Controlling the storage and retrieval machine for the purpose of storing the storage object to a physical storage location of the storage area which is assigned to the selected virtual storage location, d) Changing a status of the virtual storage location in the electronic memory, which indicates whether the assigned physical storage location is occupied by a storage object,from unoccupied to occupied, e) restricting the virtual storage spaces in the storage area segmentations assigned to the storage area to virtual storage spaces that allow the storage of another storage object in a physical storage space, in the electronic storage, and f) repeating steps b) to e).

[0005] US 2015 / 0266672 A1 discloses a method for storing storage objects, in which a size is variably adjusted for a plurality of storage areas. Each defined variable storage area is assigned to a different storage object.

[0006] Furthermore, EP 1 627 830 A1 discloses a storage system for storing storage objects, wherein the size of the storage objects is recorded. Information about free spaces in the storage system is stored in an electronic memory. Furthermore, several storage objects are grouped into storage object groups based on their size, and each storage object group is assigned a suitable free space.

[0007] A disadvantage of the known methods, however, is that the storage of storage objects of different storage object types, especially storage objects of different sizes, is difficult to estimate, as future effects on the storage strategy triggered by the storage of a storage object are difficult to estimate or are not taken into account at all. This sometimes leads to unfavorable situations when a shelving system or one or more storage shelves are successively filled. Specifically, it can happen that a storage object can no longer be stored due to unfavorable filling of the shelving system, but could be stored with the same fill level if the shelving system or one or more storage shelves were filled optimally.

[0008] An object of the invention is to provide an improved method for storing multiple storage objects of different storage object types in a storage rack and an improved rack storage system for this purpose. In particular, a rack storage system is to be filled in a manner that promotes or facilitates the storage of additional storage objects.

[0009] The object of the invention is achieved by a method of the type mentioned above, which comprises the following steps: a) Assigning a plurality of storage area segmentations to a storage area of the storage areas in the electronic memory of the warehouse management system for the plurality of storage areas, wherein the storage area segmentations each comprise a plurality of virtual storage locations for the storage objects and indicate a possible arrangement of the storage object types within said storage area, b) Recording the storage object type of a storage object to be stored, c) Selecting a virtual storage location for the storage object to be stored in the plurality of storage area segmentations by the warehouse management system, wherein the virtual storage location enables the storage of the storage object type of the said storage object, wherein the virtual storage location is selected according to the criterion of prioritizing rear virtual storage locations in the case of several consecutive virtual storage locations, d) Storing the storage object in a physical storage location of the storage area,which is assigned to the selected virtual storage location, by a storage and retrieval machine movable in a longitudinal direction of the storage rack, e) changing a status of the virtual storage location in the electronic memory, which indicates whether the assigned physical storage location is occupied by a storage object, from unoccupied (free) to occupied, f) restricting the virtual storage locations in the storage area segmentations assigned to the storage area to virtual storage locations that enable the storage of another storage object in a physical storage location, in the electronic memory, and g) repeating steps b) to f).

[0010] The object of the invention is also achieved with a shelf storage system of the type mentioned above, in which the warehouse management system is designed to carry out the following steps: a) Assigning a plurality of storage area segmentations to a storage area of the storage areas in the electronic memory of the warehouse management system for the plurality of storage areas, wherein the storage area segmentations each comprise a plurality of virtual storage locations for the storage objects and indicate a possible arrangement of the storage object types within said storage area, b) Recording the storage object type of a storage object to be stored, c) Selecting a virtual storage location for the storage object to be stored in the plurality of storage area segmentations, wherein the virtual storage location enables the storage of the storage object type of said storage object, wherein the virtual storage location is selected according to the criterion of prioritizing rear virtual storage locations in the case of several consecutive virtual storage locations,d) Controlling the storage and retrieval machine for the purpose of storing the storage object in a physical location in the storage area which is assigned to the selected virtual location, e) Changing a status of the virtual location in the electronic memory, which indicates whether the assigned physical location is occupied by a storage object, from unoccupied (free) to occupied, f) Restricting the virtual locations in the storage area segmentations assigned to the storage area to virtual locations in the electronic memory which enable the storage of another storage object in a physical location, and g) Repeating steps b) to f).

[0011] A "physical storage location" is defined by a horizontal storage area spanned in an x-direction (parallel to the longitudinal direction of the storage rack) and a z-direction (perpendicular to the longitudinal direction of the storage rack) between the rack uprights, specifically two front rack uprights and two rear rack uprights. Therefore, it is a two-dimensional storage location.

[0012] Alternatively, it is also possible for a "physical storage space" to be defined by a horizontal storage area spanned in an x-direction (parallel to the longitudinal direction of the storage rack) and a z-direction (perpendicular to the longitudinal direction of the storage rack) between the rack uprights, in particular two front rack uprights and two rear rack uprights, and a height extending in a y-direction (vertical to the storage area). Therefore, it is a three-dimensional storage space.

[0013] A "virtual parking space" is the digital copy or digital image of the respective physical parking space.

[0014] The proposed measures facilitate or promote the storage of storage objects of different storage object types, particularly storage objects of different sizes, in a possibly already partially filled shelving system or in one or more already partially filled storage shelves. This is achieved by selecting a favorable virtual storage location within a storage area segmentation when storing a storage object, which takes future impacts on the storage strategy into account. This allows the shelving system or the one or more storage shelves to be operated in such a way that the possibility of storing additional storage objects of different storage object types is always guaranteed, even at high levels of capacity.

[0015] In particular, it can be provided that a first storage object is stored in a first storage location in the storage area according to a first storage area segmentation, and subsequently a second storage object is stored in a second storage location in the same storage area according to a second storage area segmentation. By combining different storage area segmentations in the same storage area, a particularly efficient use of space in the storage area can be achieved.

[0016] When restricting the virtual storage spaces in step f), essentially at least those virtual storage spaces in the various storage area segmentations that are affected by the storage in step d) are marked as "occupied," so that they are subsequently no longer accessible, for example, because the corresponding physical storage space in the storage area is at least partially occupied. Likewise, a virtual storage space is affected by the storage in step d) if the storage object is stored in a front storage space among several consecutive storage spaces, because the storage space(s) behind it are not physically occupied but are no longer accessible. In this case, the status of the storage space(s) behind it can also be changed to "occupied."

[0017] It is advantageous if virtual storage spaces are released again when a storage object to be retrieved is removed from its physical storage location. For this purpose, it can be provided that, during a retrieval process of the storage object to be retrieved from its physical storage location, the status of the virtual storage space assigned to the physical storage location is changed from occupied to unoccupied. Furthermore, it is preferably provided that the restriction of the virtual storage spaces, which occurred in step f) during a previous storage of the storage object to be retrieved, is reversed.

[0018] The storage object type specifies, in particular, the size of a storage object in one, two, and / or three dimensions (length dimension measured in the z-direction, width dimension measured in the x-direction, and / or height dimension measured in the y-direction). Furthermore, the storage object type can include other properties of the storage object, for example, whether it is a product itself or a loading aid used to transport a product, whether it is a fast-moving or slow-moving item, and so on. A storage location that enables the storage of a storage object or a storage object type is the same size as the storage object or the storage object type or, in particular, slightly larger than the storage object or the storage object type. The product is an individual item or a packaging unit comprising several individual items (and, for example, surrounded by a plastic film). The loading aid is, for example, a container, a tray, a box, etc.

[0019] Preferably, the shelf storage system comprises a sensor system for reading a data carrier, for example a barcode, and / or a sensor system for detecting the storage object type, for example dimensions of the storage object, and / or a sensor system for object recognition of the storage object type in order to determine a storage object based thereon.

[0020] The storage object type assigned to a storage object is stored, for example, in the master data of the storage object.

[0021] For this purpose, according to a first embodiment, it proves advantageous if the storage object type is recorded by identifying the storage object. The storage object can be identified, for example, by reading a data carrier using a sensor, in particular by means of a reading device. The data carrier is, for example, a barcode, a matrix code, in particular a QR code (Quick Response Code), a data matrix code, an RFID tag (Radio Frequency Identification), or the like. The reading device can be an optical or optoelectronic reading device with which the data can be read mechanically. The data carrier can contain data, in particular an identification number, based on which the master data in which the storage object type of the storage object is stored can be accessed. Alternatively, the data carrier can also contain the data about the storage object type directly.

[0022] According to a second embodiment, it is advantageous if the storage object type is detected by recognizing the storage object with a sensor for object recognition. Object recognition describes a method for identifying an object using optical, acoustic, or other physical recognition methods. In particular, after identifying the storage object by object recognition, the master data in which the storage object type of the storage object is stored can be accessed.

[0023] Regardless of the described embodiments, detecting the storage object type can alternatively comprise detecting the dimensions of the storage object using a sensor system, in particular to detect a length, width, and / or height, or a size in one, two, and / or three dimensions of the storage object. The sensor system particularly comprises an optical sensor system. The storage object type of the respective storage object results from the detected size in one, two, and / or three dimensions of the storage object.

[0024] It is further noted that steps d), e) and f) do not necessarily have to be carried out in the specified order, but can also be carried out in a different sequence, for example in the order e) → d) → f) or e) → f) → d) or d) → f) → e).

[0025] An automated, semi-automated or manually operated storage and retrieval machine can be provided for the process.

[0026] Generally, both rail-guided single-level and rail-guided multi-level storage and retrieval machines or (non-rail-guided) autonomous storage and retrieval machines, such as one or more AMRs (Autonomous Mobile Robots) or one or more AGVs (Automated Guided Vehicles), each with an articulated arm robot, etc., are considered as storage and retrieval machines. In addition, storage and retrieval machines that can be moved by an operator, such as forklifts or the like, can also be considered as storage and retrieval machines.

[0027] Advantageous embodiments and further developments of the invention will now emerge from the subclaims and from the description in conjunction with the figures.

[0028] It is advantageous if the restriction of the virtual storage spaces in step f) comprises restricting the storage area segmentations assigned to the storage area to one or more storage area segmentations in the electronic memory that contain the selected virtual storage space. In other words, the restriction of the virtual storage spaces in step f) comprises restricting the storage area segmentations assigned to the storage area to one or more storage area segmentations in the electronic memory, with the remaining storage area segmentation(s) containing the selected virtual storage space. Thus, the number of available storage area segmentations can be reduced as the fill level of the respective storage area increases, whereby the selection of a virtual storage space can be carried out particularly efficiently when another storage object is stored.

[0029] It is advantageous if step f) is carried out in the same way for other storage areas, in particular for adjacent and / or opposite storage areas. This means that the storage area segmentations are restricted not only for the storage area in which a storage object has just been stored, but also for others in which no storage object has currently been stored. In this way, for example, storage spaces in an adjacent storage area can be kept free, which enable the easy relocation of storage objects. In particular, the embodiment variant in a rack aisle concerns storage areas opposite one another. This means that step f) can be carried out in the same way for a storage area opposite one another in the rack aisle.

[0030] Furthermore, it may be advantageous to specify a maximum number of virtual parking spaces as a criterion for selecting a virtual parking space in step c), which remains in step f) after the virtual parking spaces have been restricted. This leads to high storage capacity with regard to the number of additional storage objects to be stored. This means that many more storage objects can be stored in the storage area.

[0031] It is also advantageous if a maximum number of storage area segmentations is specified as a criterion for selecting a virtual storage location in step c), which remains in step f) after restricting the storage area segmentations assigned to the storage area. This leads to high flexibility when storing additional storage objects, because many different storage area segmentations are then available to choose from.

[0032] According to the invention, the selection of a storage location is carried out by prioritizing rear (virtual / physical) storage locations in the case of several consecutive (virtual / physical) storage locations. Furthermore, in a favorable variant of the proposed method, the selection of a storage location can be made according to one or more of the following criteria: turnover rate of the storage object, uniform occupancy of the shelving system (hence the one or more storage shelves) with storage objects, accumulation of storage objects of the same or similar storage object type, fill level in a storage object designed as a loading aid, fill level of a (physical) storage area, separation of hazardous goods from non-hazardous storage objects, transport route of a storage object from a storage location to a transfer device, whereby the storage object is transported along the aforementioned transport route with the aid of the storage and retrieval machine.Transport path of a storage object from a receiving device to a storage location, whereby the storage object is transported along the specified transport path with the aid of the storage and retrieval machine, prioritization of larger front (virtual / physical) storage locations when there are several consecutive (virtual / physical) storage locations, minimization of the storage time by the storage and retrieval machine, maximization of the number of storage objects stored at once by the storage and retrieval machine.

[0033] In the above-mentioned measures, the receiving device can relate to the storage process and, in the case of a single-level storage and retrieval machine, for example, a buffer device with a plurality of provision devices, wherein a storage and retrieval machine can pick up at least one storage object from each provision device. In the above-mentioned measures, the transfer device can relate to the retrieval process and, in the case of a single-level storage and retrieval machine, for example, a buffer device with a plurality of provision devices, wherein a storage and retrieval machine can deliver at least one storage object to each provision device.

[0034] In the above-mentioned measures, the transfer device can relate to the storage process and, in the case of a multi-level storage and retrieval machine, for example, a buffer device with a (single) provision device, from which a storage and retrieval machine can pick up at least one storage object. In the above-mentioned measures, the transfer device can relate to the retrieval process and, in the case of a multi-level storage and retrieval machine, for example, a buffer device with a (single) provision device, to which a storage and retrieval machine can deliver at least one storage object. A storage conveyor system comprises a conveyor device for transporting conveyed objects, which forms the provision device. A retrieval conveyor system comprises a conveyor device for removing conveyed objects, which forms the provision device.

[0035] For example, fast-moving items (A-items) can be stored closer to a vertical conveyor system for storing and / or retrieving conveyed items, whereas slow-moving items (C-items) can be stored further away from the vertical conveyor system for storing and / or retrieving conveyed items. Furthermore, if a storage area has several storage locations one behind the other or if several conveyed items are stored one behind the other in a storage rack (in the z-direction), the rear storage locations can be occupied more with slow-moving items (C-items), and the front storage locations can be occupied more with fast-moving items (A-items). If a storage area has several storage locations one behind the other or if several conveyed items are stored one behind the other in a storage rack (in the z-direction), these can be preferably occupied with storage objects of the same or a similar storage object type.

[0036] It is also advantageous if one or more of the above-mentioned criteria are taken into account during a relocation process in which previously stored storage objects are relocated to another location, with steps b) to f) being carried out after a storage object has been removed from its original location during storage to the other location. This means that when relocating a storage object, the same measures are taken as when storing a storage object. Relocation thus involves removing a storage object to be relocated from its original location and subsequently storing the storage object to be relocated to the other location. The initial storage and repeated storage of a storage object during relocation therefore follow a uniform principle, which ensures efficient use of the proposed method.For example, such a relocation process can be carried out during times of low utilization of the rack storage system, such as at night.

[0037] Furthermore, it can be provided that the virtual or physical storage location is selected in a route-optimized manner when relocating a storage object, so that the transport route between the original storage location of the storage object and the location selected for relocation is as short as possible. This can be particularly advantageous if the storage object is only to be stored at the selected location for a short period of time.

[0038] Advantageously, steps b) to f) are carried out for several storage objects at once or simultaneously, wherein the storage objects are stored in step c) in one or more storage area segmentations and in step d) in a single storage area. This variant is advantageous if the storage and retrieval machine can store more than one storage object in one step or in a single storage process. In this case, it can be provided that a first storage object is stored in a first storage location in the storage area according to a first storage area segmentation and a second storage object is stored in a second storage location in the storage area according to a second storage area segmentation essentially at the same time.

[0039] It is advantageous if the storage locations for the stored objects are arranged one behind the other in the same storage direction, as seen from the stacker crane. This allows the stacker crane to place multiple storage objects into the storage rack at one location during storage without any intermediate movement.

[0040] It is also particularly advantageous if several storage area segmentations are combined to form a meta-segmentation, wherein in step c) first a virtual parking space in the plurality of meta-segmentations is selected and then a virtual parking space in the plurality of storage area segmentations of the selected meta-segmentation is selected, and in step f) the meta-segmentations assigned to the storage area in the electronic memory are restricted to one or more meta-segmentations which contain the selected virtual parking space.

[0041] This can accelerate the search for a suitable segmentation. If the number of storage area segmentations assigned to a storage area becomes very large, the search for a suitable virtual parking space or the selection of a suitable virtual parking space for a storage object can be time-consuming. In such a case, it is therefore advantageous to create meta-segmentations, i.e. groups of storage area segmentations. The groups are formed, for example, according to the occurrence of certain virtual parking spaces. For example, a first meta-segmentation can contain different virtual parking spaces than a second meta-segmentation. If a suitable virtual parking space for a storage object is to be selected in step c), the search in the meta-segmentations is started. Accordingly, in a first step, suitable meta-segmentations that contain such a virtual parking space are determined.Subsequently, the search continues (only) in the storage area segmentations contained in the determined meta-segmentations. Accordingly, the search for a suitable virtual storage location for a storage object is shortened, as the entire number of storage area segmentations does not have to be searched. The meta-segmentations can contain mutually exclusive storage area segmentations and / or form overlapping areas.

[0042] It is also advantageous if the storage area segmentations assigned to a storage area are sorted or prioritized based on a sorting criterion, and in step c) the storage area segmentation is selected which contains the selected virtual storage space and has the highest priority. The proposed measures enable the selection of a suitable storage area segmentation to be carried out particularly efficiently. The number of storage spaces contained in a storage area segmentation can serve as a sorting criterion, for example, with the priority increasing with the number of storage spaces. Accordingly, if possible, those storage area segmentations are selected in which as many (virtual) storage spaces as possible remain free after a storage space has been occupied by the storage object to be stored. In particular, one or more of the criteria disclosed above in relation to claim 5 can also be used.

[0043] It is also advantageous if, in step c), the storage location is selected that offers the best space utilization for the storage object. A storage object is usually smaller than the physical location in which it is stored. It is advantageous if the space not occupied by the storage object is as small as possible. The term "space utilization" can refer to the utilization of either a one-dimensional width, a one-dimensional depth, a one-dimensional height, a two-dimensional footprint, or a three-dimensional space.

[0044] Finally, it may be advantageous if, in the shelving system, the restriction of the virtual storage spaces in step f) comprises a restriction of the storage area segmentations assigned to the storage area to one or more storage area segmentations which contain the selected virtual storage space in the electronic memory.

[0045] In general, it should be noted that storage objects can also be stacked on top of each other if necessary. In the case of two-dimensional virtual storage spaces, the boundaries extend vertically; however, the segmentation of three-dimensional virtual storage spaces can also appear different at different levels.

[0046] In general, it should also be noted that the use of rectangular or cuboid-shaped virtual storage spaces and physical storage spaces is advantageous in most applications, but the virtual storage spaces and physical storage spaces can be designed in any desired shape. Preferably, the shape of the virtual storage spaces corresponds to a base area or shape of the storage objects to be stored. Storage objects, such as crates, trays, cartons, and the like, are often rectangular in shape. In special applications, for example, in the case of round or circular storage objects, the use of circular or cylindrical virtual storage spaces and physical storage spaces can be advantageous.

[0047] In addition, one-dimensional virtual storage spaces and / or physical storage spaces can also be provided, whereby the one-dimensional storage spaces essentially specify a width (in the x-direction) or a length (in the z-direction) which enables the storage of a storage object.

[0048] At this point, it is also noted that the variants and advantages disclosed for the presented method apply equally to the presented shelf storage system and vice versa.

[0049] For a better understanding of the invention, it is explained in more detail with reference to the following figures.

[0050] They show in a highly simplified, schematic representation: Fig. 1 a smaller section of a shelving system with schematically illustrated storage shelves in an oblique view; Fig. 2 a larger section of the shelving system according to Fig. 1 in plan view of a shelf level; Fig. 3 the assignment of several storage area segmentations to one storage area; Fig. 4-9 an example process for storing two storage objects in one storage area; Fig. 10 a simultaneous and similar restriction of storage area segmentations for several storage areas; Fig. 11 a simultaneous storage of two storage objects in consecutive storage locations; Fig. 12 the use of meta-segmentations when selecting a virtual storage location; and Fig. 13 an example of a storage area segmentation for round storage locations.

[0051] By way of introduction, it should be noted that in the variously described embodiments, identical parts are provided with identical reference symbols or component designations. The disclosures contained throughout the description can be applied analogously to identical parts with identical reference symbols or component designations. Furthermore, the positional information chosen in the description, such as top, bottom, side, etc., refers to the directly described and illustrated figure and, in the event of a change in position, is to be applied analogously to the new position.

[0052] Fig. 1 shows an example of an automated shelf storage system 1 in an oblique view. The shelf storage system 1 comprises, according to the embodiment shown, a first storage rack 3a for accommodating several storage objects 4 of different storage object types, a second storage rack 3b for accommodating several storage objects 4 of different storage object types, and a rack aisle 5 between the first storage rack 3a and the second storage rack 3b. The storage racks 3a, 3b each comprise vertical shelf supports 6, several superimposed shelf levels E, and storage areas B arranged in the shelf levels E, wherein the storage areas B are each arranged between two shelf supports 6. The vertical shelf supports 6 can comprise front shelf supports and rear shelf supports. In general, a shelf level E can be formed by cross members or depth supports running in the z-direction, or by a shelf or a mesh shelf. Fig. 1 For reasons of clarity, only one storage area B per shelf level E is shown. However, there are usually a number of storage areas B per shelf level E, as is also the case in the Fig. 2 is shown schematically. The storage areas B each comprise a plurality of physical storage locations P for receiving the storage objects 4. According to this embodiment, the shelf storage system 1 further comprises a storage buffer device 7 with storage retrieval devices 8, which are arranged in storage levels one above the other and are each designed for the temporary buffering of one storage object 4 or several storage objects 4. In this example, one retrieval level is assigned to each shelf level E and is therefore not designated separately. Alternatively, however, a different assignment is possible. The retrieval devices 10 can comprise a driven conveyor device, for example a roller conveyor.

[0053] According to this embodiment, the shelf storage system 1 further comprises a retrieval buffer device 9 with retrieval supply devices 10, which are arranged in stacked supply levels and are each designed for the temporary buffering of one or more storage objects 4. In this example, each supply level is assigned to each shelf level E and is therefore not designated separately. Alternatively, however, a different assignment is also possible here. The supply devices 10 can comprise a driven conveyor device, for example, a roller conveyor.

[0054] According to this embodiment, the rack storage system 1 comprises several storage and retrieval machines 11, which are moved in the rack aisle 5 between the first storage rack 3a and the second storage rack 3b. Specifically, the storage and retrieval machines 11 are each movable on a horizontal travel plane in a longitudinal direction x in front of the storage areas B, in front of the storage and retrieval devices 8 and in front of the retrieval and retrieval devices 10. The longitudinal direction runs parallel to the longitudinal extent of the rack aisle 5. For this purpose, travel rails 25 arranged in pairs can be provided for each horizontal travel plane. For each travel plane, a first travel rail 25 (see Fig. 2 ) is preferably attached to the vertical (front) shelf uprights 6 of the first storage rack 3a, and a second guide rail 25 is preferably attached to the vertical (front) shelf uprights 6 of the second storage rack 3b. The guide rails 25 extend along the storage areas B and along the provision devices 8, 10 for storing and retrieving storage objects 4.

[0055] The storage and retrieval machines 11 each have a load-carrying device for storing and retrieving storage objects 4 (see also Fig. 2 ) and are designed to transport the storage objects 4 from the storage and retrieval devices 8 to the storage areas B and to transport the storage objects 4 from the storage areas B to the retrieval devices 10. In other words, the conveyor connection of the storage and retrieval devices 8 to the storage areas B and the conveyor connection of the storage areas B to the retrieval devices 10 is effected via the storage and retrieval machines 11.

[0056] WO 2016 / 168878 A1 describes a possible design for such a storage and retrieval machine 11 (single-level storage and retrieval machine) and various designs of a load handling device for storing and retrieving storage objects 4.

[0057] In this example, each travel level is assigned to a shelf level E and is therefore not designated separately.

[0058] According to the embodiment shown, one storage and retrieval machine 11 is assigned to each shelf level E. Alternatively, there may be fewer storage and retrieval machines 11 than shelf levels E. In this case, the storage and retrieval machines 11 can be moved from one travel level to another by a storage and retrieval machine lifter, as described, for example, in AT 522 434 A1.

[0059] Furthermore, the shelf storage system 1 according to this embodiment comprises a storage vertical conveyor device 13 assigned to the shelf aisle 5 with several independently controllable storage transport platforms 14a, 14b that are adjustable relative to the staging levels, and a storage conveyor system assigned to the shelf aisle 5 and connected to the storage vertical conveyor device 13 for transporting storage objects 4 to the storage vertical conveyor device 13. The storage objects 4 can be transported from the storage conveyor system to the storage staging devices 8 by means of the storage transport platforms 14a, 14b. The storage objects 4 can be moved not only vertically but also horizontally with the aid of the storage transport platforms 14a, 14b. For this purpose, the storage transport platforms 14a, 14b each have a transport device, in this example a roller conveyor.However, it would also be conceivable that the single-storage vertical conveyor device 13 has only one single-storage transport platform 14a or more than two single-storage transport platforms 14a, 14b.

[0060] If several storage transport platforms 14a, 14b are provided, they are arranged vertically one above the other on a storage guide arrangement of the storage vertical conveyor device 13 and can be adjusted independently of one another by an electronic control system. The storage guide arrangement for the storage transport platforms 14a, 14b can be formed on a stationary storage vertical mast 23, in particular on a single storage vertical mast 23, as shown in the Fig. 1 is the case.

[0061] In this example, the single-storage conveyor system comprises a first single-storage conveyor device 16a in a first conveyor level F1 and a second single-storage conveyor device 16b in a second conveyor level F2. However, it would also be conceivable for the single-storage conveyor system to have only one single-storage conveyor device 16a.

[0062] Furthermore, the rack storage system 1 according to this embodiment comprises a retrieval vertical conveyor device 17 assigned to the rack aisle 5, having a plurality of retrieval transport platforms 18a, 18b that can be controlled independently of one another and adjusted relative to the staging levels, and a retrieval conveyor system assigned to the rack aisle 5 and connected to the retrieval vertical conveyor device 17 for transporting stored objects 4 from the retrieval vertical conveyor device 17. The stored objects 4 can be transported by means of the retrieval transport platforms 18a, 18b from the retrieval staging devices 10 to the retrieval conveyor system 19. The stored objects 4 can be moved not only vertically but also horizontally with the aid of the retrieval transport platforms 18a, 18b. For this purpose, the retrieval transport platforms 18a, 18b each have a transport device, in this example, a roller conveyor.However, it would also be conceivable that the retrieval vertical conveyor device 17 has only one retrieval transport platform 18a or more than two storage transport platforms 18a, 18b.

[0063] If several retrieval transport platforms 18a, 18b are provided, they are arranged vertically one above the other on a retrieval guide arrangement of the retrieval vertical conveyor device 17 and can be adjusted independently of one another by an electronic control system. The retrieval guide arrangement for the retrieval transport platforms 18a, 18b can be formed on a stationary retrieval vertical mast 24, in particular on a single retrieval vertical mast 24, as shown in the Fig. 1 is the case.

[0064] In this example, the retrieval conveyor system 19 comprises a first retrieval conveyor device 20a in the first conveyor level F1 and a second retrieval conveyor device 20b in the second conveyor level F2. However, it would also be conceivable for the retrieval conveyor system 19 to have only one retrieval conveyor device 20a.

[0065] In the example shown, the storage buffer device 7 is arranged between the first storage rack 3a and the storage vertical conveyor device 13, and the retrieval buffer device 9 is arranged between the second storage rack 3b and the retrieval vertical conveyor device 17. In principle, however, another arrangement is also conceivable; in particular, the storage side can be arranged on one end side of the rack aisle 5 and the retrieval side on another end side of the rack aisle 5.

[0066] With regard to the design of the storage vertical conveyor device 13 and the retrieval vertical conveyor device 17, reference is made to WO 2020 / 113249 A1 and WO 2020 / 113254 A1.

[0067] Finally, the rack storage system 1 comprises a computer system, in particular one or more computers, for example, a control computer (a programmable logic controller) and / or a material flow computer and / or a warehouse management computer. The storage conveyor system, the retrieval conveyor system, the storage vertical conveyor device 13, the retrieval vertical conveyor device 17, and the storage and retrieval machine(s) 11 are controlled by a control system or the computer system.

[0068] A warehouse management system 21 or the warehouse management computer (Warehouse Management System) is in the Fig. 1 symbolically shown. The warehouse management system 21 is Fig. 1 symbolically represented electronic memory 22. In particular, the warehouse management system 21 can comprise the memory 22 or be connected to a memory 22.

[0069] While according to the above embodiment, a first vertical conveyor device 13 is provided for storing storage objects 4 and a second vertical conveyor device 17 is provided for retrieving storage objects 4, according to an embodiment not shown, a vertical conveyor device can be provided which serves both for storing storage objects 4 and for retrieving storage objects 4. As described above, said vertical conveyor device can comprise one or more transport platforms which serve both for storing storage objects 4 and for retrieving storage objects 4.

[0070] According to a first embodiment, the buffer device on one of the sides of the vertical conveyor device and in stacked staging levels can comprise staging devices each for the temporary buffering of one storage object 4 or several storage objects 4. The staging devices are arranged between the vertical conveyor device and the first storage rack 3a or second storage rack 3b. Some of the staging devices serve for the storage of storage objects 4, and some of the staging devices serve for the retrieval of storage objects 4, or the staging devices can be used in a reversing operation, each as needed, for the storage of storage objects 4 or for the retrieval of storage objects 4.

[0071] According to a second embodiment, the buffer device can comprise the provision devices on both sides of the vertical conveyor device and in superimposed provision levels, each for the intermediate buffering of one storage object 4 or several storage objects 4.

[0072] The provision devices, which are arranged adjacent to the first side of the vertical conveyor device, then serve exclusively for the storage of storage objects 4, and the provision devices, which are arranged adjacent to the second side of the vertical conveyor device, then serve exclusively for the removal of storage objects 4.

[0073] The conveyor system can also comprise a conveyor device for transporting storage objects 4 to the vertical conveyor device and a conveyor device for transporting storage objects 4 away from the vertical conveyor device.

[0074] Various designs of shelving systems are described, for example, in WO 2013 / 090970 A2 and WO 2016 / 033628 A1. It is understood that these shelving systems are merely examples; the subject matter of the invention is by no means limited to them.

[0075] It should also be noted that a rack storage system may comprise additional storage racks and rack aisles, for example ten storage racks and five rack aisles, each constructed as described above.

[0076] Accordingly, the described shelf storage system in the above different versions can include a first storage rack 3a with rack uprights 6, stacked rack levels E, and a plurality of storage areas B, wherein at least some of the storage areas B comprise a plurality of physical storage locations P, a second storage rack 3b with rack uprights 6, stacked rack levels E, and a plurality of storage areas B, wherein at least some of the storage areas B comprise a plurality of physical storage locations P, a rack aisle 5 between the first storage rack 3a and the second storage rack 3b, a buffer device 7, 9 with provision devices 8, 10, each for the intermediate buffering of one or more storage objects 4, of which first provision devices 8 serve for the storage of storage objects 4 and second provision devices 10 for the retrieval of storage objects 4, one or more vertical conveyor devices 13, 17 for the storage of storage objects 4 and the retrieval of storage objects 4,which one or more vertical conveyor devices 13, 17 are each equipped with at least one transport platform 14a which is adjustable relative to the provision devices 8, 10 and which comprise a transport device for storing storage objects 4 and / or retrieving storage objects 4, a conveyor system connected to one or more vertical conveyor devices with a first conveyor device for transporting (storing) storage objects 4 and a second conveyor device for transporting (retrieving) storage objects 4, one or more storage and retrieval machines 11 which are movable in the rack aisle 5 in front of the storage areas B, in front of the provision devices 8, 10, each on a horizontal track, which or which are used to transport the storage objects 4 from the provision devices 8, which are used for storing storage objects 4,to the storage areas B and for transporting the storage objects 4 from the storage areas B to the provision devices 10, which serve for the retrieval of storage objects 4, and a warehouse management system 21, which is designed to carry out the steps described below. ,

[0077] Fig. 2 shows a schematic representation of the shelf storage system 1 according to Fig. 1 , but with several storage areas B in the x-direction and in a top view of a shelf level E. The storage vertical conveyor device 13, the retrieval vertical conveyor device 17 and the conveyor technology for transporting stored objects 4 into and out of the storage objects 4 are not shown for reasons of clarity. The shelf storage system 1 comprises the storage racks 3a, 3b described above and the intermediate rack aisle 5, in which the storage and retrieval machine 11 is arranged so as to be movable in a longitudinal direction x. Specifically, the travel rails 25 are provided for each travel level, on which wheels 26 of the storage and retrieval machine 11 can roll. In addition, the storage and retrieval machine 11 has a load-handling device 27 which can be telescopically extended on both sides and with which storage objects 4 can be stored in the storage racks 3a, 3b and retrieved from the storage racks 3a, 3b.In other words, storage objects 4 can be placed on or removed from physical storage locations P in storage area B with the aid of the load-handling device 27. In addition, storage objects 4 can also be transported in the longitudinal direction x on the storage and retrieval machine 11 with the load-handling device 27 when the load-handling device 27 is retracted.

[0078] Based on the Fig. 3 bis 9 The operation of the automated shelf storage system 1 will now be explained in more detail.

[0079] Fig. 3 shows several different storage area segmentations S1..S3 assigned to a storage area B, each comprising a plurality of virtual storage locations P' for the storage objects 4 and specifying a possible arrangement of the storage object types within said storage area B. Specifically, said allocation takes place in a first step a) in the electronic memory 22 of the warehouse management system 21. According to this example, the storage area segmentations S1..S3 differ from one another, among other things, with regard to the size and / or the arrangement and / or the number of virtual storage locations P'. A storage area segmentation S1..S3 can comprise several virtual storage locations P', which virtual storage locations P' form the same or different dimensions with regard to size. In Fig. 3 the storage area segmentation S1 comprises virtual parking spaces P' of equal size, while the storage area segmentation S2 or the storage area segmentation S3 have virtual parking spaces P' of different sizes.

[0080] The number of storage area segmentations S1..S3 assigned to a storage area B is arbitrary and can of course exceed the number three.

[0081] Fig. 4 shows a stack ST of several storage area segmentations S 1..S5 assigned to a storage area B, of which only the storage area segmentation S5 is visible in detail. In this example, the storage area segmentation S5 comprises four virtual storage locations P1'..P4' for the storage objects 4 and indicates a possible arrangement of the storage object types within the aforementioned storage area B. The storage area segmentations S1..S5 differ from each other, among other things, with regard to the size and / or the arrangement and / or the number of the virtual storage locations P1'..P4'. A storage area segmentation S 1..S5 can comprise several virtual storage locations P', which virtual storage locations P' form the same or different dimensions in terms of size. In Fig. 4 For example, the storage area segmentation S5 includes virtual storage spaces P' of different sizes.

[0082] A stack ST of storage area segmentations S1..S5 essentially means that a plurality of storage area segmentations S1..S5 are assigned to the same storage area B. Preferably, all storage area segmentations S1..S5 or any storage area segmentation S1..S5 can be selected from the stack ST. The term "stack ST" alone therefore does not necessarily imply a last-in, first-out principle, according to which only one topmost storage area segmentation could be selected. This applies to all described embodiments.

[0083] In a step b), the storage object type of a storage object 4a to be stored is now detected, in particular by a sensor system for reading a data carrier, for example a barcode (not shown) or a sensor system for optically detecting the storage object type, for example dimensions of the storage object 4, or a sensor system for object recognition of the storage object type in order to determine a storage object 4.

[0084] The storage object type assigned to a storage object 4 is stored, for example, in the master data of the storage object 4. The data includes the storage object type, for example, a length, width, and / or height of a storage object 4. In this regard, reference is made to the above disclosure.

[0085] Alternatively, the detection of the storage object type can directly comprise the determination of the storage object type, in particular the determination of a length, width and / or height of a storage object 4 by the sensor system.

[0086] In a subsequent step c), a virtual storage location P1'..P4' for the storage object 4a to be stored is selected from the plurality of storage area segmentations S1..S5 by the warehouse management system 21, wherein the selected virtual storage location P1'..P4' enables the storage of the storage object type of the named storage object 4a, i.e., offers sufficient space for it and is not yet occupied. In the case of two consecutive virtual storage locations P1'..P4', each of which enables the storage of the storage object type of the named storage object 4a, a rear storage location is initially selected, in particular as viewed from the rack aisle 5. In the Fig. 5 For this purpose, the storage location P2' of the storage area segmentation S5 is selected.

[0087] In a Fig. 6 In step d) shown, the storage object 4a is moved to a physical storage location P2 of the storage area B, which is assigned to or corresponds to the selected virtual storage location P2', by the storage and retrieval machine 11 (see Fig. 1 and 2 ) stored.

[0088] In a step e), a status of the virtual parking space P2' in the electronic memory 22, which indicates whether the assigned physical parking space P2 is occupied by a storage object 4a, is changed from unoccupied (free) to occupied.

[0089] In a step f), the virtual storage locations P1'..P5' of the storage area segmentations S1..S5 assigned to storage area B are now restricted to virtual storage locations P1'..P4', which allow the storage of another storage object 4a. On the one hand, the virtual storage location P2' of the storage area segmentation S5 remains marked as occupied, as previously described. On the other hand, the status of those virtual storage locations of the other storage area segmentations S1..S4, which in the stack ST are at least partially hidden by the virtual storage location P2' or overlap with it, is also changed from unoccupied (free) to occupied or unavailable, since these do not allow any further storage of a storage object 4a of the storage object type corresponding to the virtual storage location.

[0090] The result of steps e) and f) is shown in the Fig. 7a shown. As can be clearly seen, the virtual parking space P2' of the storage area segmentation S5 is marked as "occupied." Those virtual parking spaces of the other storage area segmentations S1..S4 that overlap with the virtual parking space P2' or are at least partially obscured by it are also marked as "occupied."

[0091] Alternatively, in step f), the storage area segmentations S 1..S5 assigned to storage area B can be restricted to one or more storage area segmentations S 1..S5 that contain the selected virtual parking space P2' in the electronic memory 22. This also limits the available virtual parking spaces P1'..P5', while simultaneously reducing the number of storage area segmentations S 1..S5.

[0092] The result resulting from the alternative step f) is shown in the Fig. 7b As can be clearly seen, on the one hand, the virtual parking space P2' is marked as "occupied," and on the other hand, the number of possible storage area segmentations S1..S5 has also decreased. Specifically, in this example, the storage area segmentations S1, S2, and S5 remain, since it is assumed that the storage area segmentations S3 and S4 do not include the virtual parking space P2'.

[0093] Steps b) to f) can now be repeated if necessary. Fig. 8a the selection of another virtual parking space P1', but now from the storage area segmentation S2, which has the virtual parking spaces P1'..P5'. The virtual parking space P2' of the storage area segmentation S2 is already marked as "occupied" because it overlaps with the virtual parking space P2' of the storage area segmentation P5, as can be seen from a summary of the Fig. 7a and Fig. 8a Furthermore, the storage area segmentations S1..S5 assigned to storage area B may already be restricted according to the previously described alternative step f), as shown in Fig. 8b is shown. Specifically, in this example, the storage area segmentations S1 and S2 remain.

[0094] The Fig. 9a finally shows the result of a further run of steps b) to f) after the storage of a storage object 4b on a physical location P1. Fig. 9b shows in an analogous manner the result of a further run through steps b) to f) for the alternative step f).

[0095] In general, it is advantageous if, in step c), the virtual storage location P1'..P5' or the physical storage location P1..P5 is selected that offers the best space utilization by the storage object 4a, 4b. The storage object 4a, 4b is usually smaller than the physical storage location P1..P5 in which it is stored. It is advantageous if the space within the physical storage location P1..P5 not occupied by the storage object 4a, 4b is as small as possible. The term "space utilization" can refer to the utilization of either a one-dimensional width, a one-dimensional depth, a one-dimensional height, a two-dimensional area (as in the examples shown in the figures), or a three-dimensional space.

[0096] It would generally be conceivable that not only one storage area segmentation S5 of the storage area segmentations S1..S5 offers a possible virtual parking space P1'..P5', but several of the storage area segmentations S1..S5, as in the Fig. 3 bis 9 For example, for the virtual storage locations P1'..P3' in the storage area segmentations S2 and S5, the selection of exactly one storage area segmentation S2, S5 can now be done in different ways.

[0097] Alternatively, it can also be provided that each possible virtual parking space P1'..P5' is only present in one storage area segmentation of the storage area segmentations S1..S5. Thus, on the one hand, by combining the virtual parking spaces P1'..P5' of the different storage area segmentations S1..S5 with a small total number of storage area segmentations S1..S5, a multitude of possible arrangements of storage object types within the storage area B can be mapped. On the other hand, a storage object 4a, 4b can be uniquely assigned to a single virtual parking space of the virtual parking spaces P1'..P5' and a single storage area segmentation of the storage area segmentations S1..S5. The virtual parking spaces P1'..P5' and the storage area segmentations S1..S5 thus essentially form a unique coordinate system within the storage area B.

[0098] For example, a maximum number of storage area segmentations S1..S5 can be provided as a criterion for selecting a virtual storage location P1'..P5' in step c), which remains in step f), particularly in the alternative, after restricting the storage area segmentations S1..S5 assigned to storage area B. In other words, the stack ST should remain as high as possible. This leads to high flexibility when storing additional storage objects 4b, since a large number of different options are then available.

[0099] However, it is also conceivable that a maximum number of virtual parking spaces P1'..P5' is provided as a criterion for selecting a virtual parking space P1'..P5' in step c), which remains in step f) after the virtual parking spaces P1'..P5' have been restricted in the storage area segmentations S1..S5 assigned to storage area B. This leads to high storage capacity with regard to the number of additional storage objects 4b to be stored.

[0100] According to the invention, a virtual storage location P1'..P5' is selected according to the criterion of prioritizing rear virtual storage locations when there are several consecutive virtual storage locations. In general, a virtual storage location P1'..P5' can also be selected according to one or more of the following criteria: turnover rate of the storage object 4..4b, even occupancy of the storage shelves 3a, 3b with storage objects 4..4b, accumulation of storage objects 4..4b of the same or similar storage object type, fill level in a storage object 4..4b designed as a loading aid, fill level of a storage area B, separation of hazardous goods from non-hazardous storage objects 4..4b, transport path of a storage object 4..4b from a physical storage location P1..P5 to a transfer device, wherein the storage object 4..4b is transported along the aforementioned transport path with the aid of the storage and retrieval machine 11, transport path of a storage object 4..4b from a receiving device (according to the above embodiment, for example a provision device 8), to a physical storage location P1..P5, wherein the storage object 4..4b is transported on the said transport route with the aid of the storage and retrieval machine 11, prioritization of larger front physical storage locations P1..P5 or virtual storage locations P1'..P5' in the case of several consecutive physical storage locations P1..P5 / virtual storage locations P1'..P5', minimization of the storage time by a storage and retrieval machine 11, maximization of the number of storage objects 4..4b stored at one time by a storage and retrieval machine 11.

[0101] The aforementioned receiving device relates to the storage process. According to the above explanations, the receiving device comprises a buffer device with a plurality of provision devices 8, wherein a storage and retrieval machine 11 can pick up at least one storage object 4..4b from each provision device 14. The aforementioned transfer device relates to the retrieval process. According to the above explanations, the transfer device comprises a buffer device with a plurality of provision devices 10, wherein a storage and retrieval machine 11 can deliver at least one storage object 4..4b to each provision device 10. The storage and retrieval machine 11 is preferably a single-level storage and retrieval machine.

[0102] If a multi-level storage and retrieval machine is used instead of the single-level storage and retrieval machine 11, as described, for example, in WO 2016 / 141395 A1, Fig. 1 and 2As shown, the receiving device (for the storage process) comprises a buffer device with a provision device, from which a storage and retrieval machine can pick up at least one storage object 4..4b, and the transfer device (for the retrieval process) comprises a buffer device with a provision device, to which a storage and retrieval machine can deliver at least one storage object 4..4b. A storage conveyor system comprises a conveyor device for transporting conveyed objects 4, which forms the provision device. A retrieval conveyor system comprises a conveyor device for removing conveyed objects 4, which forms the provision device. Such a multi-level storage and retrieval machine comprises at least one transport platform movable on a vertical mast, wherein the vertical mast is arranged on a chassis such that the transport platform is movable in an x-direction and a y-direction in order to transport stored objects 4..4b to be stored at physical locations P1..P5 and retrieved from locations P1..P5. The transport platform, in turn, includes a load-handling device, such as that described above.

[0103] If the transport to and from storage objects 4..4b is carried out using (autonomous) industrial trucks, then the stationary conveyor system for the transport to and from storage objects 4..4b can be omitted. The conveyor system 15, 19 for the transport to and from storage objects 4..4b then comprises the (autonomous) industrial trucks. The storage objects 4..4b are transported for storage by an industrial truck directly or via an intermediate pick-up station to the vertical conveyor device 13, in particular the at least one transport platform 14a.4b are transported for retrieval by the vertical conveyor device 17, in particular the at least one transport platform 18, directly to an industrial truck or with the interposition of a pick-up station to an industrial truck. The rack storage system 1 then essentially comprises the storage racks 3a, 3b, one or more storage and retrieval machines 11 (one or more single-level storage and retrieval machines and one multi-level storage and retrieval machine) and the buffer devices, in particular the provision device, which serve for the storage of conveyed objects 4..4b and the retrieval of conveyed objects 4..4b.

[0104] If the turnover rate of the storage object 4..4b is used as a criterion for selecting a virtual storage location P1'..P5', fast-moving items (A items) can be stored closer to a receiving or transfer device, whereas slow-moving items (C items) can be stored further away from a receiving or transfer device. If a storage area B has several consecutive physical storage locations P1..P5, the rear physical storage locations P1, P2 are preferably occupied with slow-moving items (C items), while the front physical storage locations P3, P4, P5 are preferably occupied with fast-moving items (A items). If a storage area B has several consecutive physical storage locations P1..P5, these can preferably also be occupied with storage objects 4..4b of the same or similar storage object type. This allows the number of storage objects 4.. to be manipulated in a storage or retrieval process to be reduced.4b can be varied well.

[0105] It would also be conceivable for the storage area segmentations S1..S5 assigned to a storage area B to be sorted based on a sorting criterion, and for the storage area segmentation S1..S5 with the highest priority to be selected in step c). In other words, in this case, the stack ST is sorted based on a sorting criterion, with the topmost storage area segmentation S2, S5 having the highest priority and thus being selected preferentially in step c). The sorting criterion could, for example, be the number of virtual storage locations P1'..P5' contained in a storage area segmentation S1..S5, with the priority increasing with the number of virtual storage locations P1'..P5'. Accordingly, wherever possible, those storage area segmentations S1..S5 are selected in which, after a physical storage location P1..P5 has been occupied by the storage object 4..4b to be stored, as many virtual storage locations P1'..P5' or physical storage locations P1..P5 remain free. In particular, one or more of the criteria disclosed above can also be applied. The proposed measures allow the selection of a suitable storage area segmentation S1..S5 to be carried out particularly efficiently.

[0106] In the Fig. 3 bis 9 In the example shown, a virtual storage location P1'..P5' and a physical storage location P1..P5 are defined in two dimensions x, z. A physical storage location P1..P5 comprises a horizontal storage area spanned in an x-direction and a z-direction (perpendicular to the x-direction) between the shelf supports 6, in particular two front shelf supports and two rear shelf supports. Accordingly, the storage object type also specifies the size of a storage object 4..4b in two dimensions.

[0107] Alternatively, it is also possible for a virtual storage location P1'..P5' or a physical storage location P1..P5 to be defined in three dimensions x, y, z. A physical storage location P1..P5 comprises a horizontal storage area spanned in an x-direction and a z-direction (perpendicular to the x-direction) between the shelf supports 6, in particular two front shelf supports and two rear shelf supports, and defines a height in a y-direction (vertical to the storage area). Accordingly, the storage object type specifies the size of a storage object 4..4b in three dimensions.

[0108] Alternatively, a physical storage location P1..P5 can only define one dimension x, y, z. This can be the case if goods are stored with different lengths but a uniform width.

[0109] A virtual parking space P1'..P5' is the digital copy or digital image of the respective physical parking space P1..P5.

[0110] The warehouse object type can also include further properties of the warehouse object 4..4b, for example whether it is a direct good or a loading aid, whether it is a fast-moving or slow-moving item, and so on.

[0111] The storage objects 4..4b can also be stacked on top of each other. In the case of two-dimensional virtual storage locations P1'..P5', their boundaries extend vertically (i.e., in the y-direction); however, the segmentation of three-dimensional virtual storage locations P1'..P5' can also appear different at different levels.

[0112] In general, it is also noted that the use of rectangular or cuboid-shaped virtual parking spaces P1'..P5' and physical parking spaces P1..P5 is advantageous, but the virtual parking spaces P1'..P5' and physical parking spaces P1..P5 can be designed in any desired manner with regard to their shape.

[0113] At this point, it is also noted that steps d), e) and f) do not necessarily have to be carried out in the order given above, but can also be carried out in a different sequence, for example in the order e) → d) → f) or e) → f) → d) or d) → f) → e). Accordingly, the steps in the Fig. 6 and 7 to regroup the states shown in time.

[0114] It is also advantageous if step f) is carried out in the same way for further storage areas B1..B3, in particular for adjacent and / or opposite storage areas B1..B3, as in the Fig. 10 This is the case in the example shown. In this example, the virtual storage location P2' or the physical storage location P2 is selected for the storage of storage object 4. According to this embodiment, step f) is now carried out not only for storage area B1, but also in the same way for storage areas B2 and B3. Accordingly, not only the stack ST of possible storage area segmentations S1..S5 is reduced, but also the stack ST' of storage area B2 and the stack ST" of storage area B3. In particular, the embodiment in a rack aisle 5 affects storage areas B1, B3 that are opposite one another. This means that step f) is carried out in the same way, in particular for a storage area B3 that is opposite one another in rack aisle 5. With the help of the proposed measures, for example, physical storage locations P1..P5 in a storage area B2, B3 can be kept free, which enable the easy relocation of storage objects 4.If the fill level in one of the storage racks 3a, 3b increases or if the storage objects 4 are prioritized differently, a redistribution of storage objects 4, i.e. a relocation of storage objects 4 from one physical storage location P1..P5 to another or from one storage area B1..B3 to another (in the same storage rack 3a or in another storage area within the same storage rack 3b), may be necessary or useful. Because step f) is carried out for adjacent storage areas B1..B3, the probability of a free physical storage location P2, which allows the (temporary) storage of the storage object 4, is high. Reordering of the storage objects 4 can thus be carried out efficiently. For example, such a relocation process can be carried out during times of low load, such as at night.

[0115] In a relocation process in which already stored storage objects 4 are relocated to another physical location P1..P5, after a storage object 4 is removed from its original physical location P1..P5, steps b) to f) are advantageously performed when storing it in the other physical location P1..P5. The criteria already mentioned above can also be advantageously taken into account.

[0116] It is also conceivable that steps b) to f) are carried out for several storage objects 4a, 4b at once, whereby the storage objects 4a, 4b are stored in step c) in a single storage area segmentation S1..S5 or in several storage area segmentations S1..S5 and in step d) in a single storage area B, as in the Fig. 11 This variant is advantageous when the storage and retrieval machine 11 can store more than one storage object 4a, 4b in one step or in a single storage process.

[0117] In particular, it is advantageous if the physical storage locations P1..P5 of the storage objects 4a, 4b are arranged one behind the other in a storage direction z, as seen from the storage and retrieval machine 11, as is also shown in the Fig. 11 is shown. In this way, the storage and retrieval machine 11 can remain at a position x when storing several storage objects 4a, 4b.

[0118] It is also particularly advantageous if several storage area segmentations S1..S5 are combined to form a meta-segmentation M1..M3, wherein in step c) first a virtual parking space P1'..P5' is selected in the plurality of meta-segmentations M1..M3 and then a virtual parking space P1'..P5' in the plurality of storage area segmentations S1..S5 of the selected meta-segmentation M1..M3 is selected, and in step f) the meta-segmentations M1..M3 assigned to the storage area B in the electronic memory 22 of the warehouse management system 21 are restricted to one or more meta-segmentations M1..M3 which contain the selected virtual parking space P1'..P5'.

[0119] Fig. 12 shows an example. If the stack ST of storage area segmentations S1..S5 assigned to a storage area B becomes very large, the search for a suitable virtual storage location P1'..P5' for a storage object 4..4b can be time-consuming. Therefore, in such a case, it is advantageous to create meta-segmentations M1..M3, i.e. groups of storage area segmentations S1..S5. The groups are formed, for example, according to the occurrence of certain virtual storage locations P1'..P5'. For example, the meta-segmentation M1 can have the virtual storage locations P1', P2', the meta-segmentation M2 the virtual storage locations P3', P5', and the meta-segmentation M3 the virtual storage locations P1', P5'. The meta-segmentations M1..M3 can have mutually exclusive storage area segmentations S1..S5 or, as in the Fig. 12 the case, form areas of overlap.

[0120] If, in step c), a suitable virtual parking space P1'..P5' for a storage object 4..4b is to be selected, the search begins in the meta-segmentations M1..M3. In our example, it is assumed that the virtual parking space P3' would be suitable. Accordingly, in a first step, it is determined that (only) the meta-segmentation M2 contains such a space. The search is then continued (only) in the storage area segmentations S1..S5 that are contained in the meta-segmentation M2. This makes it clear that the search for a suitable virtual parking space P1'..P5' for a storage object 4..4b or the selection of a suitable virtual parking space P1'..P5' for a storage object 4..4b is shortened because the entire stack ST of storage area segmentations S1..S5 does not have to be searched.

[0121] It should also be noted that, according to an embodiment not shown, the shelving system 1 can also comprise a single storage rack 3a, 3b for accommodating multiple storage objects 4 of different storage object types. This comprises rack uprights 6 and stacked rack levels E and a plurality of storage areas B, B1..B3, as described above. The storage areas B are each arranged between two rack uprights 6 spaced apart in a longitudinal direction x of the storage rack 3a, 3b. According to this embodiment, the shelving system 1 comprises at least one storage and retrieval device 11 for storing the storage objects 4, which is movable in the longitudinal direction x of the storage rack. Likewise, the shelving system 1 comprises a warehouse management system 21, to which an electronic memory 22 is assigned, as described above.

[0122] The number of storage areas B may vary depending on the length and / or height of the storage racks 3a, 3b.

[0123] Even if, according to the above explanations, the storage rack or racks are installed in a fixed location, it is also possible to have a mobile storage rack or a plurality of mobile storage racks. The mobile storage rack or racks are each designed to accommodate several storage objects 4 of different storage object types and have rack uprights 6 and stacked shelf levels E and a plurality of storage areas B, B1..B3. According to this embodiment, at least one storage and retrieval machine that can be moved in the longitudinal direction x of the storage rack can be used to store the storage objects 4, which can be moved on a travel surface and independently of the storage rack. The at least one storage and retrieval machine is an autonomous transport vehicle, for example an AMR (Autonomous Mobile Robot) or an AGV (Automated Guided Vehicle), which comprises a load-handling device for storing the storage objects 4.The load-handling device comprises, for example, an articulated arm robot which is provided on the transport vehicle and a parking space on which at least one storage object 4 can be picked up for transport.

[0124] In Fig. 13 An example of an alternative storage area segmentation S6 with a round or cylindrical shape for virtual storage locations P1'..P4' and physical storage locations P1..P4 is shown. This can be advantageous for storing round-shaped storage objects 4, 4a, 4b, in particular for storage objects 4, 4a, 4b of a storage object type whose diameter, as in the example shown, is at least half the depth in the z-direction or half the width in the x-direction (not shown) of the storage area B, B1..B3 or exceeds this. The previously described stack ST of storage area segmentations S1..S5 can comprise storage area segmentations S1..S5 with rectangular and / or cuboid shapes and storage area segmentations S1..S5 with alternative shapes, in particular with round or cylindrical shapes and with shapes based on polygons or ovals.

[0125] Finally, it should be noted that the scope of protection is determined by the patent claims. However, the description and drawings must be used to interpret the claims. Individual features or combinations of features from the various embodiments shown and described may represent independent inventive solutions. The problem underlying the independent inventive solutions can be derived from the description.

[0126] In particular, it is also noted that the devices depicted may in reality comprise more or fewer components than shown. In some cases, the depicted devices or their components may be shown not to scale and / or enlarged and / or reduced in size. Bezugszeichenaufstellung

[0127] 1Shelf storage system 3a, 3bStorage rack 4, 4a, 4bStorage object 5Shelf aisle 6Shelf supports 7In-storage buffer device 8In-storage retrieval device 9Retrieval buffer device 10Retrieval retrieval device 11Storage and retrieval machine (shuttle) 13In-storage vertical conveyor 14a, 14bIn-storage transport platform 16a, 16bIn-storage conveyor 17Out-storage vertical conveyor 18a, 18bOut-storage transport platform 20a, 20bRetrieval conveyor 21Warehouse management system 22Electronic storage 23In-storage vertical mast 24Retrieval vertical mast 25Running rail 26Wheel 27Load handling device B, B1..B3Storage area ERelevation level F1, F2Conveyor level M1..M3Meta-segmentation P, P1..P5Physical storage location P', P1'..P5'virtual parking space S1..S6Storage area segmentation ST, ST'..ST"Stack of storage area segmentations xLongitudinal direction / longitudinal extension (of the rack aisle) yVertical direction / vertical extension (of the storage rack) zTransverse direction / transverse extension (of the rack aisle)

Claims

1. A method for storing multiple storage objects (4, 4a, 4b) of different storage-object types in a storage rack (3a, 3b), which comprises uprights (6), rack levels (E) located on top of one another and a plurality of storage regions (B, B1..B3), wherein the storage regions (B, B1..B3) are respectively arranged between two uprights (6) spaced apart from each other in a longitudinal direction (x) of the storage rack (3a, 3b), wherein a storage of the storage objects (4, 4a, 4b) is controlled by a warehouse management system (21), to which an electronic memory (22) is allocated, and wherein the method comprises the following steps: a) assigning multiple storage region segmentations (S1..S6) to a storage region (B, B1..B3) of the storage regions (B, B1..B3) in the electronic memory (22) for the plurality of storage regions (B, B1..B3), wherein the storage region segmentations (S1..S6) respectively comprise a plurality of virtual receiving locations (P', P1'..P5') for the storage objects (4, 4a, 4b) and specify a possible arrangement of the storage-object types inside said storage region (B, B1..B3), b) acquiring the storage-object type of a storage object to be stored (4, 4a, 4b), c) selecting a virtual receiving location (P', P1'..P5') for the storage-object type of the storage object (4, 4a, 4b) to be stored in the plurality of storage region segmentations (S1..S6) by means of the warehouse management system (21), wherein the virtual receiving location (P', P1'..P5') enables the storage of the storage-object type of said storage object (4, 4a, 4b), wherein the virtual receiving location (P', P1'..P5') is selected according to the criterion of priority of rear virtual receiving locations (P', P1'..P5'), in case of multiple virtual receiving locations (P', P1'..P5') located one behind another, d) storing the storage object (4, 4a, 4b) on a physical receiving location (P, P1..P5) of the storage region (B, B1..B3) which is assigned to the selected virtual receiving location (P', P1'..P5') by means of a storage and retrieval unit (11) displaceable in the longitudinal direction (x) of the storage rack (3a, 3b), e) changing a status of the virtual receiving location (P', P1'..P5') in the electronic memory (22), which specifies whether the assigned physical receiving location (P, P1..P5) is occupied by a storage object (4, 4a, 4b), from unoccupied to occupied, f) limiting the virtual receiving locations (P', P1'..P5') in the storage region segmentations (S1..S6) assigned to the storage region (B, B1..B3) to virtual receiving locations (P', P1'..P5') which enable the storage of another storage object (4, 4a, 4b) on a physical receiving location (P, P1..P5), in the electronic memory (22), and g) repeating the steps b) to f).

2. The method according to claim 1, characterized in that the limiting of the virtual receiving locations (P', P1'..P5') in step f) comprises a limiting of the storage region segmentations (S1..S6) assigned to the storage region (B, B1..B3) to one or multiple storage region segmentation(s) (S1..S6) which include the selected virtual receiving location (P', P1'..P5'), in the electronic memory.

3. The method according to claim 1 or 2, characterized in that, as a criterion for the selection of a virtual receiving location (P', P1'..P5') in step c), a maximum number of virtual receiving locations (P', P1'..P5') which remain after the limiting of the virtual receiving locations (P', P1'..P5') in step f) is provided.

4. The method according to claim 2, characterized in that, as a criterion for the selection of a virtual receiving location (P', P1'..P5') in step c), a maximum number of storage region segmentations (S1..S6) which remain after the limiting of the storage region segmentations (S1..S6) assigned to the storage region (B, B1..B3) in step f) is provided.

5. The method according to any one of the claims 1 to 4, characterized in that a virtual receiving location (P', P1'..P5') is further selected according to one or multiple of the following criteria: turnover rate of the storage object (4, 4a, 4b), even occupation of the rack storage system (1) by storage objects, accumulation of storage objects (4, 4a, 4b) of the same or of a similar storage-object type, filling level in a storage object (4, 4a, 4b) configured as loading aid, filling level of a storage region (B, B1..B3), separation of (a) hazardous good(s) from non-hazardous storage objects (4, 4a, 4b), transport route of a storage object (4, 4a, 4b) from a physical receiving location (P, P1..P5) to a delivery device, wherein the storage object (4, 4a, 4b) is transported on said transport route by means of the storage and retrieval unit (11), transport route of a storage object (4, 4a, 4b) from a receiving device to a physical receiving location (P, P1..P5), wherein the storage object (4, 4a, 4b) is transported on said transport route by means of the storage and retrieval unit (11), prioritization of larger front virtual receiving locations (P', P1'..P5') or physical receiving locations (P, P1..P5), in case of multiple virtual receiving locations (P', P1'..P5') or physical receiving locations (P, P1..P5) located one behind another, minimization of the time required for storing by means of the storage and retrieval unit (11), maximization of the number of the storage objects (4, 4a, 4b) stored at a time by means of the storage and retrieval unit (11).

6. The method according to any one of the claims 3 to 5, characterized in that one or multiple of said criteria are taken into account during a rearranging operation, in which already-stored storage objects (4, 4a, 4b) are rearranged to another physical receiving location (P, P1..P5), wherein the steps b) to f) are executed after the removal of a storage object (4, 4a, 4b) from its original physical receiving location (P, P1..P5) during the storing on the other physical receiving location (P, P1..P5).

7. The method according to any one of the claims 1 to 6, characterized in that the steps b) to f) are executed for multiple storage objects (4, 4a, 4b) at a time, wherein the storage objects (4, 4a, 4b) are stored in one or multiple storage region segmentation(s) (S1..S6) in step c) and in a single storage region (B, B1..B3) in step d), wherein the storage and retrieval unit is configured for storing more than one storage object in a single step.

8. The method according to claim 7, characterized in that the physical receiving locations (P, P1..P5) of the storage objects (4, 4a, 4b) are arranged one behind another in a storage direction (z).

9. The method according to any one of the claims 1 to 8, characterized in that multiple storage region segmentations (S1..S6) are combined to a meta segmentation (M1..M3), wherein, in step c), a virtual receiving location (P', P1'..P5') is first selected in the plurality of meta segmentations (M1..M3) and a virtual receiving location (P', P1'..P5') is then selected in the plurality of storage region segmentations (S1..S6) of the selected meta segmentation (M1..M3), and in step f), the meta segmentations (M1..M3) assigned to the storage region (B, B1..B3) are limited, in the electronic memory (22), to one or multiple meta segmentation(s) (M1..M3) which include the selected virtual receiving location (P', P1'..P5').

10. The method according to any one of the claims 1 to 9, characterized in that the storage region segmentations (S1..S6) assigned to a storage region (B, B1..B3) are sorted on the basis of a sorting criterion, and the storage region segmentation (S1..S6) that comprises the selected virtual receiving location (P', P1'..P5') and has the highest priority is selected in step c).

11. The method according to any one of the claims 1 to 10, characterized in that the virtual receiving location (P', P1'..P5') that offers the best use of space by the storage object (4, 4a, 4b) is selected in step c).

12. The method according to any one of the claims 1 to 11, characterized in that the step f) is executed in the same manner for other storage regions (B, B1..B3).

13. A rack storage system (1), comprising at least one storage rack (3a, 3b) for receiving multiple storage objects (4, 4a, 4b) of different storage-object types, which comprises uprights (6), rack levels (E) located on top of one another and a plurality of storage regions (B, B1..B3), wherein the storage regions (B, B1..B3) are respectively arranged between two uprights (6) spaced apart from each other in a longitudinal direction (x) of the storage rack (3a, 3b), at least one storage and retrieval unit (11) for storing the storage objects (4, 4a, 4b) that is displaceable in the longitudinal direction (x) of the storage rack (3a, 3b), and a warehouse management system (21), to which an electronic memory (22) is allocated, wherein the warehouse management system (21) is configured for executing the following steps: a) assigning multiple storage region segmentations (S1..S6) to a storage region (B, B1..B3) of the storage regions (B, B1..B3) in the electronic memory (22) for the plurality of storage regions (B, B1..B3), wherein the storage region segmentations (S1..S6) respectively comprise a plurality of virtual receiving locations (P', P1'..P5') for the storage objects (4, 4a, 4b) and specify a possible arrangement of the storage-object types inside said storage region (B, B1..B3), b) acquiring the storage-object type of a storage object to be stored (4, 4a, 4b), c) selecting a virtual receiving location (P', P1'..P5') for the storage-object type of the storage object (4, 4a, 4b) to be stored in the plurality of storage region segmentations (S1..S6), wherein the virtual receiving location (P', P1'..P5') enables the storage of the storage-object type of said storage object (4, 4a, 4b), wherein the virtual receiving location (P', P1'..P5') is selected according to the criterion of priority of rear virtual receiving locations (P', P1'..P5'), in case of multiple virtual receiving locations (P', P1'..P5') located one behind another, d) controlling the storage and retrieval unit (11) for the purpose of storing the storage object (4, 4a, 4b) on a physical receiving location (P, P1..P5) of the storage region (B, B1..B3) which is assigned to the selected virtual receiving location (P', P1'..P5'), e) changing a status of the virtual receiving location (P', P1'..P5') in the electronic memory (22), which specifies whether the assigned physical receiving location (P, P1..P5) is occupied by a storage object (4, 4a, 4b), from unoccupied to occupied, f) limiting the virtual receiving locations (P', P1'..P5') in the storage region segmentations (S1..S6) assigned to the storage region (B, B1..B3) to virtual receiving locations (P', P1'..P5') which enable the storage of another storage object (4, 4a, 4b) on a physical receiving location (P, P1..P5), in the electronic memory (22), and g) repeating the steps b) to f).

14. The rack system according to claim 13, characterized in that the limiting of the virtual receiving locations (P', P1'..P5') in step f) comprises a limiting of the storage region segmentations (S1..S6) assigned to the storage region (B, B1..B3) to one or multiple storage region segmentation(s) (S1..S6) which include the selected virtual receiving location (P', P1'..P5'), in the electronic memory.