Method for controlling traffic in a transport system, and transport system

Abstract

The invention relates to a method for controlling traffic in the region of a junction (5a, 5b) of a transport system (1) with a master computer (2), a multiplicity of self-driven transport vehicles (3) and a driving area in which there are arranged a multiplicity of routes (4a..4d), along which the transport vehicles (3) can be moved. In this case, a plurality of the routes (4a, 4c) lead to the junction (5a, 5b) and at least one of the routes (4d) leads away from the latter. A sequence of time windows is predefined for the junction (5a, 5b), which sequence is repeated periodically along a time axis, wherein a period duration corresponds to a sum of all time windows in the sequence. Each time window is assigned to one of the routes (4a, 4c) leading to the junction (5a, 5b), with the result that it is possible to use the junction (5a, 5b) in the relevant time window merely using the respectively assigned route (4a..4c).

Description

[0001] METHOD FOR TRAFFIC CONTROL IN A TRANSPORT SYSTEM AND TRANSPORT SYSTEM

[0002] The invention relates to a method for traffic control in the region of a junction of a transport system with a master computer, a plurality of self-propelled transport vehicles and a driving surface on which a plurality of routes are arranged, along which the transport vehicles can be moved, wherein the transport vehicles each have a driving control, a drive device controllable by the driving control, a memory and a timer which indicates a local time of the transport vehicle, and several of the routes lead to the junction and at least one of the routes leads away from the junction, wherein the junction is marked by an intersection marking arranged on the driving surface and a sequence of time windows is predetermined for the junction, which sequence is repeated periodically along a time axis, wherein a period corresponds to a sum of all time windows in the sequence.

[0003] Furthermore, the invention relates to a hanging conveyor device, in particular for carrying out such a method, comprising a plurality of self-propelled transport carriers for transporting hanging goods, a support structure which forms a travel surface on which a plurality of travel routes are arranged, along which the transport carriers can be moved, wherein the plurality of travel routes form a transport network, a plurality of nodes, wherein several of the travel routes lead to a node and at least one of the travel routes leads away from the respective node, wherein the nodes are each marked by an intersection marking arranged on the travel surface, and a master computer which is configured to specify a sequence of time windows for each node, which is repeated periodically along a time axis, wherein a period corresponds to a sum of all time windows of the sequence,wherein the transport carriers each have a drive control, a drive device controllable by the drive control, a memory and a timer which indicates a local time of the transport carrier.,

[0004] Furthermore, the invention relates to an order picking system with such an overhead conveyor device.

[0005] Finally, the invention relates to a transport system, in particular for carrying out such a method, comprising a plurality of self-propelled transport vehicles, an outer boundary separating an inner region enclosed by the outer boundary from an outer region, a travel surface on which a plurality of travel routes are arranged, along which the transport vehicles can be moved, a plurality of nodes in the inner region, wherein several of the travel routes lead to a node and at least one of the travel routes leads away from the respective node, wherein the node is marked by an intersection marker arranged on the travel surface, and a master computer configured to specify a sequence of time windows for each node, which is repeated periodically along a time axis, wherein a period corresponds to a sum of all time windows of the sequence,wherein the transport vehicles each have a drive control, a communication unit, a drive device controllable by the drive control, a memory and a timer which indicates a local time of the transport vehicle.

[0006] Various methods for traffic control in the area of ​​a transport system's junction are known from the prior art. Such methods utilize, for example, rigid priority control systems, traffic light control systems, priority control systems controlled by the master computer, and / or communication between the transport vehicles. In particular, for priority control systems controlled by the master computer and / or for communication between the transport vehicles, a means of communication between the master computer and the transport vehicles, or between the transport vehicles, is required. However, radio-based communication, in particular, can lead to outages in certain areas, particularly in the steel structure of a warehouse.

[0007] DE 10 2019 216 189 A1 discloses a method in which zones with a risk of collision between mobile work machines are each assigned a sequence of time windows, with a movement sequence being defined for each time window. The work machines use map data stored in their memory to detect when they are approaching a zone with a risk of collision. The work machines wait until they are permitted to enter the zone according to a time window with a specific movement profile. The disadvantage of this, however, is that a movement profile must be defined for each zone with a risk of collision and for each time window. On the other hand, an entire transport network must be stored as map data in the memory of each work machine. This leads to enormous updating effort when the route changes, for example in overhead conveyor systems with several thousand transport vehicles, in particular transport carriers.One object of the invention is to provide an improved method for traffic control in the area of ​​a junction of a transport system. In particular, traffic control should be enabled without direct communication with the transport vehicles in the area of ​​the junction. Furthermore, the object of the invention is to provide a corresponding overhead conveyor device, a corresponding order-picking system, and a corresponding transport system.

[0008] The problem is solved by a method of the type mentioned at the outset, which comprises the following steps: i) Assigning at least one time window to each of the routes leading to the intersection by the control computer; ii) Storing the period and a temporal position of that time window assigned to a first route of the routes leading to the intersection within the period as time window data in the memory of the transport vehicle, wherein the time window data is transmitted from the control computer to the transport vehicle; iii) Moving the transport vehicle along the first route to the intersection and detecting the intersection marking by the transport vehicle, in particular by a detection unit of the transport vehicle connected to the drive control; iv) Retrieving the time window data from the memory by the drive control in response to the detection of the intersection marking;v) comparing the local time of the timer with the time window data by the drive controller;vi) controlling the drive device of the transport vehicle by the drive control such that the transport vehicle enters the junction if the local time of the timer along the time axis lies within the at least one time window assigned to the first travel route, or stops in a direction of travel before the junction, in particular at the intersection marking or between the intersection marking and the junction, if the local time of the timer lies outside the at least one time window assigned to the first travel route. Particularly preferably, the transport system is an overhead conveyor device, in particular described below, with a plurality of self-propelled transport carriers for transporting hanging goods and a support structure which forms a travel surface on which a plurality of travel routes are arranged, along which the transport carriers can be moved.

[0009] The transport vehicles can, for example, be designed as self-propelled transport carriers of an overhead conveyor device. Such transport carriers are described, for example, in the Austrian patent applications with the file numbers A 50847 / 2022, A 50848 / 2022, and A 50463 / 2022, which are incorporated in their entirety into this application and thus made the subject of this application. The following descriptions for transport vehicles therefore apply equally to transport carriers. Likewise, the following descriptions for transport carriers apply equally to transport vehicles. Transport vehicles can also be designed as ground-based, self-propelled vehicles, for example, autonomous mobile robots (AMRs) or automatically guided vehicles (AGVs).

[0010] Transport carriers can be designed, in particular, for the hanging transport of hanging goods. The hanging goods can be formed, on the one hand, by articles, in particular items of clothing, that are hung from the transport carriers by means of coat hangers, and, on the other hand, by transport bags, in particular filled with at least one article each, that hang from the transport carriers and are designed to hold at least one article each.

[0011] The object is further achieved with an overhead conveyor device of the type mentioned at the outset, wherein the master computer is further configured to assign at least one time window for each intersection to a respective route leading to the respective intersection, and for a intersection along a predetermined transport path of a transport carrier, the transport carrier is to send the period of the respective sequence and a temporal position of that time window which is assigned to a first route of the routes leading to the intersection, within the period, to the transport carrier as time window data, the transport carriers are each configured to receive the time window data and to store them in the memory of the transport carrier, and the travel control is configured to retrieve the time window data from the memory of the transport carrier, in particular in response to detection of the intersection marking by the transport carrier,to compare the local time of the timer with the time window data and to control the drive device of the transport carrier in such a way that the transport carrier enters the intersection point when the local time of the timer lies along the time axis within the at least one time window assigned to the first route, or stops in one direction of travel before the intersection point, in particular at the intersection marking or between the intersection marking and the intersection point, when the local time of the timer lies outside the at least one time window assigned to the first route.

[0012] An advantage achieved with the invention is in particular that in the area of ​​a junction, for example at an intersection and / or where two or more routes converge onto one route, a collision between transport vehicles can be avoided since only one route is permitted per time window, similar to a traffic light.

[0013] Time slot data specific to the transport vehicles can be sent to the transport vehicles in advance, for example, when a specified transport route or transport order is transmitted to the transport vehicle. This allows the transport vehicle to verify at the intersection itself whether entry is possible or whether the transport vehicle must wait for the next time slot. Therefore, no communication connection is required in the area of ​​the intersection, making the process particularly robust and reducing communication overhead.

[0014] Since the intersections are marked by intersection markers along the route that can be detected by the transport vehicle, it is also unnecessary for map data or similar data to be stored in the transport vehicle's memory. This allows the memory to be designed with a smaller storage volume, and a change in the route, for example, by changing route markings and / or intersection markers, can be implemented entirely without a map update. This is particularly advantageous for an overhead conveyor system, which typically involves several thousand transport vehicles.

[0015] The time windows can be specified with the same length or with individual lengths. For example, time windows can be specified with a length that depends on the traffic volume on the routes assigned in step i). In particular, time windows assigned to a high-frequency route can be longer than time windows assigned to a low-frequency route.

[0016] Furthermore, the time windows can be adjusted, particularly during ongoing operation of the transport system, especially the overhead conveyor, by specifying new sequences of time windows, for example, via the master computer. The sequence and / or length of the time windows can be changed.

[0017] Advantageously, the routes form a transport network comprising a plurality of nodes, whereby the method can be carried out essentially for each node. The time window data can be stored in memory for several nodes, for example, at the start of the transport vehicle's journey.

[0018] Furthermore, an intersection marking can be provided along each route leading to the intersection. Alternatively, the intersection marking can also be designed as a line that at least partially surrounds the intersection and crosses the routes leading to it.

[0019] A plurality of control markers can be provided along the routes, which can be detected by the transport vehicle. The control markers can include, for example, the previously mentioned intersection markers, signal markers that identify communication areas in the transport network, and / or stop markers that identify stopping points. Furthermore, the control markers can include several query markers that mark junctions along the transport route and are located upstream of the marked junction in a transport direction of the transport vehicle.

[0020] It is advantageous that the sequence of time windows, including the associated routes, are stored as time window data in the memory of the transport vehicle.

[0021] The timer can, for example, comprise a real-time clock, which is designed in particular as a hardware clock and / or a software clock, in particular implemented in the drive control system. It is advantageous if the overhead conveyor device comprises the hanging goods, which can be transported using the transport supports, and the hanging goods optionally have a transport bag with a bag body for storing the goods.

[0022] To ensure that the transport carriers each have virtually the same time information, it is preferably provided that the master computer specifies a system time of the transport system. Upon storage in step ii), the system time is transmitted from the master computer to the transport vehicle as synchronization data, and the local time of the timer is synchronized with the system time based on the synchronization data. Preferably, the local time of the timer is synchronized with the system time each time time window data or other data, such as a route definition, is transmitted to the transport vehicle.

[0023] In the case of an overhead conveyor device, it is therefore expedient if the master computer is set up to specify a system time of the overhead conveyor device and to send the system time as synchronization data to the transport carriers and the timer is set up to synchronize the local time of the respective transport carrier with the system time on the basis of the synchronization data.

[0024] It is advantageous if the transport vehicles, in particular the transport carriers, each have a communication unit connected to the memory and / or the driving control, which is designed to receive data, in particular time window data and / or route definitions, and to store them in the memory.

[0025] Preferably, the communication unit is connected to the timer and is designed to receive the synchronization data.

[0026] The master computer is advantageously configured to specify a transport route for each transport vehicle. For this purpose, the master computer can, for example, generate a route definition for each transport vehicle, which specifies which route should be selected for several junctions along the transport route. The master computer can send the route definition to the respective transport vehicle. The transport vehicles are also preferably configured to receive route definitions and store them in memory. The drive control is preferably configured to retrieve the route definition from the memory and to control the drive device in the area of ​​a junction according to the route definition.

[0027] The control computer of the transport system, in particular of the overhead conveyor device, is expediently designed to carry out step i) of the method.

[0028] It is advantageous if the sequence of time slots also includes buffer time slots, each of which is located between two adjacent time slots along the time axis. Preferably, no route is assigned to the buffer time slots. This allows for a buffer time to reliably move transport vehicles away from the junction before a time slot for another route opens.

[0029] For a junction with, for example, three routes leading to the junction, the sequence of time slots could look like this: first route - buffer time slot - second route - buffer time slot - third route - buffer time slot. The last buffer time slot of the sequence would lie between the time slot assigned to the third route in the sequence and the time slot assigned to the first route in the repeated sequence.

[0030] Furthermore, it is preferably provided that, during the allocation in step i), each time slot is assigned exactly one route leading to the intersection. This allows collisions to be avoided particularly reliably, since two transport vehicles can only enter the intersection one after the other within the same time slot via the same route and not via different routes. Oncoming traffic within the intersection is not possible.

[0031] Advantageously, it is provided that a length of the time windows is each set such that the length of the time windows corresponds at least to a time period for a movement of the transport vehicle from the intersection marking to the intersection point, in particular to a time period for a movement of several transport vehicles one after the other from the intersection marking to the intersection point.

[0032] In this case, several transport vehicles can be arranged to stop at the intersection marking and be lined up one behind the other along the first route. The transport vehicles can then be moved across the intersection, in particular, channeled through the intersection, within the time window assigned to the first route. The same can, of course, be done for other routes leading to the intersection.

[0033] It is advantageous if the period duration and the length of the time windows are determined such that several transport vehicles are congested at the junction along one of the routes, in particular along the first route, and enter the junction together in step vi). In this case, a buffer section can be provided by each of the routes leading to the junction, particularly in the case of the overhead conveyor system.

[0034] In order to regulate continued travel after the transport vehicle has stopped, it can be provided that the method comprises a step vii), which is carried out after the transport vehicle has stopped in step vi).

[0035] In this case, it can be provided that in step vii), step v) and preferably step iv) are repeated until the local time of the timer along the time axis lies within the at least one time window assigned to the first route, wherein the drive control controls the transport vehicle in such a way that it starts moving when the local time of the timer along the time axis lies within the at least one time window assigned to the first route and enters the junction. This eliminates the need to calculate a starting time. Essentially, a continuous query is made as to whether entry into the junction is possible.While the transport vehicle waits at the intersection marking until the first route is released by reaching the assigned time window, the driving control can periodically repeat steps v) and, if applicable, iv) so that the start of the next time window assigned to the first route does not have to be calculated based on the local time, but can be determined by repeatedly comparing the local time with the time window data.

[0036] Alternatively or additionally, it can be provided that in step vii), a start time is determined within a time window closest to the first route along the time axis, wherein the drive control system controls the transport vehicle such that it departs at the start time and enters the junction. When determining the start time, a start of the next time window assigned to the respective (first) route can be calculated, for example, based on the local time of the transport carrier. The start of the next time window assigned to the respective route represents the earliest possible start time.

[0037] It is expedient if the driving control is designed to carry out steps iii), iv), v) and / or vi) and, where appropriate, vii) of the method.

[0038] It is advantageous if the routes of the transport system, in particular the overhead conveyor device, are defined by route markings. The route markings can be used to guide the transport vehicles, in particular the transport carriers, along the routes. The route markings can be detected by the transport vehicle, in particular by a detection unit of the transport vehicle, with the drive control controlling the transport vehicle such that it moves along the route markings.

[0039] The markings, in particular the route markings and / or the control markings, are preferably designed as optical and / or magnetic markings, for example as lines and / or symbols arranged on the driving surface.

[0040] Preferably, the route marking is designed as an optical marking, for example, as a route line with a first edge and a second edge. When the transport vehicle moves, the first edge or the second edge is selectively followed by the transport vehicle. The (optical) route marking can thus be designed as a guide or route line on the travel surface of the support structure. To form the branches in the transport network, the route line can be branched, for example, in a star or Y shape, to define intersections, in particular junctions and junctions.

[0041] It is advantageous if the transport vehicles, in particular the transport carriers, each have a detection unit connected to the drive control system for detecting markings on the travel surface, in particular for detecting the travel path markings and / or the intersection markings. The transport system, in particular the overhead conveyor device, comprises a support structure that forms the travel surface. In particular, the support structure provides a travel platform, on the underside of which the travel surface is arranged.

[0042] It is advantageous if the transport carriers each comprise an adhesive force generator, particularly a magnetic one. The adhesive force generator allows the transport carriers to movably adhere to the running surface. For this purpose, it is expedient for the running surface to comprise a magnetic material. For example, in step iii), the transport carriers can be moved along the route while adhering to the running surface. The adhesive force generator preferably comprises one or more permanent magnets.

[0043] If the routes form a transport network comprising a plurality of nodes, wherein several of the routes lead to each node and at least one of the routes leads away from the respective node, wherein the nodes are marked by intersection markings arranged on the support structure and a sequence of time windows, in particular a node-specific one, is predetermined for each node, which is repeated periodically along a time axis, wherein a period corresponds to a sum of all time windows of the sequence, it is preferably provided that step i) is carried out for several, in particular all, nodes and in step ii) a transport route is determined by the control computer for the transport vehicle, along which the transport vehicle passes a plurality of nodes,and for each node along the transport route, the period duration and the temporal position of that time window assigned to a first route of the routes leading to the node are stored within the period duration as time window data assigned to the respective node in the memory of the transport vehicle, and steps iii) to vi) and, if applicable, vii) are carried out for all nodes along the transport route.

[0044] The procedure can thus be carried out in the same way at different nodes, so that the transport vehicle can be navigated through the transport network without collisions.

[0045] Furthermore, for example, the transport route, in particular a route definition, and the time window data for all nodes along the transport route can be transmitted to the transport vehicle in a single step, in particular within a communication area of ​​the overhead conveyor. This eliminates the need for further communication with the transport vehicle outside of the communication area along the transport route.

[0046] Furthermore, it is preferably provided that in step ii) a node sequence is stored in the memory of the transport vehicle, which corresponds to an order in which the transport vehicle reaches the nodes along the transport route, wherein in step iv) the driving control determines the node assigned to the detected intersection marking on the basis of the node sequence and retrieves time window data assigned to the determined node from the memory.

[0047] For example, the transport vehicle can determine the current junction based on the number of junctions it has already passed. At the third junction on the transport route, the control system retrieves the time window data from the memory that corresponds to the third junction in the junction sequence. This allows for a clear assignment of time window data to the junction at which the transport vehicle is located, regardless of the junction's location in the transport network.

[0048] In order to regulate the movement of several transport vehicles in the area of ​​a junction, it may be provided that steps ii) to vi) and, if applicable, vii) are carried out for another transport vehicle.

[0049] In this case, step ii) may additionally comprise storing the period duration and a temporal position of that time window which is assigned to a further route of the routes leading to the junction within the period duration as time window data in the memory of the further transport vehicle, wherein the time window data are transmitted from the master computer to the further transport vehicle.

[0050] Step iii) may additionally comprise moving the further transport vehicle along the further route to the intersection and detecting the intersection marking by the further transport vehicle, in particular by a detection unit of the further transport vehicle connected to the driving control system. Furthermore, step iv) may additionally comprise retrieving the time window data from the memory of the further transport vehicle by the driving control system of the further transport vehicle in response to detecting the intersection marking.

[0051] Step v) may additionally comprise comparing the local time of the timer of the further transport vehicle with the time window data by the driving control of the further transport vehicle.

[0052] Furthermore, step vi) can additionally comprise controlling the drive device of the further transport vehicle, wherein the controlling is carried out by the drive control of the further transport vehicle in such a way that the further transport vehicle enters the intersection point when the local time of the timer of the further transport vehicle lies along the time axis within the at least one time window assigned to the further travel route, or stops in a direction of travel before the intersection point, in particular at the intersection marking or between the intersection marking and the intersection point, when the local time of the timer of the further transport vehicle lies outside the at least one time window assigned to the further travel route.

[0053] In order to ensure that the control computer knows all of the transport vehicles in the transport system, the transport system can, on the one hand, be designed as a closed system which the transport vehicles cannot leave or enter without control. Alternatively, however, it can also be provided that the transport system comprises an outer boundary which separates an inner area enclosed by the outer boundary from an outer area, with a transport vehicle sending a reporting signal each time the respective transport vehicle crosses the boundary, and on the basis of the reporting signal, the control computer detects which transport vehicles are in the inner area, with steps ii) to vi and, if applicable, vii) being carried out for the transport vehicles in the inner area.

[0054] The object is further achieved by utilizing the advantages and effects described above with a picking system which comprises a warehouse, at least one picking station, and an overhead conveyor device connecting the warehouse to the at least one picking station, wherein the overhead conveyor device is designed according to one of the aspects described above. In this case, the picking station can be designed for the manual and / or automated picking of hanging goods in accordance with a picking order. At the picking station, on the one hand, hanging goods can be provided hanging on the transport supports by the overhead conveyor device. On the other hand, target containers into which the hanging goods are to be reloaded in accordance with picking orders can be provided at the picking station, for example by means of a floor-based conveyor system.

[0055] Furthermore, the object is achieved by utilizing the advantages and effects described above with a transport system of the type mentioned at the outset, wherein the communication unit is designed to send a notification signal when the respective transport vehicle crosses the border, the control computer is designed to detect, on the basis of the notification signal, which transport vehicles are located in the inner area, and the transport system is designed to carry out the method described above for the transport vehicles located in the inner area.

[0056] The transport system can, for example, be a previously described overhead conveyor device, an automated warehouse, or the like. Likewise, the transport system can, for example, be a delivery area, a city, a municipality, or the like, with the transport vehicles being, in particular, autonomous delivery vehicles, autonomous passenger vehicles, or the like. The routes can, in particular, be provided by roads. Those transport vehicles located within the inner area of ​​the transport system are managed by the control computer. As part of the reporting signal, the respective transport vehicle can transmit a destination to the control computer, so that the control computer can define an optimized transport route for the respective transport vehicle and transmit corresponding time window data to the transport vehicle.

[0057] For a better understanding of the invention, it is explained in more detail using the following figures.

[0058] For a better understanding of the invention, it is explained in more detail using the following figures.

[0059] They show in a highly simplified, schematic representation: Fig. 1 a section of a transport system;

[0060] Fig. 2 a sequence of time windows;

[0061] Fig. 3 Time window data;

[0062] Fig. 4 is a perspective view of the transport system;

[0063] Fig. 5 a transport vehicle in front view;

[0064] Fig. 6 the transport vehicle in perspective view;

[0065] Fig. 7 is a block diagram of the transport vehicle;

[0066] Fig. 8 shows a method for traffic control;

[0067] Fig. 9 shows a schematic representation of an order picking system;

[0068] Fig. 10 another transport system.

[0069] 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 mutatis mutandis 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 mutatis mutandis to the new position.

[0070] In Fig. 1, a section of a transport system 1, for example a suspended conveyor device 1020 shown in Fig. 4 and Fig. 9, is shown schematically, which comprises a master computer 2 and several self-propelled transport vehicles 3, for example transport carriers.

[0071] The transport system 1 has a plurality of routes 4a..4d, which are arranged on a travel surface T, as shown, for example, in Fig. 4. The routes 4a..4d form a transport network which has one or more nodes 5a, 5b. At the nodes 5a, 5b, a plurality of routes 4a..4c leading to the respective node 5a, 5b converge. In the example shown, the transport system 1 in the section shown comprises a first node 5a with a first, further and third route 4a..4c leading to it and a route 4d leading away from it. Furthermore, the transport system 1 comprises a second node 5b with a first and further route 4a, 4b leading to it and a route 4d leading away from it.

[0072] The first intersection point 5a and the second intersection point 5b are each marked along the incoming routes 4a..4c by an intersection marking V, which can be detected by the transport vehicle 3. For reasons of clarity, the intersection marking V is only explicitly shown in Fig. 1.

[0073] For each node 5a, 5b, a sequence 6 of time windows 7a..7c can be specified, which is repeated periodically along a time axis Z. The time windows 7a..7c can be of the same or different lengths. An exemplary sequence 6 of time windows 7a..7c for the first node 5a is shown in Fig. 2.

[0074] The exemplary sequence 6 of time slots 7a..7c comprises a first time slot 7a assigned to the first route 7a, a further time slot 7b assigned to the further route 4b, and a third time slot 7c assigned to the third route 4c. Similarly, a sequence 6 of time slots 7a..7c (not shown) for the second intersection 5b can comprise the first time slot 7a and the further time slot 7b. The sequence 6 of time slots 7a..7c and the assignment of time slots 7a..7c to the routes 4a..4c can be specified by the master computer 2.

[0075] In addition, the sequence 6 of time windows 7a..7c can have optional buffer time windows 8, which lie along the time axis Z between two time windows 7a..7c of a sequence 6 or consecutive sequences 6.

[0076] If the transport vehicle 3, as shown by way of example in Fig. 1, approaches the first intersection 5a via the first route 4a and, for example, reaches the intersection marking V at time z1, the transport vehicle 3 can enter the intersection 5a, 5b because the time z1 lies within the first time window 7a, which is assigned to the first route 4a. The first route 4a is thus released. However, if the transport vehicle 3 reaches the intersection marking V at time z2, the transport vehicle 3 must stop and cannot enter the intersection 5a, 5b because the time z2 does not lie within the first time window 7a, but in the example shown, within the third time window 7c. The first route 4a is not released at time z2. In this case, the transport vehicle 3 must wait until time z3, which coincides with the start of the first time window 7a and, as shown in Fig.2, is again within the first time window 7a.

[0077] For the transport vehicle 3, the only information that is important is whether the route 4a..4c being traveled is approved or not. Therefore, only the position of the time window 7a..7c assigned to the route 4a..4c being traveled within the sequence is important. Thus, as shown in Fig. 3, it is preferably provided that only one period of the sequence 6 of time windows 7a..7c and the position of the time window 7a..7c within the period are transmitted to the transport vehicle 3 as time window data 9. The time window data 9 are created by the master computer 2 and sent to the transport vehicle 3. Analogous to the sequences 6 of time windows 7a..7c, the time window data 9 can also be repeated periodically along the time axis Z.

[0078] Fig. 4 shows a perspective view of a section of the transport system 1, wherein the transport system 1 is designed as an overhead conveyor device 1020. This shows the transport vehicle 3 with a hanging item W and a traveling platform 15 of the transport system 1. The traveling platform 15 provides a traveling surface T.

[0079] The hanging garment W comprises, for example, a transport bag with a bag body 28, which is attached to a hanger 29 and designed to accommodate a garment (not shown). Alternatively, the hanging garment W can also be formed by a garment that hangs on the transport vehicle 3 with the aid of a clothes hanger.

[0080] The travel routes 4a..4d are arranged on the travel surface T and are marked by a travel path marking U, which can be detected in particular optically by the transport vehicle 3. In Fig. 4, the travel route is shown in the area of ​​a junction, wherein the transport vehicle 3 can optionally follow a left or right travel route in the transport direction at the junction.

[0081] The transport vehicle 3 is preferably designed to detect optically detectable markings, in particular the route marking U and / or the previously described intersection markings V. Fig. 5 and Fig. 6 show a detailed view of the transport vehicle 3, which is designed as a transport carrier by way of example.

[0082] As a rule, the transport vehicle 3 comprises a base body 31, which forms a first transport carrier side and a second transport carrier side opposite the first transport carrier side. Furthermore, the transport vehicle 3 comprises a support body 32 with a receptacle for hanging the hanging goods W. The receptacle can have a completely enclosed receiving opening for hooking the hanger 29 of the hanging goods W. Alternatively, an open receiving section, in particular a hook, can be provided for hooking the hanger 29 of the hanging goods W. The support body 32 can be fastened to the base body 31 in an interchangeable manner, in particular via a connecting device.

[0083] In order to adhere to the running surface T, the transport vehicle 3 can have an adhesive force generator 33, by means of which the transport vehicle 3 movably adheres to the support structure. The adhesive force generator 33 is arranged on the base body 31, in particular between a first transport carrier side and a second transport carrier side.

[0084] Preferably, the adhesive force generator 33 comprises one or more permanent magnets, via which the transport vehicle 3 adheres to the, preferably at least partially ferromagnetic, support structure, in particular to the driving platform 15.

[0085] Alternatively or additionally, the adhesive force generator 33 may comprise adhesive lamellas based on the gecko principle, suction cups, and / or a hook-and-loop fastener, which are arranged on the outer circumference of the drive elements described below. When using adhesive lamellas, suction cups, or a hook-and-loop fastener, the permanent magnets may be omitted or provided in addition to the aforementioned adhesive force generators 33.

[0086] Furthermore, the transport vehicle 3 has at least one drive device 11, which is designed to move 130 the transport vehicle 3 along the travel paths 4a..4d. Preferably, two drive devices 11 are provided, which are arranged on the opposite sides of the transport carrier.

[0087] The at least one drive device 11 comprises drive elements that can bear against the running surface T. The drive elements are formed, for example, by drive wheels 34. Optionally, the drive elements can comprise a crawler belt or chain tensioned circumferentially around the drive wheels 34.

[0088] Furthermore, the drive device 11 comprises at least one, preferably electrically operated, motor 35, which is coupled to the drive elements. Preferably, a first motor 35 is coupled to the drive elements on the first transport carrier side, and a second motor 35 is coupled to the drive elements on the second transport carrier side. Alternatively, a single motor 35 can be provided, to which all drive elements are coupled.

[0089] The drive elements can be coupled to the motor 35 via a motor pinion 36 located on the respective motor 35 and via gears 37. The gears 37 are each connected to a drive wheel of the drive wheels 34 and are preferably arranged coaxially with the respective drive wheel. The motor pinion 36 can be arranged to mesh with the gears 37 of the respective drive wheels 34. Thus, the drive elements can be coupled to the motor 35 via a gear transmission. Alternatively, a traction drive (not shown) can be provided.

[0090] As an alternative to the illustrated drive via motors 35 arranged on the transport vehicle 3, the drive of the transport vehicles 3 can also be provided using a linear motor principle. For example, primary parts of a linear drive, in particular coils, can be provided along the travel surface T, and a secondary part of the linear drive, for example a short-circuit coil, a separately excited coil, or a permanent magnet, can be provided on the transport vehicle 3, so that the arrangement functions as a linear asynchronous motor or linear synchronous motor.

[0091] The transport system 1 can include an optional power supply system 38 arranged on the support structure. To supply the transport carriers with electrical energy, the power supply system 38 can have an electrical line that runs in particular along the travel paths 4a...4d. The electrical line preferably comprises an insulator and exposed electrical conductors 39 arranged on the travel surface T and running along the travel paths 4a...4d.

[0092] The transport vehicle 3 can comprise current collectors that are in electrical contact with the electrical conductors 39 and are electrically connected to the motor 35 or motors 35. The current collectors can be designed as sliding contacts that slide and / or rub against the electrical conductors 39 when the transport vehicle 3 moves. However, the current collectors can also be wheel- or roller-shaped and roll along the electrical conductors 39. Instead of contact-based energy transmission, contactless energy transmission using an inductive energy supply system 38 could also be provided.

[0093] Furthermore, the transport vehicle 3 and / or the hanging goods W can include an optional energy storage device 40, which is electrically connected to the motor 35 or motors 35. The energy storage device 40 can be designed, for example, as an accumulator.

[0094] In order to detect the markings, in particular the route marking U and / or the intersection markings V, it is preferably provided that the transport vehicle 3 has a detection unit which, for example, comprises a driving surface sensor 41.

[0095] The detection unit of the transport vehicle 3 is configured to detect markings arranged along the transport route, in particular the route marking U and / or the intersection markings V, preferably by means of the travel surface sensor 41. Thus, the detection unit can be used to guide the transport vehicle 3 along the route marking U.

[0096] The travel surface sensor 41 is preferably designed as an optical sensor, for example as a sensor array of several optical sensors. The travel path marking U can, for example, be a line painted, printed, or glued onto the travel surface T, which has a different brightness and / or color than the rest of the travel surface T. By evaluating the sensor signal, directional corrections or changes of direction for the transport carrier can be derived. A directional correction or change of direction can, for example, be carried out by differently controlling the motors 35. Different speeds cause the transport carrier to travel around a curve. It would also be conceivable for the travel path marking U to be designed as a magnetic strip and the travel surface sensor 41 as a magnetic sensor (in particular as a Hall sensor).

[0097] Furthermore, it can be provided that the transport vehicle 3 has at least one distance sensor 42. The at least one distance sensor 42 can be designed to detect and / or measure a distance of the transport vehicle 3 from another transport vehicle 3, for example, one traveling ahead or stationary along the route 4a..4d. For example, the distance sensor 42 can be designed as an ultrasonic sensor.

[0098] In order to control the transport carrier, it can have a control unit 43, which is preferably connected to the detection unit, in particular to the driving surface sensor 41, and / or to the at least one distance sensor 42.

[0099] Fig. 7 shows an exemplary block diagram of the transport vehicle 3, in particular the control unit 43. The transport vehicle 3, in particular the control unit 43, comprises a drive controller 10, e.g., designed as a microcontroller, a drive device 11 controllable by the drive controller 10, a memory 12 connected to the drive controller 10, and a timer 13 connected to the drive controller 10. Furthermore, the control unit 43 can have a communication unit 14 connected to the drive controller 10. Furthermore, the control unit 43 preferably comprises power electronics 46 connected to the drive controller 10 and / or an energy management module 47 and the energy storage device 40 connected thereto.

[0100] The communication unit 14 can be configured for optical, radio-based, or wired communication. The previously described time slot data 9 can be received by the communication unit 14. The communication unit 14 can be connected to the memory 12 for data transmission in order to store the time slot data 9 therein.

[0101] The driving control 10 is preferably designed to control and / or regulate a movement of the transport vehicle 3 along the travel route 4a..4d, preferably on the basis of a path definition stored in the memory 12 and / or on the basis of movement data stored in the memory 12.

[0102] The drive controller 10 is configured, for example, to control the at least one drive device 11, in particular the at least one motor 35, of the transport vehicle 3 such that the transport vehicle 3 travels along the route 4a..4d and, in particular, tracks the route marking U detected by the detection unit. It is therefore advantageous if the drive controller 10 is (electronically) connected to the detection unit and / or the at least one distance sensor 42. Furthermore, the drive controller 10 is configured, in particular, to retrieve time window data 9 assigned to the respective intersection point 5a, 5b from the memory 12 following detection of the intersection marking V and to compare it with the local time of the timer 13. Furthermore, the drive controller 10 is configured to control the drive device 11 of the transport vehicle 3 based on the time window data 9.

[0103] Fig. 8 schematically shows the method 100 for traffic control, which is described below with reference to the example shown in Fig. 1.

[0104] In order to regulate traffic at the first intersection 5a, the timing computer 2 first creates a sequence 6 of time windows 7a..7c for the first intersection 5a, as shown in Fig. 2. When assigning 110 the time windows 7a..7c, each time window 7a..7c is assigned one of the routes 4a..4c leading to the first intersection 5a in such a way that entry into the first intersection 5a is permitted during the first time window 7a only via the first route 4a, during the second time window 7a..7c only via the further route 4b, and during the third time window 7c only via the third route 4c.

[0105] Subsequently, for example, for the transport vehicle 3 shown in Fig. 1, when the time window data 9 is stored 120, the period duration and the temporal position of the first time window 7a can be sent as time window data 9 from the control computer 2 to the transport vehicle 3. The time window data 9 can be received by the communication unit 14 of the transport vehicle 3 and stored in the memory 12 of the transport vehicle 3.

[0106] It can also be optionally provided that the master computer 2 specifies a system time, which is transmitted to the transport vehicle 3 as synchronization data when the time window data 9 is sent. The transport vehicle 3 can also receive the synchronization data via the communication unit 14. Based on the synchronization data, the local time of the timer 13 can be synchronized with the system time.

[0107] When the transport vehicle 3 moves 130, it is controlled by the drive controller 10 such that it follows the first route 4a, in particular the route marking U, until the intersection marking V is detected by the detection unit. By detecting the intersection marking V, the transport vehicle 3 recognizes that it is approaching an intersection 5a, 5b, in the example shown, the first intersection 5a. In order to determine whether the transport vehicle 3 is permitted to enter the intersection 5a, 5b or must stop in the direction of travel before the intersection 5a, 5b, the time window data 9 are loaded from the memory 12 by the drive controller 10 in a next step of retrieving 140 the time window data 9 and subsequently compared with the local time of the timer 13 in a comparison step 150.

[0108] If the local time of the timer 13 corresponds, for example, to the time z1 shown in Fig. 2, a further travel 160 is initiated. This means that the drive device 11 of the transport vehicle 3 is controlled by the drive controller 10 such that the transport vehicle 3 enters the first junction 5a along the first route 4a and departs from it via the route 4d leading away from the first junction 5a. The transport vehicle 3 can thus pass the junction 5a, 5b.

[0109] If the local time of the timer 13 corresponds, for example, to the time z2 shown in Fig. 2, a stop and subsequent wait 170 is initiated. The drive device 11 of the transport carrier is controlled by the drive control 10 such that it stops along the first route 4a and in the direction of travel before the first node 5a and waits until the local time is within the next first time window 7a of the periodically repeated sequence 6.

[0110] For this purpose, during the waiting period 170, the comparison 150 of the local time of the timer 13 with the time window data 9 can be repeated until the local time of the timer 13 lies within the next first time window 7a, i.e., for example, corresponds to the time z3 shown in Fig. 2. The time z3 lies within the first time window 7a, therefore, the onward travel 160 can be initiated as described above. Alternatively, the time z3 can be calculated as the starting time based on the local time and the time window data 9, after which the onward travel 160 is initiated as soon as the starting time is reached.

[0111] Fig. 9 schematically shows a picking system 1000 with a warehouse 1010, an overhead conveyor device 1020, and a picking station 1030. The warehouse 1010 and the picking station 1030 are connected by means of the overhead conveyor device 1020. The overhead conveyor device 1020 provides a transport system 1, which can be designed and operated as described above. Finally, Fig. 10 shows a transport system 1 with a plurality of routes 4a..4d. The routes 4a..4d form a transport network comprising a plurality of nodes 5a, 5b. Furthermore, the transport system 1 can have an optional boundary 16, which separates an inner region 17 from an outer region 18.

[0112] In this case, it can be provided that the transport vehicle 3 sends a notification signal via the communication unit 14 when the transport vehicle 3 crosses the border 16, in order to register itself upon entering the inner area 17 or to deregister itself upon exiting the inner area 17. The master computer 2 can receive the notification signal and register the respective transport vehicle 3 in the transport system 1 if it had not previously been detected by the master computer 2, or deregister it from the transport system 1 if it had already been detected by the master computer. Thus, a partially closed transport system 1 can be realized in which only those transport vehicles 3 located in the inner area 17 are managed by the master computer 2, so that the previously described method 100 can be carried out for the transport vehicles 3 in the inner area 17.In the outer area 18, the transport vehicles 3 can move in particular without influence from the control computer 2.

[0113] Finally, it should be noted that the scope of protection is determined by the patent claims. However, the description and drawings should be considered for the interpretation of the claims. Individual features or combinations of features from the various embodiments shown and described may represent independent inventive solutions in their own right.

[0114] In particular, it is also noted that the illustrated devices may in reality comprise more or fewer components than shown. In some cases, the illustrated devices or their components may also be shown not to scale and / or enlarged and / or reduced in size. Reference symbols

[0115] transport system

[0116] Master computer 1000 picking system

[0117] Transport vehicle 1010 Goods warehousea..4d Route 1020 Overhead conveyora, 5b Junction 1030 Picking station

[0118] Sequence a. ,7c Time window T Driving surface

[0119] Buffer time window UF route marking

[0120] Time window data V Intersection marking 0 Driving control W Hanging goods 1 Drive device Z Time axis 2 Memory zl..z3 Time point 3 Timer 4 Communication unit 5 Driving platform 6 Limit 7 Inner area 8 Outer area 8 Pocket body 9 Bracket 1 Base body 2 Support body 3 Adhesive force generator 4 Drive wheels 5 Motor 6 Motor pinion 7 Gear 8 Energy supply system 9 Electrical conductor 0 Energy storage 1 Driving surface sensor 2 Distance sensor 3 Control unit 6 Power electronics 7 Energy management module 00 Procedure 10 Assign 20 Store 30 Move 40 Retrieve 50 Compare 60 Continue 70 Wait

Claims

P a t e n t a n s p r ü c h e 1. Method (100) for traffic control in the area of ​​a junction (5a, 5b) of a transport system (1) with a master computer (2), a plurality of self-propelled transport vehicles (3) and a travel surface (T) on which a plurality of travel routes (4a..4d) are arranged, along which the transport vehicles (3) can be moved, wherein the transport vehicles (3) each have a drive control (10), a drive device (11) controllable by the drive control (10), a memory (12) and a timer (13) which indicates a local time of the transport vehicle (3), and several of the travel routes (4a..4c) lead to the junction (5a, 5b) and at least one of the travel routes (4d) leads away from the junction (5a, 5b), wherein the junction (5a, 5b) is marked by an intersection marking (V) arranged on the travel surface (T) and for the junction (5a, 5b) a sequence (6) of time windows (7a..7c) is predetermined, which is repeated periodically along a time axis (Z), wherein a period corresponds to a sum of all time windows (7a..7c) of the sequence (6), comprising the steps: i) assignment (110) of at least one time window (7a..7c) to one of the routes (4a..4c) leading to the junction (5a, 5b) by the master computer (2); ii) storage (120) of the period and a temporal position of that time window (7a..7c) which corresponds to a first route (4a) of the routes (4a..4c) leading to the junction (5a, 5b)4c), within the period as time window data (9) in the memory (12) of the transport vehicle (3), wherein the time window data (9) is transmitted from the master computer (2) to the transport vehicle (3); iii) moving (130) the transport vehicle (3) along the first route (4a) to the intersection point (5a, 5b) and detecting the intersection marking (V) by the transport vehicle (3); iv) retrieving (140) the time window data (9) from the memory (12) by the drive controller (10) in response to the detection of the intersection marking (V); v) comparing (150) the local time of the timer (13) with the time window data (9) by the drive controller (10);. vi) controlling the drive device (11) of the transport vehicle (3) by the drive control (10) in such a way that the transport vehicle (3) enters the junction point (5a, 5b) when the local time of the timer (13) along the time axis (Z) lies within the at least one time window (7a) assigned to the first travel route (4a), or stops in a direction of travel before the junction point (5a, 5b) when the local time of the timer (13) lies outside the at least one time window (7a) assigned to the first travel route (4a).

2. Method (100) according to claim 1, characterized in that the master computer (2) specifies a system time of the transport system (1), and when storing (120) in step ii), the system time is transmitted as synchronization data from the master computer (2) to the transport vehicle (3) and the local time of the timer (13) is synchronized with the system time on the basis of the synchronization data.

3. Method (100) according to claim 1 or 2, characterized in that the sequence (6) of time windows (7a..7c) additionally comprises buffer time windows (8) which are located along the time axis (Z) between two adjacent time windows (7a..7c).

4. Method (100) according to one of claims 1 to 3, characterized in that during the assignment (110) in step i), each time window (7a..7c) is assigned exactly one route (4a..4c) leading to the junction point (5a, 5b).

5. Method (100) according to one of claims 1 to 4, characterized in that a length of the time windows (7a..7c) is each set such that the length of the time windows (7a..7c) corresponds to at least a time period for a movement of the transport vehicle (3) from the intersection marking (V) to the node (5a, 5b), in particular a time period for a movement of several transport vehicles (3) one behind the other from the intersection marking (V) to the node (5a, 5b).

6. Method (100) according to one of claims 1 to 5, characterized in that the period duration and a length of the time windows (7a..7c) are determined such that several transport vehicles (3) are accumulated at the junction (5a, 5b) along one of the routes (4a..4c), in particular along the first route (4a), and in step vi) enter the junction (5a, 5b) together.

7. Method (100) according to one of claims 1 to 6, further comprising the following Step: vii) Repeating step v) and preferably step iv) until the local time of the timer (13) along the time axis (Z) lies within the at least one time window (7a..7c) assigned to the first route (4a), wherein the drive control (10) controls the transport vehicle (3) such that it starts moving when the local time of the timer (13) along the time axis (Z) lies within the at least one time window (7a..7c) assigned to the first route (4a) and enters the junction point (5a, 5b); wherein step vii) is carried out when the transport vehicle (3) has stopped in step vi).

8. The method (100) according to any one of claims 1 to 7, further comprising the following step: vii) determining a starting time within a time window (7a..7c) associated with the first travel route (4a) closest along the time axis (Z), wherein the driving control (10) controls the transport vehicle (3) such that it starts moving at the starting time and enters the junction point (5a, 5b); wherein step vii) is carried out if the transport vehicle (3) has stopped in step vi).

9. Method (100) according to one of claims 1 to 8, characterized in that the travel routes (4a..4d) of the transport system (1) are defined by a travel path marking which is detected by the transport vehicle (3), in particular by a detection unit of the transport vehicle (3), wherein the travel control (10) controls the transport vehicle (3) in such a way that it is moved along the travel path marking.

10. Method (100) according to one of claims 1 to 9, characterized in that the routes (4a..4d) form a transport network which comprises a plurality of nodes (5a, 5b), wherein several of the routes (4a..4c) lead to each node (5a, 5b) and at least one of the routes (4d) leads away from the respective node (5a, 5b), wherein the nodes (5a, 5b) are marked by intersection markings (V) arranged on the support structure and for the nodes (5a, 5b) in each case a sequence (6), in particular a node-specific one, of time windows (7a..7c) is predetermined, which is repeated periodically along a time axis (Z), wherein a period duration corresponds to a sum of all time windows (7a..7c) of the sequence (6), wherein step i) is carried out for several, in particular all, nodes (5a, 5b), in step ii) a transport route for the transport vehicle (3) is determined by the master computer (2), along which route the transport vehicle (3) passes a plurality of nodes (5a, 5b), and for each node (5a, 5b) along the transport route, the period duration and the temporal position of that time window (7a..7c) which corresponds to a first route (4a) of the routes (4a..7c) leading to the node (5a, 5b)4c), time window data (9) assigned to the respective node (5a, 5b) are stored in the memory (12) of the transport vehicle (3) within the period, and steps iii) to vi) and optionally vii) are carried out for all nodes (5a, 5b) along the transport route.

11. Method (100) according to claim 10, characterized in that in step ii) a node sequence is stored in the memory (12) of the transport vehicle (3), which corresponds to an order in which the transport vehicle (3) reaches the nodes (5a, 5b) along the transport route, wherein in step iv) the driving control (10) determines the node (5a, 5b) assigned to the detected intersection marking (V) on the basis of the node sequence and retrieves time window data (9) assigned to the determined node (5a, 5b) from the memory (12).

12. Method (100) according to one of claims 1 to 11, characterized in that steps ii) to vi) and optionally vii) are carried out for a further transport vehicle (3), wherein Step ii) additionally comprises storing (120) the period duration and a temporal position of that time window (7a..7c) which is assigned to a further route (4b) of the routes (4a..4c) leading to the junction (5a, 5b) as time window data (9) in the memory (12) of the further transport vehicle (3) within the period duration, wherein the time window data (9) are transmitted from the master computer (2) to the further transport vehicle (3); Step iii) additionally comprises moving (130) the further transport vehicle (3) along the further route (4b) to the junction point (5a, 5b) and detecting the intersection marking (V) by the further transport vehicle (3); Step iv) additionally comprises retrieving (140) the time window data (9) from the memory (12) of the further transport vehicle (3) by the driving control (10) of the further transport vehicle (3) in response to the detection of the intersection marking (V); Step v) additionally comprises a comparison (150) of the local time of the timer (13) of the further transport vehicle (3) with the time window data (9) by the drive control (10) of the further transport vehicle (3); Step vi) additionally comprises controlling the drive device (11) of the further transport vehicle (3) by the drive control (10) of the further transport vehicle (3) in such a way that the further transport vehicle (3) enters the node (5a, 5b) when the local time of the timer (13) of the further transport vehicle (3) along the time axis (Z) lies within the at least one time window (7b) assigned to the further travel route (4b), or stops in a direction of travel before the node (5a, 5b) when the local time of the timer (13) of the further transport vehicle (3) lies outside the at least one time window (7b) assigned to the further travel route (4b).

13. Method (100) according to one of claims 1 to 12, characterized in that the transport system (1) comprises an outer boundary (16) which separates an inner region (17) enclosed by the outer boundary (16) from an outer region (18), wherein a respective reporting signal is sent by a transport vehicle (3) when the respective transport vehicle (3) crosses the boundary (16), and on the basis of the reporting signal the control computer (2) detects which transport vehicles (3) are located in the inner region (17), wherein steps ii) to vi and optionally vii) are carried out for the transport vehicles (3) in the inner region (17).

14. Overhead conveyor device (1020), in particular for carrying out a method (100) according to one of claims 1 to 13, comprising a plurality of self-propelled transport carriers for transporting hanging goods (W), a support structure which forms a travel surface (T) on which a plurality of travel routes (4a..4d) are arranged, along which the transport carriers can be moved, wherein the plurality of travel routes (4a..4d) form a transport network, a plurality of nodes (5a, 5b), wherein in each case a plurality of the travel routes (4a..4c) lead to a node (5a, 5b) and at least one of the travel routes (4d) leads away from the respective node (5a, 5b), wherein the nodes (5a, 5b) are each marked by an intersection marking (V) arranged on the travel surface (T), and a master computer (2) which is designed to specify a sequence (6) of time windows (7a..7c) for each node, which sequence is repeated periodically along a time axis (Z), wherein a period duration corresponds to a sum of all time windows (7a..7c) of the sequence (6), wherein the transport carriers each have a drive control (10), a drive device (11) controllable by the drive control (10), a memory (12) and a timer (13) which indicates a local time of the transport carrier, characterized in that the master computer (2) is further configured to assign at least one time window (7a..7c) for each node (5a, 5b) to a respective travel route (4a..4c) leading to the respective node (5a, 5b) and to determine, for a node (5a, 5b) along a predetermined transport path of a transport carrier of the transport carriers, the period of the respective sequence (6) and a temporal position of that time window (7a) which corresponds to a first travel route (4a) of the travel routes (4a..4c) leading to the node (5a, 5b).4c) is assigned to send within the period as time window data (9) to the transport carrier, the transport carriers are each set up to receive the time window data (9) and to store them in the memory (12) of the transport carrier. and the driving control (10) is configured to retrieve the time window data (9) from the memory (12) of the transport carrier, in particular in response to detection of the intersection marking (V) by the transport carrier, to compare the local time of the timer (13) with the time window data (9), and to control the drive device (11) of the transport carrier in such a way that the transport carrier enters the intersection point (5a, 5b) when the local time of the timer (13) along the time axis (Z) lies within the at least one time window (7a) assigned to the first travel route (4a), or stops in a direction of travel before the intersection point (5a, 5b) when the local time of the timer (13) lies outside the at least one time window (7a) assigned to the first travel route (4a).

15. Overhead conveyor device (1020) according to claim 14, characterized in that the time computer (2) is configured to specify a system time of the overhead conveyor device (1020) and to send the system time as synchronization data to the transport carriers and the timer (13) is configured to synchronize the local time of the respective transport carrier with the system time on the basis of the synchronization data.

16. Overhead conveyor device (1020) according to claim 14 or 15, characterized in that the transport carriers each have a communication unit (14) connected to the memory (12) and / or the travel control (10), which is designed to receive data, in particular time window data (9) and / or path definitions, and to store them in the memory (12).

17. Overhead conveyor device (1020) according to one of claims 14 to 16, characterized in that the travel control (10) is designed to carry out steps iii), iv), v) and / or vi) and optionally vii) of a method (100) according to one of claims 1 to 12.

18. Overhead conveyor device (1020) according to one of claims 14 to 17, characterized in that the travel routes (4a..4d) are defined by a travel path marking arranged on the travel surface (T), by means of which the transport carriers can be guided along the travel routes (4a..4d).

19. Overhead conveyor device (1020) according to one of claims 14 to 18, characterized in that the transport carriers each have a detection unit connected to the travel control (10) for detecting markings on the travel surface (T), in particular for detecting the travel path marking and / or the intersection marking (V).

20. Overhead conveyor device (1020) according to one of claims 14 to 19, characterized in that the transport carriers each comprise an adhesive force generator (33), in particular a magnetic one.

21. Order picking system (1000) comprising a warehouse (1010), at least one order picking station (1030) and an overhead conveyor device (1020) connecting the warehouse (1010) to the at least one order picking station (1030), characterized in that the overhead conveyor device (1020) is designed according to one of claims 14 to 20.

22. Transport system (1), in particular for carrying out a method (100) according to one of claims 1 to 13, comprising a plurality of self-propelled transport vehicles (3), an outer boundary (16) which separates an inner region (17) enclosed by the outer boundary (16) from an outer region (18), a travel surface (T) on which a plurality of travel routes (4a..4d) are arranged, along which the transport vehicles (3) can be moved, a plurality of nodes (5a, 5b) in the inner region (17), wherein in each case a plurality of the travel routes (4a..4c) lead to a node (5a, 5b) and at least one of the travel routes (4d) leads away from the respective node (5a, 5b), wherein the node (5a, 5b) is marked by an intersection marking (V) arranged on the travel surface (T), and a master computer (2) which is configured to generate a sequence for each node (6) of time windows (7a..7c), which is repeated periodically along a time axis (Z), wherein a period corresponds to a sum of all time windows (7a..7c) of the sequence (6). wherein the transport vehicles (3) each have a drive controller (10), a communication unit (14), a drive device (11) that can be controlled by the drive controller (10), a memory (12), and a timer (13) that indicates a local time of the transport vehicle (3), characterized in that the communication unit (14) is designed to send a notification signal when the respective transport vehicle (3) crosses the border (16), the control computer (2) is designed to detect, on the basis of the notification signal, which transport vehicles (3) are located in the inner area (17), and the transport system (1) for the transport vehicles (3) that are located in the inner area (17) is designed to carry out the method (100) according to one of claims 1 to 13.

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