METHOD AND SYSTEM FOR LOADING AND RELOADING OF CONTAINERS

Description

[0001] The present invention relates to various related methods and a system for loading containers or for transferring goods delivered in containers between different containers.

[0002] Systems and methods for handling or loading containers, pallets, or workpieces are known from the prior art. DE 10 2021 131651 A1 describes a pallet loading and unloading system and an associated method, wherein the handling of the transport aids used is fully automated. DE 10 2019 214 088 A1 discloses a handling device for use on a machine tool for picking up or transferring a workpiece. DE 10 2022 118 506 A1 describes an automated guided vehicle (AGV) system for transporting products from a printing press. DE 7404016 U discloses a device for loading general cargo onto the loading platform of a truck.

[0003] DE 10 2013 104423 B4 discloses a method for loading a goods container onto an AGV at a stationary loading station, wherein the loading station has a lifting device with a loading fork with two loading tines that can be moved vertically between an upper conveying level and a lower conveying level, comprising the following steps: Positioning the loading fork of the loading station at a suitable height in the upper conveyor level and transporting the goods container to the loading station in the upper conveyor level by means of a conveyor device until the goods container is carried by the loading fork; positioning an AGV movable in the lower conveyor level to pick up the goods container exactly below the goods container carried by the loading fork in the upper conveyor level.

[0004] DE 10 2013 04423 B4 further discloses a method for removing a goods container from an AGV at a stationary loading station, wherein the loading station has a lifting device with a loading fork with two loading tines that can be moved vertically between an upper conveyor level and a lower conveyor level, comprising the following steps: positioning the loading fork of the loading station at a suitable height in the lower conveyor level and positioning an AGV with a goods container on it in front of the loading station; The AGV travels straight ahead in the longitudinal direction of the loading forks towards the loading station, so that the loading forks of the loading fork, due to the straight-ahead travel of the AGV, enter a lower section of the goods container through vertical slots; the loading fork is raised vertically to the upper conveyor level, so that the goods container, which is supported by the loading fork during the lifting process, is lifted upwards and raised to the upper conveyor level; the goods container is then transferred to a conveyor device located in the upper conveyor level for further transport of the goods container in the upper conveyor level.

[0005] DE 10 2013 104423 B4 discloses a system for loading a goods container onto an AGV and for removing a goods container from an AGV in a comprehensive manner: A stationary loading station with a lifting device comprising a loading fork with two loading tines that is vertically movable between an upper and a lower conveyor level; a conveyor device for transporting goods containers to and from the loading station in the upper conveyor level; at least one AGV movable in the lower conveyor level, wherein, for loading a goods container onto the AGV, the loading tines of the lifting device carrying a goods container can be lowered vertically when the AGV is appropriately positioned, until the goods container is supported from below and until the loading tines projecting into the container through the vertical slots in a lower section of the container no longer have contact with the goods container and can then be extended linearly by driving the AGV straight ahead; and for removing a goods container from the AGV.When the AGV is traveling straight ahead, the loading forks of the loading fork can be inserted through the vertical slots below the goods container into a lower section of the container and then lifted along with the goods container until the container has been removed from the top.

[0006] In practice, logistics centers or other transshipment warehouses often face the task of sorting and transferring goods delivered in standardized containers (e.g., so-called KLT containers) into other containers in order to distribute, for example, the goods delivered in one container to a number of other containers, which then need to be sent to different recipients or (temporarily) stored at different locations within the warehouse.

[0007] In the prior art, the goods containers filled with goods are typically transported within the warehouse to appropriate transfer stations using standard, permanently installed conveyor technology, where the goods are then transferred between the different goods containers and from where the correspondingly loaded goods containers can be transported away again using standard conveyor technology.

[0008] However, the methods and systems currently used in this context are comparatively expensive and not very flexible with regard to adapting to different bearing designs, so the present invention aims to provide corresponding methods and systems that offer a high degree of flexibility in equipping a wide variety of bearings with such systems while being implemented at a comparatively low cost.

[0009] Within the scope of the present invention, various methods and systems are provided, namely a method for loading a goods container into an outer container mounted on an AGV ("automated guided vehicle") at a stationary loading station according to claim 1, a method for removing a goods container from an outer container mounted on an AGV at a stationary loading station according to claim 2, a method for transferring goods delivered in goods containers into other goods containers according to claim 3, which uses the methods according to claim 1 and claim 2, and a system for loading a goods container into an outer container mounted on an AGV and for removing a goods container from an outer container mounted on an AGV according to claim 4.The dependent claims relate to various advantageous further developments of the claimed system, all of which are equally suitable for the further development of the aforementioned methods.

[0010] In the inventive method according to claim 1 for loading a goods container into an overcontainer mounted on an AGV ("automated guided vehicle") at a stationary loading station, it is provided that the loading station has a lifting device with a loading fork with two loading tines that is vertically movable between an upper conveying level and a lower conveying level, wherein the method comprises the following steps: (A1) Positioning the loading fork of the loading station at a suitable height in the upper conveyor level and transporting the goods container to the loading station in the upper conveyor level by means of a conveyor device, so that the goods container is supported by the loading fork; (B1) Positioning an AGV movable in the lower conveyor level with an overcontainer mounted on it to receive the goods container exactly below the goods container supported by the loading fork in the upper conveyor level;(C1) Vertical lowering of the loading fork and the goods container located on it into the overcontainer below until the goods container is supported underneath in the overcontainer and until the loading forks projecting into the overcontainer in a lower section therein no longer have contact with the goods container supported inside the overcontainer, the overcontainer having two vertical slots in a side wall extending from the top edge of the wall to the lower section to allow the loading fork to be lowered; (D1) Straight-ahead travel of the AGV with the overcontainer on it and the goods container located inside the overcontainer in the longitudinal direction of the loading forks away from the loading station, so that the loading forks of the stationary loading station are extended out of the overcontainer due to the straight-ahead travel of the AGV.

[0011] In the inventive method according to claim 2 for removing a goods container from a container mounted on an AGV ("automated guided vehicle") at a stationary loading station, the loading station is provided to have a lifting device with a loading fork with two loading tines that is vertically movable between an upper conveying level and a lower conveying level, wherein the method comprises the following steps: (A2) Positioning the loading fork of the loading station at a suitable height in the lower conveyor level and positioning an AGV with an overcontainer mounted on it and the goods container located inside the overcontainer in front of the loading station; (B2) Driving the AGV straight ahead in the longitudinal direction of the loading forks towards the loading station, so that, due to the straight-ahead movement of the AGV, the loading forks of the loading fork engage in a lower section of the overcontainer through vertical slots in a side wall of the overcontainer below the goods container; (C2) Lifting the loading fork vertically to the upper conveyor level, so that the goods container supported by the loading fork is lifted upwards out of the overcontainer and raised to the upper conveyor level, the vertical slots in a side wall of the overcontainer extending to the top edge of the wall to allow the loading fork to be lifted out;(D2) Transfer of the goods container to a conveying device located on the upper conveying level for further transport of the goods container on the upper conveying level.

[0012] The method according to claim 3, which is also according to the invention, for transferring goods delivered in containers into other containers at a transfer station comprises the following steps: (A3) Loading a first goods container filled with the goods to be sorted into an overcontainer mounted on a first AGV at a stationary loading station according to a method according to claim 1; (B3) Loading a second, empty goods container into an overcontainer mounted on a second AGV at a stationary loading station according to a method according to claim 1; (C3) Optionally, loading at least one further empty or goods-filled goods container into an overcontainer mounted on a further AGV at a stationary loading station according to a method according to claim 1; (D3) Moving the at least two AGVs with the overcontainers and goods containers located on them to a transfer station on the lower conveyor level;(E3) Manual or automatic transfer of goods from the first goods container to the second goods container at the transfer station and, optionally, transfer of further goods between the different goods containers until the second goods container is filled with the desired goods; (F3) After completion of the transfer of the goods, movement of the various AGVs with over-containers and goods containers to a loading station and removal of the respective goods container from the over-container mounted on the respective AGV according to a method according to claim 2.

[0013] The system according to the invention as claimed in claim 4, which serves for loading a goods container into an overcontainer mounted on an AGV and for removing a goods container from an overcontainer mounted on an AGV, comprises accordingly a stationary loading station with a lifting device comprising a loading fork with two loading tines that can be moved vertically between an upper conveyor level and a lower conveyor level, a conveyor device for transporting goods containers to and from the loading station in the upper conveyor level, and at least one AGV that can be moved in the lower conveyor level with an overcontainer mounted on it, wherein the outer container has at least two vertical slots extending to the top edge in a side wall and is designed such that (a) to load a goods container into the overcontainer mounted on the AGV, the loading forks of the lifting device, which support a goods container, can be lowered vertically when the AGV is appropriately positioned, until the goods container is supported underneath in the overcontainer and until the loading forks projecting into the overcontainer through the vertical slots in a lower section of the overcontainer no longer have contact with the goods container and can then be extended linearly out of the overcontainer by driving the AGV straight ahead; and (b) to remove a goods container from the overcontainer mounted on the AGV, the loading forks of the loading fork can be inserted into a lower section of the overcontainer through the vertical slots below the goods container when the AGV is appropriately driven straight ahead, and then lifted together with the goods container until the goods container has been removed upwards from the overcontainer.

[0014] In connection with the aforementioned procedures and system, it should first be noted that the transport of goods containers is provided for on two conveying levels: an upper conveying level and a lower conveying level. The upper conveying level contains a conveying device (e.g., a conventionally driven and appropriately controllable roller or belt conveyor) with which the goods containers, transferred to the conveying device at a suitable point, can be fed to or removed from the loading station on the upper conveying level. The lower conveying level, which is typically formed by the flat floor of the warehouse, contains at least one AGV (Automated Guided Vehicle) with a fixed overcontainer mounted on it.

[0015] It may be advantageous to provide that the conveying device located in the upper conveying level - at least in the area of ​​the loading station - can be driven under by an AGV located in the lower conveying level together with the overcontainer located on it (and possibly a goods container located in the overcontainer).

[0016] The loading station is mounted in a fixed position according to the invention and has a lifting device with a loading fork with two loading tines that can be moved vertically between the upper conveying level and the lower conveying level, so that it can transport a goods container supported on the loading tines of the loading fork from the upper to the lower conveying level (and vice versa).

[0017] According to the invention, a goods container supplied to the loading station by the conveying device (in the upper conveying level) can be loaded from above into a specially designed overcontainer mounted on an AGV by means of the lifting device, in accordance with the method of claim 1, and a goods container supplied to the loading station by an AGV with a corresponding overcontainer (in the lower conveying level) can be lifted upwards out of the overcontainer by means of the lifting device in accordance with the method of claim 2, in order to then transfer it back to the conveying device (located in the upper conveying level) for further transport.

[0018] Naturally, the conveyor system located at the loading station on the upper conveyor level and the loading station itself must be designed in such a way that a goods container fed by the conveyor system can be positioned correctly, i.e., in a precisely predetermined position, on the loading forks of the lifting device. Conversely, a goods container lifted from an AGV's overhead container and placed on the upper conveyor level by the lifting device can be transferred from there to the conveyor system in a suitable manner for subsequent transport. Sufficiently precise positioning of the goods container on the loading forks can be facilitated by appropriate stops on the loading forks.

[0019] The goods containers delivered to a loading station using conventional conveyor technology can therefore be transferred in a particularly flexible manner and without the need for separate conveyor technology to be installed in the lower conveyor level, to an AGV located in the lower conveyor level (by loading from above into the overcontainer mounted on the AGV) and from there transported by means of an AGV to any location (e.g. to a transshipment station in the sense of claim 3).

[0020] In the area of ​​the transfer station, various AGVs with overcontainers and goods containers inside can be positioned in a suitable and easily accessible manner so that goods can be efficiently transferred between different goods containers – either manually (by a person) or automatically (e.g. by means of a suitable handling device).

[0021] Furthermore, a goods container located in an overcontainer of an AGV (e.g. after completion of a transshipment process) can be flexibly transported to a loading station by means of the AGV, in order to be easily removed from the overcontainer and then transferred to the conveying device located there in the upper conveying level.

[0022] To transport each goods container on the lower conveyor level, an AGV with a permanently mounted overcontainer is required, although it might also be advantageous to have two overcontainers mounted on one AGV, each to hold one goods container.

[0023] Furthermore, a system according to the invention may preferably have several loading stations in order to enable the transfer of goods containers at different points between the AGVs traveling in the lower conveyor level and the conveyor equipment located there in the upper conveyor level.

[0024] If a warehouse has multiple loading stations installed and appropriately connected to a conveyor system running along the upper conveyor level, each AGV with its installed overcontainer can receive a delivered goods container at a first loading station and later deliver it to the conveyor system at another (or even the same) loading station – for example, after goods have been transferred between different goods containers.

[0025] In accordance with the invention, an outer container permanently mounted on an AGV serves to receive a goods container and is designed accordingly, wherein the outer container must obviously be designed in such a way that it allows the loading of a goods container according to a method according to claim 1 and / or the removal of a goods container according to a method according to claim 2.

[0026] An overcontainer usable within the scope of the invention (with a typically rectangular cross-section) advantageously has four side walls, wherein (at least) one side wall has two vertical slots extending vertically downwards from the upper edge of the side wall, the spacing and width of which are selected such that the two (always horizontally extending) loading forks - with suitable positioning of the AGV together with the overcontainer at the loading station - can be lowered into the overcontainer without contact with the overcontainer when the loading fork is lowered vertically in the area of ​​the vertical slots in accordance with step (C1) for the purpose of loading a goods container into the overcontainer.

[0027] Naturally, the two vertical slots must extend sufficiently into the lower section of the outer container to allow a goods container supported by the loading forks, as described in process step (C1), to be placed on a base or support structure provided inside the outer container. Furthermore, the loading forks must be able to extend laterally out of the outer container without contacting the goods container or outer container by the AGV driving straight ahead, as described in process step (D1). The base or support structure inside the outer container that supports the goods container from below must also have corresponding recesses / depressions to allow the loading forks to be lowered below the base level of the goods container supported inside the outer container, as described in step (C1).so that the appropriately positioned loading forks can enter the overcontainer through the lateral vertical slots below the goods container when the AGV travels straight ahead in accordance with procedure step (B2).

[0028] In a particularly advantageous embodiment of the present invention, the clear opening of the outer container used within the scope of the invention can be slightly larger than the outer dimensions of the goods container to be held in the outer container, so that when the goods container is positioned centrally in the outer container, a gap exists between the inner wall of the outer container and the outer wall of the goods container held therein. This allows for a certain degree of leeway with regard to the accuracy with which an AGV must be positioned below the goods container in process step (B1) for loading it.

[0029] In this case, it is particularly advantageous if a brush assembly is provided on the inner wall of the outer container to at least largely close the gap between the outer container and the goods container. Such a brush assembly can prevent any goods protruding from or spilling out of the top of the goods container from falling into the gap between the outer container and the goods container during transport by AGV and / or during transshipment at a transfer station. Furthermore, the brush assembly is sufficiently flexible to reliably fulfill this purpose even if the goods container is not positioned exactly centrally within the outer container.It is advantageously provided at such a height on the inner wall of the outer container that the brushes of the outside of the goods container, which is positioned as intended inside the outer container, lie in the area of ​​the upper edge or just below the upper edge of the goods container.

[0030] Furthermore, it is advantageous within the scope of the invention if the side walls of the outer container project vertically beyond the walls of the goods container held within the outer container. This is particularly advantageous when – as is often the case in practice – overfilled goods containers with goods protruding upwards or spilling out of the container (e.g., to or from a transshipment station) have to be transported.

[0031] In a further preferred embodiment of the present invention, it can be provided that both loading tines of the loading fork of a loading device have a motor-driven conveyor belt on their upper side. This conveyor belt can transfer a goods container supported on the loading tines in the upper conveying plane to a conveying device located directly in front of the loading fork, or it can be used to position a goods container fed by the conveying device in the upper conveying plane appropriately onto the loading tines. The two conveyor belts located on the two loading tines of the loading fork are advantageously driven by a drive motor, which can be arranged in a space-saving manner, e.g., on the rear of the loading fork, and can be connected, e.g., by means of a suitable bus connection (e.g., CAN bus) to a central control unit for the system according to the invention.

[0032] Regarding the "Automated Guided Vehicles" (AGVs) used within the scope of the invention, which are also frequently called driverless transport vehicles, it should be mentioned that such AGVs are well known in the prior art in a wide variety of configurations and are already used in many ways for autonomous goods transport in industrial warehouses, production facilities, or logistics centers. Such AGVs, as used within the scope of the present invention, can carry a goods container (or, in this case, an outer container for a goods container to be held therein) on their upper surface, the goods container of which can, of course, be filled with goods, and are typically equipped with a suitable drive system with which the AGV can, for example, perform straight-line travel in forward / reverse directions and turns.

[0033] Suitable control and guidance systems for controlling the route and other functions of such AGVs are already known from the state of the art in a variety of practical designs.

[0034] It can be advantageously provided within the scope of the present invention that the system according to the invention has a central or distributed control unit which is configured to control the transport of various goods containers to and from the at least one loading station by means of the respective conveyor device, the drive of any conveyor belts on the upper side of the loading tines of the loading forks of the at least one loading station, the use of the at least one AGV with suitable specification of the travel paths to be covered for this purpose and the necessary control of the drive of the lifting device of the at least one loading station (fully automatically).

[0035] Both the at least one AGV and the control unit are advantageously equipped with suitable bidirectional communication interfaces, which may preferably be based on one or more of the data communication standards commonly used for wireless communication. The drive units of the lifting device and any conveyor belts on the loading forks of the at least one loading station may also be equipped with corresponding communication interfaces for wired or wireless communication with the central control unit, which is possible, for example, by connection via a suitable bus system (e.g., CAN bus).

[0036] When using AGVs with optical sensors, it proves particularly helpful to have at least one floor marking, easily recognizable by the transport vehicle, at each loading station. This ensures precise positioning of the AGV at the loading point. Furthermore, the routes to be used by the AGV can be marked by suitable floor markings placed along the route, facilitating precise control of the transport vehicles along their paths. Such guidance systems, which enable reliable navigation for AGVs using floor markings and suitable sensors in / on the AGV, are well-known in the prior art.

[0037] Exemplary embodiments of the invention are explained in more detail below with reference to the drawings. These show Figs. 1A-1C show an AGV usable according to the invention with a container mounted on it in various views, Fig. 2A shows a loading station in top view, Figs. 2B and 2C show a side view and a rear view of the loading station. Fig. 2A together with a goods container located on the loading forks in the upper conveyor level and an AGV positioned exactly below it in the lower conveyor level with an overcontainer mounted on it, Fig. 3A-3D various side views of a loading station to illustrate the loading of a goods container into an overcontainer mounted on an AGV, Fig. 4A-4D various side views of a loading station to illustrate the unloading of a goods container from an overcontainer mounted on an AGV, Fig. 5A-5C various (partial) top views of a system according to the invention when carrying out a method according to the invention for transferring goods between different goods containers, and Fig. 6A u 6 a top view and a side view of a further embodiment of a lifting device in which the loading forks of the loading fork are equipped with a conveyor belt.

[0038] The Fig. 1A Figure 1 shows an AGV 1 used within the scope of the present invention together with an overcontainer 2 mounted thereon in a top view, wherein the overcontainer 2 is for receiving a - in the Fig. 1A-C not yet shown - goods container, which is subsequently discussed, among other things, with reference to the Fig. 3A-3D will be explained in more detail later. Fig. 1B und 1C show this in Fig. 1A The AGV 1 with overcontainer 2 shown is depicted in two different side views according to view arrows II ( Fig. 1B ) or view arrows II-II ( Fig. 1C ).

[0039] The rectangular container 2 has four side walls 3, 4, 5, 6 and is open at the top, so that – as will be explained in more detail below – a goods container can be loaded into the container 2 from above. The container 2 has an internal base or support structure 7 on which a goods container can be supported from below.

[0040] In the Fig. 1A right-sided and in Fig. 1C On the side wall 3 facing the viewer, two vertical slots V1 and V2 are provided, extending from the upper edge of the side wall 3 to a lower area of ​​the outer container 2. These slots allow the loading forks supporting the goods container to pass into the interior of the outer container 2 during loading and unloading. Furthermore, recesses A1 and A2 are provided in the base or support structure 7. These recesses allow the loading forks to be lowered below the level of the base or support structure 7, or to be inserted into or withdrawn from the outer container 2 below the goods container supported on the base or support structure 7. According to the invention, this is accomplished by the AGV driving straight ahead from a suitably positioned loading station, as will be explained in more detail below.

[0041] Furthermore, it shows Fig. 1A another brush arrangement 8 attached to the inner wall of the outer container 2, with which, as will be shown below, Fig. 5B It will be explained in more detail that a gap between the outer container 2 and a goods container contained within it is closed or covered so that no goods can fall into it during transport of the goods container or during the transfer of goods.

[0042] Fig. 2A Figure 1 shows a loading station 9 with lifting device 10 and a conveying device 11 usable within the scope of the invention in a top view, wherein the Fig. 2B und 2C in turn the in Fig. 2A Loading station 9 shown in two different side views according to view arrows III-III ( Fig. 2B ; side view) or view arrows IV-IV ( Fig. 2C (show rear view).

[0043] The conveying device 11, which in the illustrated embodiment is a roller conveyor, serves to feed or remove goods containers 16 (fed at other points on the conveying device 11) to or from the lifting device 10 in an upper conveying level E 1. The conveying device 11 extends significantly further than shown in the various drawings and is connected on the side facing away from the lifting device 10 in a suitable manner to the conveying technology that is typically already present in a logistics center, transshipment warehouse, etc.

[0044] The lifting device 10 of the loading station 9 has a loading fork 12 with two horizontally and parallel loading tines 13, wherein the loading fork 12 is attached to a base structure 14, which is vertically movable within two roller arrangements 15 supporting the base structure 14 on both sides for raising and lowering the loading fork 12 between two end positions assigned to the upper conveying level E 1 and the lower conveying level E 2, which is achieved by a Fig. 2A-2C The drive, which is not shown, can be accomplished.

[0045] The Fig. 2B und 2C The figures show, in addition to the loading station 9, a goods container 16 positioned on the loading tines 13 of the loading fork 12 and an AGV 1 positioned appropriately exactly below the goods container 16 with an overcontainer 2 on it. If the loading fork 12, together with the goods container 16 supported on the loading tines 13, is now moved from the Fig. 2B und 2C When the container is lowered, the goods container 16 can be placed inside the outer container 2, since the loading forks 13 can extend into the interior of the outer container 2 through the vertical slots V 1 , V 2 during the entire lowering process.

[0046] The loading of a goods container 16 into the overcontainer 2 mounted on an AGV and the removal of a goods container 16 located in the overcontainer 2 are described below using the following: Fig. 3A-3D (Loading) and 4A-4D (Unloading) are explained in more detail.

[0047] To load a goods container 16 into the overcontainer 2 mounted on an AGV 1, the following must first be done in accordance with procedure step (A1) according to double arrow P 3. Fig. 3A The vertically movable loading fork 12 of the loading station 9 is positioned at a suitable height in the upper conveyor level E 1, as shown in Fig. 3A as can be seen, and a goods container 16 is transported by means of the conveyor device 11 to the loading station 9 in the upper conveyor level E 2 according to arrow P 2 (see Fig. 3A ), so that the goods container 16 is finally carried in a position intended for its intended purpose, which can be specified by suitable stop elements, by the loading fork 12 or the loading tines 13 (cf. Fig. 3B ). Then, in accordance with process step (B1), which can also be carried out simultaneously or before process step (A1), the AGV 1, which is movable in the lower conveyor level E 2, with the overcontainer 2 mounted on it for receiving the goods container 16, must be positioned exactly below the goods container 16, which is supported by the loading fork 13 in the upper conveyor level E 1, whereby the AGV 1 and the overcontainer 2 must also be oriented such that the vertical slots V 1 , V 2 are arranged exactly below the two loading tines 13 of the loading fork 12. The AGV 1 is in the Fig. 3A und 3B already recognizably positioned as such. The loading fork 12 and the goods container 16 located on it can then be removed according to arrow P 4. Fig. 3B be lowered vertically into the overcontainer 2 below, until the goods container 16 is in contact with the underside of the overcontainer 2 (through the base or support structure 7 there - cf. Fig. 1A ) is supported and until the loading prongs 13 projecting into the outer container 2 in a lower section no longer have contact with the goods container 16 supported inside the outer container 2 (cf. Fig. 3C ). This lowering of the loading fork 12 is made possible by the two vertical slots V1, V2 in a side wall 3 of the overcontainer 2 and by the recesses A1, A2 in the base or support structure 7 of the overcontainer 2. The loading tines 13 can then be lowered in the direction of the loading tines 13 of the stationary loading station 9 (see Figure 1) by driving the AGV 1 straight ahead in the direction of arrow P5 or P6, as described in process step (D1). Fig. 3C und 3D ) from the overcontainer 2 mounted on the AGV 1. The AGV 1, together with the overcontainer 2 mounted on it and the goods container 16 contained therein, can then move freely in the lower conveyor level E 2.

[0048] To the in the Fig. 4A-4D In the illustrated removal of a goods container 2 from a supercontainer 2 mounted on an AGV 1, the loading fork 13 of the loading station 9 must first be positioned at a suitable height in the lower conveyor level E 2 in accordance with process step (A2) (see Fig. 4A ) and position the AGV 1 appropriately in front of loading station 9. Then, by driving the AGV 1 straight ahead in the longitudinal direction, the loading forks 13 can be extended towards loading station 9 according to arrow P7. Fig. 4A Care must be taken to ensure that the loading tines 13 of the loading fork 12, due to the straight-ahead travel of the AGV 1, pass through the vertical slots V 1 , V 2 in the side wall 3 of the overcontainer 2 below the goods container 16 and enter a lower section of the overcontainer 2 (see figure). Fig. 4A und 4B ). Subsequently, according to process step (C2), the loading fork 12 is raised vertically to the upper conveyor level E 1, so that the goods container 16, which is carried by the loading fork 12, is lifted upwards out of the overcontainer 2 and raised to the upper conveyor level E 1 (cf. Fig. 4C ). Then, the goods container 16 can be removed from the container in accordance with process step (D2) as indicated by arrows P 9 and P 10. Fig. 4C und 4D to be transferred to the conveying device 11 located in the upper conveying level E 1 for further transport of the goods container 16.

[0049] The Fig. 5A , 5B and 5C Finally, a further embodiment of the invention is illustrated in a top view, in which two loading stations 9 and 9' of the type already described are provided, wherein in the Fig. 5A and 5BThe area marked by the double arrow P 11 shows a top view of the upper conveying level E 1, while the area to its left shows exclusively a top view of the lower conveying level E 2, so that the further course of the conveying devices 11 and 11' leading to the loading stations 9 and 9' respectively is not visible there.

[0050] In the upper area of Fig. 5A The conveyor device 11, designed as a roller conveyor, moves an empty goods container 16 in the direction of arrow P 12 to the Fig. 5A The material was conveyed at loading station 9 shown above. In the lower area of Fig. 5A The conveying device 11', designed as a roller conveyor, moves a goods container 16 filled with goods in the direction of arrow P 14 towards the Fig. 5A The goods container 16 or 16', delivered by the respective conveyor 11 or 11', is conveyed to the loading station 9' shown below. At both loading stations, on the upper conveyor level E1, two lateral guide elements 17 or 17' with roller drives are provided on either side of the loading fork 12 or 12'. These guide elements enable the goods container 16 or 16', delivered by the respective conveyor 11 or 11', to be positioned correctly on the respective loading fork 12 or 12'. On the lower conveyor level E2, there are two AGVs 1, 1', each with a supercontainer 2, 2' of the type described above mounted on it. These AGVs are also moved in the direction of arrows P13 or P15 to each of the loading stations 9 or 9', respectively, to position themselves precisely below the point where the goods containers 16 or 16' are placed on the respective loading fork 12 or 12'.Then, by lowering the loading forks 12, 12', the respective goods container 16, 16' can be loaded into the overcontainer 2, 2' below, as already described.

[0051] Subsequently, the AGVs 1, 1' together with the overcontainer 2, 2' and the goods container 16 or 16' located therein can be moved away again from the loading station 9 or 9' (see Fig. 5B ). In Fig. 5B It is also clearly visible that the brush arrangements 8 and 8' provided on an inner wall of the outer container 2 and 2' at least largely close the circumferential gap (except in the area of ​​the vertical slots V 1 , V 2 ) between the outer container 2 and 2' and the goods container 16 and 16' contained therein.

[0052] Subsequently, the AGVs, each loaded with a goods container 16, 16', can be moved 1, 1' according to the respective arrow P 16 , P 17 (see Fig. 5C ) are transported on a route F or F' assigned to them to a transshipment station 18 (see Fig. 5C At the transfer station, goods can then be transferred from the filled goods container 16' to the previously empty goods container 16' – either automatically by means of a schematically depicted handling robot 19 or manually by suitable personnel. It is evident that, if necessary, more than two AGVs with overhead and goods containers can be moved to a transfer station 18 to transfer goods between several goods containers.

[0053] After the desired transshipment operations have been carried out, the various AGVs 1, 1' can then be moved to one of the loading stations 9, 9' or to another (not shown) loading station in order to transfer the respective goods containers 16, 16' back to the conveyor system 11, 11' located in the upper conveyor level E 1 for further transport.

[0054] The Fig. 6A und 6B Finally, we show a further embodiment of a loading station 9 according to the invention, in which a conveyor belt 21, driven by a drive unit 20, is provided on the upper side of each of the two loading tines 13 of the loading fork 12. This conveyor belt transfers a goods container 16, supported on the loading tines 13, to a conveying device 11 located directly in front of the loading fork 12 in the upper conveying plane E 1, or it positions a goods container 16 fed by the conveying device 11 in the upper conveying plane E 1 (with the aid of suitable stops) appropriately on the loading tines 13. The double arrows P 18 and P 19 indicate that the conveyor belt 21 can be moved in different directions to move the goods container 16 on the loading fork 12 in different directions.

Claims

1. Method for loading a goods container (16) into an overcontainer (2) mounted on an AGV (1) at a fixedly mounted loading station (9), wherein the loading station (9) has a lifting device (10) with a loading fork (12) with two loading tines (13) which can be moved vertically between an upper conveying level (E1) and a lower conveying level (E2), with the following steps: (A1) Positioning the loading fork (12) of the loading station (9) at a suitable height in the upper conveying level (E1) and transporting the goods container (16) to the loading station (9) in the upper conveying level (E1) by means of a conveyor device (11) until the goods container (16) is carried by the loading fork (12); (B1) Positioning of an AGV (1) travelling in the lower conveying plane (E2) with an overcontainer (2) mounted thereon for receiving the goods container (16) exactly below the goods container (16) carried by the loading fork (12) in the upper conveying level (E1); (C1) Vertical lowering of the loading fork (12) and the goods container (16) located thereon into the overcontainer (2) located below until the goods container (16) is supported on the underside in the overcontainer (2) and until the loading tines (13) projecting into a lower section of the overcontainer (2) no longer have any contact with the goods container (16) supported inside the overcontainer (2), wherein the overcontainer (2) has two vertical slots (V1, V2) in a side wall (3) extending from the upper edge of the wall (3) to the lower section to enable the loading fork (12) to be lowered; (D1) Straight-ahead travel of the AGV (1) with the overcontainer (2) located thereon and the goods container (16) located inside the overcontainer (2) in the longitudinal direction of the loading tines (13) away from the loading station (9), so that the loading tines (13) of the stationarily mounted loading station (9) are moved out of the overcontainer (2) due to the straight-ahead travel of the AGV (1).

2. Method for removing a goods container (16) from an overcontainer (2) mounted on an AGV (1) at a fixedly mounted loading station (9), the loading station (9) having a lifting device (10) with a loading fork (12) with two loading tines (13) which can be moved vertically between an upper conveying level (E1) and a lower conveying level (E2), having the following steps: (A2) Positioning the loading fork (12) of the loading station at a suitable height in the lower conveying level (E2) and positioning an AGV (1) with an overcontainer (2) mounted on it and the goods container (16) located inside the overcontainer (2) in front of the loading station (9); (B2) Straight-ahead travel of the AGV in the longitudinal direction of the loading tines (13) towards the loading station, so that the loading tines (13) of the loading fork (12) enter a lower section of the overcontainer (2) through vertical slots (V1, V2) in a side wall (3) of the overcontainer (2) due to the straight-ahead travel of the AGV (1) below the goods container (16); (C2) Vertical lifting of the loading fork (12) up to the upper conveying level (E1), so that the goods container (16) carried by the loading fork (12) during lifting is lifted upwards out of the overcontainer(2) and lifted up to the upper conveying level (E1), wherein the vertical slots (V1, V2) extend in a side wall (3) of the overcontainer up to the upper edge of the wall (3) to enable the loading fork (12) to be lifted out; (D2) Transfer of the goods container (16) to a conveyor device (11) located in the upper conveying level (E1) for further transport of the goods container (16) in the upper conveying level (E1).

3. Method for reloading goods delivered in goods containers (16') into other goods containers (16) at a reloading station (18), comprising the following steps: (A3) Loading of a first goods container (16') filled with the goods to be re-sorted into an overcontainer (2') mounted on a first AGV (1') at a stationarily mounted loading station (9') according to a method according to claim 1; (B3) Loading of a second, empty goods container (16) into an overcontainer (2) mounted on a second AGV (1) at a stationarily mounted loading station (9) according to a method according to claim 1; (C3) Optionally, loading of at least one further empty or goods-filled goods container (16, 16') into a respective overcontainer (2, 2') mounted on a further AGV (1, 1') at a stationarily mounted loading station (9, 9') according to a method according to claim 1; (D3) Moving the at least two AGVs (1, 1') with the overcontainers and goods containers located thereon in the lower conveying level (E2) to a reloading station (18); (E3) Manual or automatic reloading of goods from the first goods container (16') into the second goods container (16) at the reloading station (18) and, optionally, reloading of further goods between the various goods containers (16, 16') until the second goods container (16) is filled with the desired goods; (F3) After completion of the reloading of the goods, movement of the various AGVs (1, 1') with overcontainers and goods containers to a loading station (9, 9') and removal of the respective goods container (16, 16') from the overcontainer (2, 2') mounted on the respective AGV (1, 1') according to a method according to claim 2.

4. System for loading a goods container (16) into an overcontainer (2) mounted on an AGV (1) and for removing a goods container (16) from an overcontainer (2) mounted on an AGV (1), comprising: - a stationarily mounted loading station (9) with a lifting device (10), which has a loading fork (12) with two loading tines (13) that can be moved vertically between an upper conveying level (E1) and a lower conveying level (E2), - a conveyor device (11) for transporting goods containers in the upper conveying level (E1) to and from the loading station (9), - at least one AGV (1) movable in the lower conveying level (E2) with an overcontainer (2) mounted on it, wherein the overcontainer (2) has at least two vertical slots (V1, V2) in a side wall (3) extending up to the upper edge and is designed in such a way that (a) for loading a goods container (16) into the overcontainer (2) mounted on the AGV (1), the loading tines (13) of the lifting device (10) carrying a goods container (16) can be lowered vertically when the AGV (1) is suitably positioned, until the goods container (16) is supported on the underside in the overcontainer (2) and until the loading tines (13) projecting into a lower section of the overcontainer (2) through the vertical slots (V1, V2) no longer have any contact with the goods container (16) and can then be moved linearly out of the overcontainer (2) by the AGV (1) travelling straight ahead and (b) for removing a goods container (16) from the overcontainer (2) mounted on the AGV (1), the loading tines (13) of the loading fork (12) can enter into a lower section of the overcontainer (2) through the vertical slots (V1, V2) and can then be lifted together with the goods container (16) until the goods container (16) has been removed upwards from the overcontainer (2).

5. System according to claim 4, characterised in that the clear width of the overcontainer (2) is slightly larger than the outer dimensions of the goods container (16), so that when the goods container (16) is positioned centrally in the overcontainer (2), there is a gap between the inner wall of the overcontainer (2) and the outer wall of the goods container (16) accommodated therein.

6. System according to claim 5, characterised in that a brush arrangement (8) at least largely closing the circumferential gap between the overcontainer (2) and the goods container (16) is provided on the inner wall of the overcontainer.

7. System according to any one of claims 4 to 6, characterised in that the side walls of the overcontainer (3, 4, 5, 6) project vertically beyond the walls of the goods container (16) accommodated in the overcontainer (2).

8. System according to any one of claims 4 to 7, characterised in that both loading tines (13) of the loading fork (12) have a motor-driven conveyor belt (21) on their upper side, with which a goods container (16) supported on the loading tines (13) can be transferred in the upper conveying level (E1) to a conveying device (11) located directly in front of the loading fork (12) or with which a goods container (16) fed in the upper conveying level (E1) by the conveying device (11) can be suitably positioned on the loading tines (13).