Order-picking apparatus, and method for optimising storage space

Abstract

The invention relates to: an order-picking apparatus (1), in particular a storage lift, comprising at least one retrieval and / or storage location (14) for storage goods (10) and / or storage goods carriers (8); a method for calculating a height distribution (38) of storage goods (10) on a storage goods carrier (8); a computer programme product; and a computer-readable storage medium. The order-picking apparatus (1) has storage goods carriers (8) which are stored one above the other in storage locations (4) and on which storage goods (10) are deposited. The aim of the invention is to utilise the storage space provided by the order-picking apparatus (1) in an optimised manner. To this end, the order-picking apparatus (1) has at least one detector device (24) for determining a height distribution (38) of the storage goods (10) or of the storage goods carrier (8) and for providing data (28) representing the height distribution (38), the detector device (24) comprising a plurality of reflection light sensors (25) arranged parallel to one another. The method comprises determining a location-dependent height (26) of storage goods (10) by means of a plurality of reflection light sensors (25) arranged parallel to one another.

Description

[0001] Picking device and method for storage space optimization

[0002] The invention relates to a picking device, a method for calculating the height distribution of stored goods, as well as a computer program product and a computer-readable data carrier. The picking device comprises storage goods carriers arranged one above the other in storage locations, on which stored goods are placed.

[0003] Picking devices in the form of storage systems are known, for example from DE 42 33 688 A1 and DE 195 01 718 A1, in which the maximum height of the stored goods on a storage goods carrier is first measured and then, depending on this maximum height, the storage goods carrier is stored in one of a plurality of storage locations arranged one above the other in a grid. In this way, the distance between two storage goods carriers stored one above the other can be minimized.

[0004] This system has proven itself in practice. However, it is observed that picking systems often do not make optimal use of the available storage space.

[0005] The invention therefore aims to optimize the use of storage space in a picking device.

[0006] This object is achieved, on the one hand, by an order-picking device with at least one retrieval and / or storage point for stored goods and / or storage goods carriers, wherein the order-picking device has at least one detector device for determining a height distribution of the stored goods or the storage goods carrier and for providing data representing the height distribution, wherein the detector device comprises a plurality of reflective light sensors arranged parallel to one another.

[0007] This object is further achieved by a method for calculating a height distribution of stored goods on a storage goods carrier, comprising determining a location-dependent height of stored goods by means of a plurality of reflective light sensors arranged parallel to one another.

[0008] A total stack height is the theoretical or calculated height of the storage carriers stacked directly on top of each other in at least one storage rack. To calculate the total stack height, the storage carriers can be virtually arranged at a grid spacing specified by the picking device or the storage system. The total stack height results, for example, from the sum of the greatest heights of the storage goods on the storage carriers of at least one storage rack or of the entire picking device or the entire storage system, whereby the height of the storage carriers and / or the grid dimension can also be taken into account. When comparing the total stack height of the storage carriers with the waste-space-reduced storage carrier redistribution and the total stack height of the stored storage carriers, i.e. the storage carriers in their (current) state before the waste-space-reduced storage carrier redistribution, only the same storage carriers are considered.The diffuse reflection sensors are arranged parallel to each other, which means that their observation directions, which are determined by the light rays emitted by the diffuse reflection sensors, are arranged parallel to each other.

[0009] The invention further relates to a computer program product which comprises instructions which, when the computer program product is executed by a computer, cause the computer to execute the method according to the invention for calculating a height distribution of stored goods on a storage goods carrier, as well as to a computer-readable data carrier on which the computer program product is stored.

[0010] The device and method according to the invention make it possible to optimize the utilization of storage space. This is made possible by the fact that, in contrast to the previously mentioned prior art systems, not only the maximum height of the stored goods is determined, but also the height distribution, i.e., the progression of the height along at least one spatial direction.

[0011] The invention can be improved by the following developments, each of which is advantageous in itself and can be combined with one another as desired. The following further development features can be used indiscriminately for the order-picking device, the method, and the computer program product. If it is a method feature, the device is readily configured to carry out the method step.

[0012] The method can comprise the following method steps, in particular for individual stored or all stored storage goods carriers: determining a height distribution of the storage goods placed on a stored storage goods carrier based on height measurement data; determining, depending on the determined height distributions, a storage goods redistribution with reduced loss of space, in which at least part of the storage goods in the picking device is distributed differently on the storage goods carriers than on the stored storage goods carriers, wherein a total stack height of the storage goods carriers with the storage goods redistribution with reduced loss of space is smaller than the total stack height of the same stored storage goods carriers, and / or generating an image data set that represents an image of the storage goods carriers stored in the storage locations with the height distribution of the storage goods on the respective storage goods carrier at its storage location in the picking device.The method may in particular be a computer-implemented method.

[0013] According to an advantageous embodiment, the diffuse reflection sensors can be directed vertically downwards. The orientation is based on the direction of observation and the emitted light. This has the advantage that no shadows are cast when detecting the height of the stored goods, which could interfere with or distort the measurement.

[0014] Preferably, the reflected light sensors can be arranged along at least one line. Thus, the height distribution of the stored goods can be determined with a single measurement along a section across the entire storage goods carrier. Preferably, a relative movement takes place between the plurality of reflected light sensors and the storage goods carrier, so that the height distribution across the storage goods carrier can be determined. This allows an overall three-dimensional image of the stored goods on the storage goods carrier to be obtained. The height distribution can be composed of the individual height distributions determined in one measurement step.

[0015] The order-picking device can preferably comprise a transport path along which the stored goods and / or the storage goods carrier are transported between the at least one retrieval and / or storage location and a storage location, wherein the plurality of reflected light sensors are arranged transversely to the transport path. Each reflected light sensor of the plurality of reflected light sensors can be oriented such that a measuring direction of the corresponding reflected light sensor is preferably perpendicular or transverse to the transport path.

[0016] In a further advantageous embodiment of the order picking device, the plurality of reflex light sensors can be arranged on an upper side of the transport path.

[0017] According to a further advantageous embodiment, the plurality of reflex light sensors can be arranged on an upper side of the retrieval or storage location. This has the advantage that the stored goods arranged on the storage goods carrier can be measured before being placed in the picking device and, if necessary, the stored goods can be distributed differently on the storage goods carriers before storage based on the storage goods redistribution that reduces waste space. Furthermore, the stored goods can be arranged on the storage goods carrier during insertion and removal and pass through a retrieval or storage opening, wherein the plurality of reflex light sensors can be arranged at the retrieval or storage opening.

[0018] If, in one embodiment of the consignment device, a tray or a storage goods carrier is moved out of the device for loading with storage goods and is moved back into the device after loading, the height of the storage goods arranged on the storage goods carrier can be measured during the retraction.

[0019] Likewise, in another configuration of the picking device, it is possible for the tray to remain in the device and for the user to place stored goods onto it through an opening. This opening is not the retrieval or storage opening. The storage opening is only passed through when the tray moves further into the device. The height distribution of the stored goods or the storage goods carrier can be determined during the retrieval.

[0020] Advantageously, the picking device can have diffuse-light sensors with a scanning range of up to 750 mm. In other embodiments, the diffuse-light sensors can have scanning ranges greater than 1000 mm, for example, for picking devices with larger retrieval or storage openings with a height of more than 1000 mm.

[0021] The diffuse reflection sensors can feature background suppression. For this purpose, the diffuse reflection sensors can operate, for example, according to the triangulation method.

[0022] It is particularly advantageous if the diffuse reflection sensors of the detector device are arranged at a distance of more than 10 mm and less than 100 mm from each other. This allows the height distribution of the stored goods on the storage goods carrier to be detected with sufficiently high resolution (measurement points per unit length). Thus, in addition to the height of the stored goods, it is possible to determine their extension along at least one spatial direction oriented perpendicular to the height direction.

[0023] A loaded load carrier or tray, by means of which goods are transported and stored in the picking device, may exhibit deflection if loaded accordingly. In the prior art, a clearly defined safety zone is always kept clear beneath a load carrier or tray, even if no deflection of the load carrier or tray occurs. In an advantageous embodiment, the picking device can be configured to detect the deflection of a load carrier or tray and / or to calculate a value representative of the deflection.

[0024] To detect the deflection, for example, a retro-reflective sensor can detect the base of the storage goods carrier or the tray. Alternatively or additionally, the picking device can be designed to detect a change in the height of a storage item already located on the storage goods carrier. Furthermore, a sensor can be arranged on the tray to detect the deflection. Purely by way of example and not by way of limitation, the sensor can be a strain sensor that can be attached to the underside of the tray. Alternatively or additionally, a light barrier can detect the deflection and / or the deflection can be detected from below, for example by means of a light barrier or light sensor directed vertically onto the underside of the tray. Alternatively, other types of sensors can also be used, in particular sensors that can monitor the underside of the tray base.Such a sensor can be, for example, a proximity sensor, a mechanical sensor, a mechanical limit switch, a position switch or another sensor.

[0025] To calculate a value representative of the deflection, the picking device can be configured to record a weight value. For this purpose, the picking device can, for example, have a scale. Furthermore, the picking device can be configured to calculate the deflection based on the weight value.

[0026] According to the invention, it is thus possible to detect whether deflection is present and how far the load carrier or tray deflects compared to the unloaded state. This deflection can be incorporated quantitatively and / or qualitatively into the determination of the load redistribution with reduced space loss.

[0027] The order picking device can further be designed to reduce a size of the safety area provided under the storage goods carrier depending on the deflection.

[0028] For example, it is possible to determine that no deflection is present, and the previously cleared safety area beneath the load carrier without deflection can be used to arrange stored goods in the picking device with even less wasted space. In this case, the load carrier without deflection can be positioned closer to the load carrier below it or to the stored goods below it. The previously used safety area, which essentially contributes to the total wasted space and wastes storage space, is thus released. This allows for more compact loading of the picking device with less wasted space.

[0029] To prevent the load carrier from colliding with the stored goods arranged underneath without deflection, the safety zone can be reduced by 50%, preferably by 75%, and more preferably by 90%, so that while there is less space for loss, a safety zone is still maintained. For example, a safety zone can have a size that corresponds to the distance between two grid points of the picking device. If the picking device determines that the load carrier is not deflected, the safety zone can be reduced to a size corresponding to the distance from one grid point. This reduces the space for loss without completely dispensing with a safety zone.

[0030] If a deflection of the load carrier or tray is detected, one embodiment allows the magnitude and location of this deflection relative to the load carrier to be determined. This deflection can be viewed as a deflection distribution, analogous to the height distribution of the stored goods, which extends in the opposite direction to the height distribution of the load carrier or tray.

[0031] Preferably, two storage goods carriers can be arranged one above the other in such a way that the height distribution of the lower storage goods carrier is approximately complementary to the deflection distribution of the upper storage goods carrier.

[0032] The deflection distribution can be determined using diffuse-light sensors, as described above, sensors mounted on the bottom of the tray, or other sensors. Alternatively or additionally, additional optical sensors, such as the measuring light grid installed in the storage and retrieval openings, can be used to determine the deflection.

[0033] The order picking device can be further improved in that it has a data processing system which is designed to calculate a loss-space-reduced storage goods redistribution based on the height distribution provided by the detector device, in which at least a part of the storage goods in the order picking device is distributed differently on the storage goods carriers than on the stored storage goods carriers, wherein a total stack height of the storage goods carriers in the loss-space-reduced storage goods redistribution is smaller than the total stack height of the same stored storage goods carriers.

[0034] Alternatively or additionally, the data processing system can be designed to generate an image data set that represents an image of the storage goods carriers stored in the storage locations with the height distribution of the storage goods on the respective storage goods carrier at its storage location in the picking device.

[0035] The data processing system can be designed to record the height distribution while passing through the storage and retrieval opening.

[0036] The picking device can provide the image data set to a user graphically, visually, or acoustically and / or provide a user with instructions for transferring stored goods from one storage carrier to another storage carrier of the picking device depending on the storage goods redistribution with reduced space loss. Alternatively or additionally, the picking device can be configured to control a robot for transferring stored goods from one storage carrier to another storage carrier of the picking device depending on the storage goods redistribution with reduced space loss. Alternatively or additionally, the image data set can be presented haptically, for example, for visually impaired persons.

[0037] The order-picking device can have a first and a second operating state, wherein the order-picking device is designed in the first operating state to determine the height distribution of the stored goods or the storage goods carrier by means of the plurality of reflected light sensors, and wherein the order-picking device is designed in the second operating state to provide and / or output alarm signals when at least one reflected light sensor detects an object between the storage goods carrier and the reflected light sensor.

[0038] In the first operating state, the order picking device can thus be designed to calculate action instructions based on the height distribution.

[0039] According to an advantageous embodiment, the height distribution along two spatial directions of the stored goods placed on a stored goods carrier can be determined using the height measurement data. A two-dimensional height distribution allows for a more precise representation and calculation of the lost space and thus improves storage space optimization. The two spatial directions are preferably perpendicular to each other. Together with the height, this can result in a three-dimensional image of the goods carrier and the stored goods placed on it.

[0040] To determine the height distribution along two spatial directions, the height measurement data can be two-dimensional. For example, the height measurement data can comprise two separate data sets, each containing height measurement data along one spatial direction. Alternatively, the height measurement data can be arranged in a single data set containing a height measurement value representative of the height of the stored goods as a function of two spatial directions.

[0041] The height measurement data can be retrieved from a memory by the data processing system (also known as a data processing device) to determine the height distribution. The memory can be part of the data processing device or an external device accessible only to the data processing device. For example, the memory can be part of another or higher-level data processing device. Such a data processing device can be configured, for example, to manage several separate picking devices or storage systems that are connected to one another, for example, by transport systems.

[0042] The or each spatial direction along which a height distribution is determined preferably runs parallel to an edge of a load carrier. The or the first spatial direction preferably runs parallel to a front edge of the load carrier, which, when the load carrier is stored, runs parallel to a loading side of a storage rack or storage location. The loading side of a storage rack is the side of the storage rack through which load carriers are moved into or out of a storage location. Alternatively or additionally, the spatial direction can run perpendicular to the loading side as a second spatial direction, preferably parallel to a horizontal narrow side of the load carrier.

[0043] The method for calculating the height distribution comprises determining a location-dependent height of the stored goods. The method preferably further comprises the step of providing height data representing the location-dependent heights to a data processing system and calculating the height distribution from the height data. The method can be further improved if the step of determining the location-dependent height of stored goods comprises the relative movement of the plurality of reflective light sensors arranged parallel to one another with respect to the stored goods.

[0044] This has the advantage that a two-dimensional height distribution and thus a three-dimensional image of the storage goods carrier can be determined.

[0045] The computer-readable data carrier according to the invention on which the computer program product is stored can be transient or persistent. The computer-readable data carrier can be a magnetic, optical, or electrical storage device, for example, but not limited to, a floppy disk, a magnetic tape, a CD, a DVD, a ROM or RAM memory, a hard disk, or an SSD.

[0046] The method can, in particular, be a computer-implemented method. The method, or the data processing device, can be configured to determine a three-dimensional image of the arrangement of the stored goods on a storage goods carrier. For example, the image data set can be two- or three-dimensional. The image data set can include an image of the storage locations, in particular of storage shelves. A three-dimensional image allows a user to obtain a more precise picture of the occupancy of a storage goods carrier.

[0047] The method and device can be configured to generate markers in the image data set at those locations in the image where storage items are represented in the image that, in the loss-space-reduced storage item redistribution, are located on a different storage item carrier than the stored one. Such a marker identifies to a user the storage item that is to be rearranged. It thus enables an improvement and increased efficiency of the human-machine interface. A marker can be an optical or visual marker, for example, a representation of storage items to be rearranged in a different color than storage items not to be rearranged and / or a temporally changing representation of the storage items to be rearranged, such as a flashing color.

[0048] The picking device can, in particular, be a storage system. Both terms are used synonymously below.

[0049] A further improvement results if the method and device cause an automatic transport of those storage goods carriers one after the other, for example to an access opening of the storage system, on which there is storage goods that are located on a storage goods carrier other than the one stored in the loss-space-reduced storage goods redistribution.

[0050] The access opening, also referred to as a retrieval and / or storage point, is an opening or point where a connection is provided between the interior of the storage system and its external environment. The access opening can be a simple opening in an enclosure of the storage system. The access opening can also be designed like a shaft and be bordered, for example, at the top, bottom and / or sides by storage locations. The access opening can also protrude from the enclosure of the storage system and have additional elements such as one or more tables, one or more dockable transport trolleys for one or more storage goods carriers each, or one or more platforms, which can also be located outside the enclosure. Finally, the access opening can also be designed as a completely open transfer area where stored goods and / or storage goods carriers are received or transferred for storage in and / or retrieval from the storage system.

[0051] According to a further embodiment, the method and device can be configured to initiate the automatic transport of at least two storage goods carriers simultaneously to an access opening, wherein one of the at least two storage goods carriers contains storage goods that, according to the waste-space-reduced storage goods redistribution, should be located on the other of the at least two storage goods carriers. Such a configuration enables the storage goods to be redistributed to reduce waste space in a very short time.

[0052] At least two storage carriers can be located in the access opening at the same time. The at least two storage carriers can be arranged one above the other and / or next to each other in the access opening. Storage carriers arranged next to each other can be arranged with opposing short edges and / or opposing long edges in a common plane, particularly if they have a rectangular footprint. This measure also reduces the time required for redistribution of the stored goods.

[0053] The at least two storage carriers located in the access opening do not both have to be storage carriers on which stored goods are exchanged. A storage carrier in the access opening can, for example, also be used for the temporary storage of stored goods from another storage carrier in the access opening, which is then stored on a third storage carrier in a further step in the reduced-loss redistribution of the stored goods.

[0054] An access opening that can accommodate at least two storage goods carriers offers the advantage that the first storage goods carrier can be placed at the bottom of the access opening, for example. While the operator removes the storage goods to be relocated as part of the waste-space-reduced storage goods redistribution from this first storage goods carrier, the conveyor system can convey a second storage goods carrier to which the goods are to be relocated into the access opening, for example above the first storage goods carrier. The operator can transfer the storage goods to be relocated to the second storage goods carrier, while the conveyor system conveys the first storage goods carrier back to a storage location. The two storage goods carriers can also be arranged offset one above the other in the access opening so that they do not overlap or only partially overlap.

[0055] The "initiating" mentioned above with reference to the transport of storage goods carriers is understood to mean the issuance of control commands, for example to a control device, the transfer of movement coordinates, for example to a control device, the calling of a control program for controlling the transport, and / or the control of the transport itself, i.e., direct control if a control system is integrated into the device. This feature makes it possible for an operator to be automatically provided with those storage goods carriers at the access opening for which at least partial rearrangement of the storage goods onto other storage goods carriers leads to storage space optimization. A conveyor system can be provided for the transport.The data processing device can be designed to calculate the sequence of the automatic transport of the storage goods carriers to a service opening as a function of the loss-space-reduced storage goods redistribution.

[0056] According to a further advantageous embodiment, the method and device can be designed to mark, in the service opening, in particular optically and non-contact, those stored goods that are located in the loss-space-reduced storage goods redistribution on a different storage goods carrier than the storage goods carrier currently located in the service opening. For example, a display on the service opening can be directly or indirectly controlled to identify the stored goods to be relocated. For example, a laser pointer, a light beam, or a light cross can be directly or indirectly controlled to point at the stored goods that are located in the loss-space-reduced storage goods redistribution on a different storage goods carrier than the one currently located in the service opening, i.e., that must be reloaded.

[0057] According to a further embodiment, the method and device can be configured to directly or indirectly control a robot that automatically reloads stored goods from one storage goods carrier to another depending on the reduced-loss space redistribution of the stored goods. For reloading, the stored goods to be relocated can be automatically stored temporarily, for example, on a table, a platform, or in a buffer storage unit, such as a storage rack or a storage goods carrier. The intermediate storage unit is preferably located adjacent to the access opening. If, as described above, at least two storage goods carriers can be located in the access opening simultaneously, one of the storage goods carriers can also serve as an intermediate storage unit.

[0058] Direct control occurs when the robot, conveyor, or transfer device is controlled directly by the data processing device or computer-implemented method. Indirect control means that an external control device is prompted by the method and / or device to perform such control itself. Of course, the control can also be part of the data processing device or the storage system.

[0059] The storage system can be a storage lift, a paternoster, a horizontal carousel, a vertical carousel, or a small parts, high-bay, or other warehouse with an aisle conveyor. The data processing device or the storage system can have at least one height measuring system as a detector device for recording the height measurement data. The detector device, i.e., the height measuring system, is preferably located in the storage system, for example, in the access opening, in a storage shaft between storage racks containing the storage locations, and / or in a transition between the access opening and the storage shaft.

[0060] The detector device is in particular a height measuring system.

[0061] In addition to the plurality of retro-reflective sensors, the height measurement system can comprise at least one light grid, one light curtain, at least one camera, and / or at least one scanner, for example, in particular a 3D scanner such as a lidar device, or combinations thereof. The height measurement data for a load carrier are preferably acquired by the plurality of retro-reflective sensors in the storage system, in particular during transport of the load carrier within the storage system, for example, in the access opening or in the storage aisle. Acquiring the height measurement data in the storage system results in a structurally compact solution. Acquiring the height measurement data during transport of a load carrier within the storage system also avoids time losses. Alternatively or additionally, the height measurement system or a part thereof can be moved relative to the load carrier during acquisition of the height measurement data. For this purpose, the load carrier can be stationary relative to, for example, a storage location.For example, a scanner, light curtain or a corresponding light grid that is movably mounted in the access opening can be moved along a storage goods carrier located in the access opening to record the height measurement data.

[0062] According to a further advantageous embodiment, the height measuring system can simultaneously be part of a safety system that monitors the access opening and is designed, for example, to visually monitor a safety area and trigger an alarm if objects penetrate the safety zones. This corresponds to the second operating state of the order-picking device.

[0063] It can further be provided to determine or calculate a value representative of the loss space of a stored load carrier as a function of the height distributions of the stored load carrier. A representation of this value can be included in the image, for example as a visual element, i.e. a number, a pictorial representation, a logo, a progress or loading bar, or a combination thereof. In particular, the image can contain a representation of the difference in the loss space resulting from a comparison of the loss space in the loss-reduced load carrier redistribution with the loss space for the currently stored load carriers. This enables an operator to assess the effectiveness of the loss-reduced load carrier redistribution.

[0064] To improve the calculation of the loss-space-reduced storage goods redistribution, a total loss space can be determined, which represents the sum of a plurality of loss spaces of different stored storage goods carriers. In particular, the image can contain a function for the difference between the total stack height and / or the total loss space for the loss-space-reduced storage goods redistribution and the total stack height and / or the total loss space of the currently stored storage goods carriers. To calculate the loss-space-reduced storage goods redistribution, for example, only the total stack height and / or the total loss space needs to be minimized. A Monte Carlo simulation or a machine learning program trained using such simulations can be used for such minimization.

[0065] It is also advantageous if a warning signal is generated depending on whether a loss area and / or total loss area, or a representative value, exceeds a predetermined limit. The limit can be changed by the user.

[0066] The transport of a load carrier in the storage system can be determined based on the height distribution, the loss space, and / or the total loss space. For example, the transport of a load carrier from the access opening and / or into a storage location can be automatically prevented or stopped if the loss space of this load carrier exceeds a predetermined limit. For example, a load carrier with a loss space above a limit can be automatically transported back to the access opening without being stored after the height distribution has been determined or the loss space has been calculated.

[0067] A further advantage arises when the method and device are designed to automatically identify stored goods on the storage goods carrier. Identification of the stored goods can be achieved via height distribution and / or querying a database.

[0068] For example, a database can be queried that stores the position of stored goods on individual storage carriers. The position of the stored goods can be correlated with the height distribution in order to assign different heights within the height distribution to different storage goods.

[0069] In a further embodiment, data representative of at least one dimension of the stored goods can be read from the database. This data enables improved calculation and easier identification and display of stored goods to be relocated. Identifying the stored goods facilitates display in the access opening, for example, using a pointer or a display. Furthermore, additional data can be displayed in the image, depending on data retrieved from the database, enabling an operator to identify stored goods.

[0070] The database can be part of the data processing device or an external database accessible to the data processing device. If a robot is controlled for automatic rearrangement of stored goods that enables optical recognition of the stored goods, an image or the height distribution of the stored goods to be relocated can be transmitted to the robot. Such an image can be generated, for example, by the height measurement system. This measure prevents incorrect reordering by the robot.

[0071] Finally, the invention relates to a computer program product comprising instructions that, when executed by a computer, cause the computer to execute the method in one of the above embodiments. The computer program product can be stored on a computer-readable data carrier or be part of a data carrier signal that a computer program product transmits as described above.

[0072] Any type of computer can be used as the data processing device, for example, a commercially available industrial PC. The data processing device has a processor that is constructed entirely of hardware, entirely of software, or a combination of hardware and software. The processor can be a CPU, an array processor, a vector processing unit, an ASIC, a GPU, an FPGA, any other processor, and / or any combination of these elements.

[0073] The storage system is an automatic storage system that is designed to automatically store goods for storage and to automatically remove them for retrieval in response to a control command.

[0074] The invention is explained below by way of example using embodiments with reference to the accompanying drawings. For the sake of simplicity, the same reference numerals are used for elements that correspond to one another in terms of function and / or structure.

[0075] In accordance with the above embodiments, a feature may be omitted from each of the following embodiments if its technical effect is not important for a specific application. Furthermore, features whose technical effect is important for a specific application may be added in accordance with the above explanations.

[0076] They show:

[0077] Fig. 1 shows a schematic sectional view of an exemplary storage system; Fig. 2 shows an exemplary representation of a height distribution;

[0078] Fig. 3 is a schematic sectional view of an exemplary storage system;

[0079] Fig. 4 is a schematic view of a part of Fig. 3 in the direction IV of the

[0080] Fig. 3;

[0081] Fig. 5 is an exemplary representation of a height distribution;

[0082] Fig. 6 is a schematic sectional view of an exemplary storage system;

[0083] Fig. 7 shows an exemplary representation of a height distribution;

[0084] Fig. 8 is a schematic sectional view of an exemplary storage system;

[0085] Fig. 9 is a schematic sectional view through an exemplary storage system;

[0086] Fig. 10 shows an exemplary representation of a height distribution generated

[0087] Image of a storage area of ​​a storage system;

[0088] Fig. 11 is an exemplary representation of a flow chart;

[0089] Fig. 12 is a schematic representation of the height measuring system;

[0090] Fig. 13 schematically shows the optimization of the used storage space in case of deflection of the storage goods carrier;

[0091] Fig. 14 schematically shows the optimization of the used storage space in case of deflection of the storage goods carrier;

[0092] Fig. 15 schematically shows the optimization of the used storage space when detecting that no deflection occurs; and

[0093] Fig. 16 shows schematically the use of the safety area as storage volume with a non-bent load carrier.

[0094] First, an embodiment of the invention will be explained by way of example with reference to Fig. 1. Fig. 1 shows a section through a picking device 1, in particular an automatic storage system 1. The storage system can be a storage lift as shown here as an example. However, the storage system 1 can also be a paternoster, a horizontal or vertical carousel, or a storage system with aisle conveyors, for example, a high-bay warehouse or a small parts warehouse.

[0095] The storage system 1 has a storage area 2 in which storage bins 4 are arranged one above the other. The storage bins 4 can each have different heights and be arranged in a grid 6. A storage bin 4 can contain a storage goods carrier 8 on which various storage goods 10 can be stored. The storage goods carriers 8 can be stationary at a storage bin 4 or can be moved for storage into a storage bin 4 and for retrieval from a storage bin 4.

[0096] Any type of stored goods can be placed on a storage goods carrier 8. The stored goods 10 on a storage goods carrier 8 can have different heights. The storage system 1 can further comprise a conveyor device 12, which serves to transport a storage goods carrier 8 for the automatic storage and / or retrieval of stored goods to and / or from an access opening 14. In a paternoster or a horizontal or vertical carousel, the conveyor device 12 moves the storage goods carriers 8 along a circular path past the access opening 14 or to or away from the access opening 14. The access opening 14 connects the storage area 2 with the outside environment of the storage system 1 and can also be referred to as a retrieval and / or storage point.

[0097] In a storage lift or aisle conveyor, the conveyor device 12 can move in a storage aisle 16 formed between two storage racks 18 located opposite one another with respect to the storage aisle 16. In such a case, the conveyor device 12 can be movable, for example, along at least two preferably mutually orthogonal spatial directions 20. In addition, the conveyor device can also rotate about a vertical axis (not shown).

[0098] Alternatively or in addition to the conveyor device 12, a transfer device 22 can be located in the access opening 14, which moves a storage goods carrier 8 from the access opening 14 to the conveyor device 12 in the case of storage and / or from the conveyor device 12 to the access opening 14 in the case of retrieval. The storage system 1 can have any number of access openings 14. Individual access openings can be used only for storage, only for retrieval, or for both. The access opening 14 can be designed like a shaft. For example, storage locations can be located above, below, and / or to the side of the access opening. However, the access opening can also be a simple opening in an enclosure 15 of the storage system, which provides access to the storage area.

[0099] The storage system 1 can have a height measuring system 24, by which a height 26 of only the storage item 10 on the storage item carrier 8 or of the storage item carrier 8 together with the storage item 10 located thereon can be measured at several positions along at least one spatial direction 20. These spatial directions do not have to coincide with the directions of movement of the conveyor or the transfer device 22.

[0100] The height measurement system 24 is designed, in particular, to generate digital height measurement data 28, which can be output to a data processing system or a data processing device 30. The data processing system can be referred to as a data processing device 30. The height measurement data 28 contains, in coded form, the height 26 measured at a position for different positions along the spatial direction 20. The data processing device 30 can simultaneously serve to control the conveyor device 12 and / or the transfer device 22.

[0101] As schematically illustrated in Fig. 12, the height measuring system 24 comprises a plurality of diffuse-light sensors 25. These sensors have a scanning range 25a that can preferably be at least 750 mm, more preferably 1000 mm or more. Furthermore, the diffuse-light sensors 25 are arranged at a distance 25b from one another along a line. The distance 25b can be more than 1 cm and less than 10 cm. The diffuse-light sensors 25 have the advantage that they do not cast shadows that could interfere with or prevent a height measurement.

[0102] The data processing device 30 is designed, for example, to determine, depending on the height measurement data 28, a storage location 4 into which a storage goods carrier 8 with the measured height 26 fits or to place a storage goods carrier 8 in the grid dimension 6 in the storage area 2 in such a way that, taking into account the height 26, the distance to the storage location 4 above is as small as possible.

[0103] The data processing device 30 can be a commercially available computer, for example, a PC. It has one or more processors 31, for example, CPUs, vCPUs, ASICs, VPUs, array processors, or combinations thereof, on which software with the function described below is executed. Some or all of the functions can also be performed by hardware.

[0104] In the embodiment of Fig. 1, at least part of the height measuring system 24 is located at the end of the service opening 14 facing the storage area 2 or in a transition area 32 between the service opening 14 and the storage area 2. The height measuring system 24 comprises the plurality of reflected light sensors 25, but can additionally have a light grid, several light grids, a light curtain, several light curtains, a camera, several cameras, a scanner and / or several scanners or combinations thereof. The scanner(s) can in particular generate three-dimensional data. For example, a lidar scanner can be used. A light curtain can, for example, use a laser beam and / or a light beam to scan a measuring plane through which a storage goods carrier is transported and / or which is moved relative to a storage goods carrier. A light curtain or light grid 34 is shown in Fig. 1 for exemplary purposes only.

[0105] The height measurement system 24 can also serve as a safety system to increase occupational safety. For example, an alarm signal can be issued if an object penetrates the light curtain 34 while the safety system is armed. For example, the safety system can be armed if a load carrier 8 is stationary in the access opening 14 and is currently being loaded or unloaded.

[0106] If a storage goods carrier 8 is transported from the access opening 14 in the direction of the storage locations 4 by means of the transfer device 22 and / or the conveyor device 12 for the storage of stored goods placed thereon, it is transported past or through the light curtain or light grid 34, as indicated by the arrow 36. During this movement, the height 26 is measured at successive times and thus at different positions along the storage goods carrier 8. From the height measurement data 28 measured along the direction 36, the data processing device 30 determines a height distribution 38, which is shown as an example in Fig. 2. The lines 40 are intended to symbolically indicate the height grid in which a light grid measures.

[0107] In a height distribution 38, the course of the height 26 in direction 36 is shown at various positions. The direction 36 preferably runs parallel to an edge of the base area of ​​the storage goods carrier 8, which is rectangular in this case. From the height distribution 38 and the position of the storage locations 4 or their vertical distance from one another, a loss space 42 can be calculated for each storage goods carrier. The loss space 42 is the empty space above the storage goods 10 of a storage goods carrier 8 up to the storage location 4 or storage goods carrier 8 above it. If, for example, storage goods 10 are located on a storage goods carrier 8 that has a great height 26 but only a small base area, next to otherwise very low storage goods 10, the loss space 42 above the storage goods carrier 8 is rather large. If all of the storage goods 10 on a storage goods carrier 8 has approximately the same height and there are no gaps between the storage goods 10, then the loss space 42 is rather small.

[0108] A measure of the loss space 42 can be calculated very easily, for a one-dimensional height distribution 38 as in Fig. 2, for example, as the content of a rectangular area 44 in the height distribution 38 above the second-highest stored item 10 up to the height of the highest stored item 10 or up to the underside of the storage carrier 8 or storage location 4 above it. This calculation can be refined by adding the rectangular areas 46 above the second-, third-, etc.-highest stored item. The sum of the loss spaces 44 and 46 results in the total loss space 43, which is shown hatched.

[0109] As explained below, the height distribution 38 can also be determined in two directions, preferably along two mutually perpendicular directions. In such a case, the loss space 42 can be determined as a volume similar to that described above, taking the second spatial direction into account. Such a height distribution is referred to below as two-dimensional.

[0110] The data processing device 30 can be configured to generate an image data set 48 and provide it at an output, for example, a digital interface such as HDMI or Bluetooth. The image data set 48 can be displayed, for example, on a display 50, which can be part of the data processing device 30, in the form of an image 52. The image data set 48 represents an image of the storage goods carriers 8 stored in the storage locations 4, including the height distribution of the storage goods 10 on the respective storage goods carrier. Each storage goods carrier 8 is preferably shown in the image at the storage location 4 in the storage system 1 or storage rack 18 where it is stored in the storage system 1. The image 54 is thus a faithful representation of the loading status of the storage system 1 or a storage rack 18.

[0111] An image 54 is schematically shown in Fig. 10. The image 54 represents the storage area 2 and contains representations, for example, of the storage goods carriers 8 in a storage rack 18. For each storage goods carrier 8, the height distribution 38 determined by the height measurement system 24 using the height measurement data 28 and by the data processing device 30 is shown. In addition, further information about the stored goods 10 can be shown in the image 54, for example, an article number and / or a brief description.

[0112] Furthermore, the determined loss space 42 can be marked in the image 54, for example by the loss space 42 in the image 54 having a different color and / or texture than an area above the stored goods 10 that is not determined as a loss space 42, and than the stored goods 10. A time-varying marking such as flashing can also be provided for the loss space 42.

[0113] The image 54 enables a user of the storage system 1 to identify inefficient utilization of the available storage space and, if necessary, to redistribute the stored goods 10. This measure is facilitated if the lost space 42 is also displayed.

[0114] In image 54, storage goods 10a that lead to a loss space 42 and should be redistributed to other storage goods carriers in order to minimize the loss space 42 can also be marked, as indicated by the hatching in Fig. 10. Storage goods 10a that are higher than a predetermined height that can be changed, for example, by the operator and / or lower than a predetermined but changeable height can be marked.

[0115] Furthermore, in the image 54, only loss space 42 can be marked which is larger than a predetermined and preferably operator-changeable limit value.

[0116] The data processing device 30 can be configured to determine a total loss space 43. The total loss space 43 results from the sum of individual loss spaces 42. For example, a total loss space 43 can be calculated per storage rack 18 or per storage system 1. In the first case, the loss spaces 42 of a storage rack 18 are added together, while in the second case, the loss spaces 42 of the entire storage system 1 are added together. When calculating the total loss space 43, any loss space 42 can be taken into account, or only loss space 42 that meets certain criteria, for example, one that has a predetermined minimum size that can preferably be changed by the operator. The geometry of the loss space 42 can also be taken into account. For example, only loss space 42 that has a sufficient width or base area that lies above a predetermined limit that can preferably be changed by the operator can be taken into account.The image 54 can contain one- or two-dimensional height distributions 38, i.e., height distributions measured along one or two spatial directions. For example, the image 54 can contain a perspective representation of a two-dimensional height distribution 38. In this case, the stored goods 10 can be represented three-dimensionally on each storage goods carrier 8.

[0117] In the image 54 or the image data set 48, a marker 55 may be present that is representative of the efficiency of space utilization in the storage area 2 or in the total loss space 43. A marker 55 provides the user with quick orientation as to whether a redistribution of the stored goods 10 is necessary. The marker 55 may, for example, depend on a ratio or difference between the total loss space 43 and the total storage space provided by the storage system 1, or on a ratio or difference between the total stack height and the total height of the storage space provided by the storage system 1.

[0118] The data processing device 30 can further be configured to calculate a total stack height. The total stack height is the height of the storage goods carriers 8 stacked directly above one another in the storage system 1 or in a storage rack 18, for example, at a grid spacing of 6.

[0119] The data processing device 30 can, depending on the determined height distributions 38 or the height measurement data 28, determine a storage goods redistribution with reduced space loss. In the storage goods redistribution with reduced space loss, at least a portion of the storage goods 10 in the storage system 1 is distributed on different storage goods carriers 8 than at the time the height distributions were determined. The total stack height of these storage goods carriers 8 after the storage goods redistribution with reduced space loss is smaller than the total stack height before the storage goods redistribution with reduced space loss. In the storage goods redistribution with reduced space loss, the storage goods 10 are thus redistributed on the same storage goods carriers 8, so that the storage goods carriers 8 can be arranged more densely one above the other. The number of storage goods carriers remains the same. The total stack height is not necessarily a value used in the calculation of the storage goods redistribution with reduced space loss.However, the loss-reduced storage space redistribution is characterized by a reduction in the overall stack height.

[0120] Fig. 10 schematically shows the total stack height 56 ​​of the storage carriers 8. If the storage goods 10a are redistributed, the storage carriers 8 can be packed more densely on top of one another in the storage rack 18. Storage goods 10 of approximately the same height are preferably located on the same storage carrier 8 in the storage goods redistribution with reduced loss space. The total stack height 56 ​​of the stored storage goods carriers 8 is reduced and, for example, after the storage goods redistribution with reduced loss space, at least one further, additional storage carrier 8 can be accommodated in a storage rack 18. A Monte Carlo simulation or a machine learning program such as a network trained using these or similar simulations is suitable for calculating the storage goods redistribution with reduced loss space.

[0121] Fig. 3 shows a storage system in which the height measuring system 24 is located in the storage shaft 16. The height measurement data 28 are determined during the transport of the storage goods carrier 8 by the conveyor device 12 in the storage shaft 16 along the transport direction 36.

[0122] By way of example, a light grid or light curtain 34 is shown which is aligned perpendicular to the end faces 57 of the storage racks 18 bordering the storage shaft 16. The light grid or light curtain 34 is directed from one storage rack 18 to the other across the storage shaft 16. If the storage goods carrier 8 with the stored goods 10 is transported vertically, the interruption of the light curtain and the instantaneous position of the conveyor device 12 or of the storage goods carrier 8, which is continuously made available to the data processing device 30, allow a height 26 to be determined. In addition to or alternatively to the light grid or light curtain 34, a further light grid or light curtain 34a can be used. The further light grid 34a or the further light curtain 34a is preferably aligned perpendicular to the light grid 34. The measuring plane 58 of the light grid orThe light curtain 34 can be aligned parallel to the measuring plane 58a of the light grid or light curtain 34a. In the illustrated embodiment, the further light grid 34a or the further light curtain 34a is the detector device 24 (also referred to as the height measuring system 24). This consists of a plurality of reflex light sensors 25.

[0123] Due to the different orientation of the light grid 34 and the further light grid 34a, ie the detector device 24, to the direction of movement 36 of the storage goods carrier 12 compared to Fig. 1, the grid 40 for height measurement is aligned differently than in Fig. 1. The grid 40 is in this case a width or depth grid.

[0124] If the two light grids or curtains 34, 34a are used together in Fig. 3, a two-dimensional height distribution 38 can be determined due to the different, here mutually perpendicular orientation, since height measurement data 28 are present in two different directions in the measuring plane 58. Another embodiment for determining two-dimensional height measurement data is shown in Fig. 6. In the embodiment shown in Fig. 6, the height measuring system 24 has light curtains or grids 34, 34a spaced apart from one another transversely across the path 36a, 36b traveled by a storage goods carrier 8 during storage. Each light curtain or each light grid 34, 34a is aligned perpendicular to the transport direction. The one light grid or light curtain 34a corresponds, for example, to the light curtain 34 in Fig. 1 and can simultaneously be part of a security system that measures a height distribution 38a along the direction 36a when not armed.The direction 36a in Fig. 6 corresponds to the direction 36 in Fig. 1 . Although the two light curtains or grids 34, 34a in Fig. 6 are spaced apart from one another and record the height measurement data at different times in different spatial directions 36a, 36b, for example perpendicular to one another, and in mutually perpendicular measurement planes 58, 58a, a common, two-dimensional height distribution 38 can be determined therefrom, as shown schematically in Fig. 7. In this way, the distribution of the stored goods 10 on a stored goods carrier 8 can be calculated from the two one-dimensional partial height distributions 38a, 38b by the data processing device 30. The height distribution, as shown in Fig. 7, can also be determined with the embodiment of Fig. 3 if both light curtains or grids 34, 34a are used together.

[0125] With the help of a two-dimensional height distribution 38, the loss space 42 above a storage goods carrier 8 can be calculated more precisely. Based on the two-dimensional height distribution 38, the base areas 59 of the stored goods 10 can also be determined, so that it can be determined more precisely whether a stored good leading to a loss space 42 can actually be exchanged for stored goods 10 on another storage goods carrier 8. Such an exchange is only possible if there is sufficient base area on the storage goods carriers 8 to accommodate the other stored goods.

[0126] When reference is made to a light curtain or grid in the above, this refers in particular to non-contact height measurement systems that comprise a plurality of diffuse light sensors. These sensors can each have a light and / or laser beam. The plurality of diffuse light sensors can scan a measuring plane 58 at such a speed compared to the transport speed of the storage goods carrier 8 that any height changes occurring during the scanning time can be disregarded.

[0127] The disadvantage of a light curtain or grid 34 measuring in a measuring plane 58 is that stored goods located one behind the other can cast shadows on one another. To avoid this, the height measuring system 24 can have one or more cameras, for example one or more CCD cameras, one or more light sensors, or one or more scanners 60, which generate image-like, two-dimensional height measurement data 28. This is shown in Fig. 8. For example, a lidar scanner or a camera that projects a light grid onto the stored goods 10 or the storage goods carrier 8 can be used as the camera or scanner 60. In this case, the height measurement data 28 can be implicitly contained in image data 62. The image data 62 can represent a black-and-white image or a color image in any color space.

[0128] The image data 62 can also be used to identify individual stored goods 10. For example, the data processing device 30 can be configured to recognize a code 66 on the stored goods 10, on the storage goods carrier, a small parts container, or a compartment divider, and to retrieve the data corresponding to this code 66 from a database 64. For example, a QR code or barcode can be attached to a stored item 10 or on the storage goods carrier, a small parts container, or a compartment divider and recognized by the height measurement system 24. Using the code 66, information such as packaging size, a brief description of the stored goods 10, the weight of the stored goods 10, and / or a position of the stored goods 10 on the storage goods carrier 8 can be determined from a database 64. The code 66 allows the data processing device 30 to identify the stored goods 10.For this purpose, the data processing device 30 can have a code reader 68 implemented as hardware and / or software, which identifies the code in the image data 62. The database 64 can be part of a higher-level warehouse management system 70, which, as a higher-level control entity, controls and / or manages a plurality of warehouse systems 1.

[0129] As soon as the height distribution 38 of a storage goods carrier 8 and its storage location 4 for height-dependent storage has been determined, the data processing device 30 can calculate the lost space 42 and / or the total lost space 43 and / or the total stack height 56. In one variant, as soon as a predetermined and preferably operator-changeable limit value is exceeded for at least one of the lost space, the total lost space 43 and / or the total stack height 56, an acoustic and / or visual warning signal 72 can be emitted or initiated. Alternatively or additionally, the data processing device 30 can directly or indirectly cause the storage goods carrier 8 to be automatically transported back into the access opening 14 or not out of the access opening 14 in order to avoid wasting storage space and to effect immediate reloading of the stored goods.The data processing device 30 can be configured to directly or indirectly initiate the automatic transport of storage goods carriers 8 containing storage goods 10a, which are to be relocated to other storage goods carriers 8 as part of the loss-space-reduced storage goods redistribution. This is explained below with reference to Fig. 9. In the case of an indirect triggering, control commands 74 are transmitted from the data processing device 30 to a control unit 76 of the conveyor device 12 and / or the transfer device 22 (not shown in Fig. 9). The actual control of the conveyor device 12 and / or the transfer device 22 is then undertaken by the control unit 76. In the case of a direct triggering, the data processing device 30 is configured to control the conveyor device 12 and / or the transfer device 22 itself.

[0130] The data processing device 30 is preferably designed to automatically determine a sequence of transport of the storage goods carriers 8 with the storage goods 10a to be relocated such that only a minimum number of storage goods 10a to be relocated always has to be deposited in an intermediate storage area 78, for example a storage table 80.

[0131] If the relocation is performed manually, i.e., by an operator 82, it is advantageous if the storage item 10a to be relocated is marked in the access opening 14 by a pointing system 84, for example, a laser pointer. If the height measuring system 24 includes a scanner or a camera 60 configured to automatically project one or more light beams or a pattern, for example, a cross, onto a predeterminable location, then a light beam 86 marking the storage item 10a to be relocated can also be generated by the height measuring system 24.

[0132] As soon as the stored goods 10a are to be relocated as part of a storage goods redistribution with reduced loss space and a storage goods carrier 8 with the stored goods 10a to be relocated is located in the access opening 14, the operator 82 can recognize the stored goods 10a marked by the light beam 86 and place it, for example, on the table 80. Subsequently, the storage goods carrier 8 is transported back to the storage area 2 without the stored goods 10a to be relocated upon a control command from the operator 82, for example by touching a marking on a touch-sensitive display 88. In this case, the operator 82 may have placed a stored goods 10a previously deposited for relocation on the storage goods carrier 8.

[0133] The next storage item carrier 8 containing the storage item 10a is then automatically transported into the access opening 14, which is to be exchanged for the temporarily stored storage item 10a. These steps are continued until all storage item 10a to be relocated has been relocated. The display 88 can be provided to facilitate the operator 82's identification of the storage item 10a to be relocated and / or to control the storage system 1, in addition to or instead of the pointing system 84. For example, the display 88 can show the height distribution 38 or another image of the storage item 10a on the storage item carrier 8 in the access opening 14, in which the storage item 10a to be relocated is marked. At the same time, further information about the storage item 10a to be relocated can be displayed, such as information from the warehouse management system 70 or the database 64.

[0134] Of course, during a relocation of stored goods 10a during the loss-space-reduced redistribution of stored goods, several stored goods 10a can be removed from a storage goods carrier 8, and only a portion of these removed stored goods 10a can then be placed on the next available storage goods carrier 8. Which stored goods 10a are to be placed can be displayed on the display 88.

[0135] The relocation during the loss-space-reduced redistribution of the stored goods can also be fully automated, for example, with the aid of a robot 90 that performs the same activities as the operator 82. The robot 90 can be equipped with a camera 92 that detects the stored goods 10a to be relocated based on image data on the storage goods carrier 8 in the access opening 14 and / or based on the light beam 86 directed thereon. Alternatively or additionally, control signals can be supplied to the robot 90 containing the encoded position of the stored goods 10a to be relocated on the storage goods carrier 8. The position can be contained, for example, in the database 64.

[0136] The robot 90 can be controlled directly by the data processing device 30 or indirectly via an intermediate control unit 76, which, for example, also additionally controls the conveyor device 12 and / or the transfer device 22. The data processing device can, for example, be configured to transmit a control signal 94 to the robot 90, which causes it to relocate or temporarily store the stored goods 10a to be relocated.

[0137] Figure 11 provides an overview of the storage space optimization method. In a step 100, height measurement data 28 is determined. Based on the height measurement data 28, a height distribution 38 of the stored goods 10a on the storage goods carrier 8 is then determined in a step 102. Steps 100 and 102 are repeated for a plurality of storage goods carriers 8 of the storage system 1, preferably all storage goods carriers 8. This can occur whenever a storage goods carrier 8 in the storage system 1 is transported past the height measurement system 24 and / or is located in the access opening 14. In a step 104, the image data set 48 is generated and displayed in an optional step 106. Based on the height measurement data 28 or the height distribution 38, the loss space 42 of at least some of the storage goods carriers 8, the total loss space 43 and / or the total stack height 56 ​​are determined in an optional step 108.

[0138] In a step 110, a loss-space-reduced redistribution of the stored goods is calculated based on the loss space 42, the total loss space 43 and / or the total stack height 56 ​​and / or depending on the height measurement data 28 and / or the height distributions 38. The storage item 10a to be relocated in the course of the loss-space-reduced storage item redistribution can be taken into account in step 104 when generating the image data set 48, so that the storage item 10a to be relocated is marked differently in the image data set 48 in the image 54 represented by the image data set 48 than the storage item 10 not to be relocated. If no loss-space-reduced storage item redistribution is determined, the storage item 10a to be relocated can also be marked in the image 54 depending on the height distribution 38, the height measurement data 28 or the loss space 42, total loss space 43 and / or total stack height 56 ​​determined in step 108.

[0139] Once the storage goods redistribution with reduced space loss has been determined, the storage goods carriers 8 with the storage goods 10a to be relocated can be transported automatically in an optional step 112, preferably in the order of relocation, or their transport can be initiated. In a step 114, the relocation takes place manually or fully automatically using a robot 90.

[0140] Instead of the automatic transport 112, the transport of a storage goods carrier 8 can be triggered manually at any time, for example, based on the image 54 shown in step 106. This is schematically represented in step 116.

[0141] Figures 13 to 15 show a deflection 120 of the load carrier 8 schematically and not to scale. The order-picking device 1 (not shown here) can be configured to determine a deflection 120 of the load carrier 8 and / or to calculate a value representative of the deflection 120. Thus, the order-picking device 1 can have a deflection module 118, which is only shown schematically in Figure 13.

[0142] Such a deflection module 118 can, on the one hand, qualitatively determine whether the storage goods carrier 8 is deflected and / or quantitatively determine a value, i.e., the extent of the deflection 120. The deflection module 118 can comprise a scale or be a scale. Using a scale, it is possible to record a weight value of the storage goods 10 arranged on the storage goods carrier 8 and, depending on this weight value, to calculate the deflection 120. In other embodiments (not shown), a sensor can be arranged on the base of the storage goods carrier 8 or below the storage goods carrier 8 and can be configured to determine the deflection 120.

[0143] Depending on the geometry of the load carrier 8, different deflection distributions 122 can be obtained. For example, the load carrier 8 of Fig. 13 can have a central stiffener 128, thus forming two deflections, each extending from the stiffener to the edge of the load carrier 8. Without such a stiffener, which is mentioned purely as an example, the deflection 120 can extend across the entire load carrier 8. This is illustrated in Fig. 15.

[0144] As shown in Figures 14 and 15, the order picking device 1 can be designed to use a deflection distribution 122 determined by the deflection module 118 for storage space optimization and to arrange an upper storage goods carrier 124, which has a corresponding deflection distribution 122, above a lower storage goods carrier 126, wherein the lower storage goods carrier 126 has a height distribution 38 of the storage goods 10 that is approximately complementary to the deflection distribution 122 of the upper storage goods carrier 124.

[0145] Even if it is determined that the load carrier 8 does not exhibit any deflection 120, this can be used to optimize the storage space. This is shown schematically in Fig. 16.

[0146] In the prior art, a possible deflection 120 of the storage goods carrier 8 is taken into account by providing a safety area 130. This safety area 130 is not available for storing storage goods 10.

[0147] In one embodiment of the order picking device 1, the safety area 130 provided under the storage goods carrier 8 can be reduced depending on the deflection 120.

[0148] If, for example, the deflection module 118 determines that the storage carrier 8 is not deflecting, the safety area 130 can be partially or completely declared as usable storage volume, so that the storage item 10 of the lower storage carrier 126 located below can be arranged within it. This is illustrated schematically in Fig. 16. The safety area 130 is located between the upper storage carrier 124 and the storage item 10 of the lower storage carrier 126. The safety area 130 extends to the lower storage carrier 126, and one end of the safety area 130 is represented by a dotted line. The storage item 10 of the lower storage carrier 126 is thus always arranged at a safety distance 130a from the upper storage carrier 124. The safety distance 130a corresponds to a size of the safety area 130.If no deflection 120 is detected, the upper storage goods carrier 124 can be moved from a first position 124a (with safety zone 130) to a second position 124b (without safety zone 130). In this position, the available storage space is increased according to the previously defined safety distance 130a.

[0149] Reference symbol

[0150] 1 Storage system I Order picking device

[0151] 2 storage area

[0152] 4 storage spaces

[0153] 6 grid dimensions

[0154] 8 storage goods carriers

[0155] 10 Storage goods

[0156] 10a Storage goods to be redistributed

[0157] 12 Conveyor system

[0158] 14 Service opening / retrieval and / or storage point

[0159] 15 Enclosure

[0160] 16 Lagergasse

[0161] 18 storage rack

[0162] 20 spatial direction

[0163] 22 Transfer device

[0164] 24 Height measuring system / detector device

[0165] 25 diffuse reflection sensors

[0166] 25a scanning range

[0167] 25b distance

[0168] 26 height

[0169] 28 altitude measurement data

[0170] 30 Data processing device

[0171] 31 processors

[0172] 32 Transition area between service opening and storage area

[0173] 34 light curtain grids

[0174] 34a additional light curtain / additional light grids

[0175] 36 Measuring direction for height distribution

[0176] 36a, 36b different measuring directions in the two-dimensional height distribution

[0177] 38 Height distribution

[0178] 38a, 38b one-dimensional height distributions as parts of a two-dimensional height distribution

[0179] 40 height / width / depth grids

[0180] 42 Loss space

[0181] 43 Total loss space

[0182] 44 Area / Volume

[0183] 46 Area / Volume

[0184] 48 image data sets

[0185] 50 displays

[0186] 52 images

[0187] 54 Image

[0188] 55 Marking

[0189] 56 total stack height

[0190] 57 Front face of a storage rack

[0191] 58, 58a measuring plane

[0192] 59 Floor area of ​​a stored item

[0193] 60 Camera / Scanner

[0194] 62 image data

[0195] 64 Database 66 Code

[0196] 68 Code reader 70 Warehouse management system 72 Warning signal 74 Control command

[0197] 76 Control unit

[0198] 78 interim storage facilities

[0199] 80 table

[0200] 82 operator

[0201] 84 Pointing system

[0202] 86 light beam

[0203] 88 Display

[0204] 90 robots

[0205] 92 Robot camera

[0206] 94 Control signal for robot 100 Determining height measurement data 102 Determining the height distribution

[0207] 104 Determining the image dataset 106 Displaying the image 108 Determining the loss space, total loss space and / or total stack height

[0208] 110 Determining the loss-space-reduced redistribution of stored goods 112 Automatic transport for redistribution 114 Relocation 116 Manual triggering of a transport for relocation

[0209] 118 Deflection modulus 120 Deflection 122 Deflection distribution

[0210] 124 upper storage goods carrier 124a first position 124b second position 126 lower storage goods carrier

[0211] 128 central stiffening 130 safety area 130a safety distance

Claims

Claims 1. Order picking device (1), in particular a storage lift, with at least one retrieval and / or storage point (14) for stored goods (10) and / or storage goods carriers (8), wherein the order picking device (1) has at least one detector device (24) for determining a height distribution (38) of the stored goods (10) or the storage goods carrier (8) and for providing data (28) representing the height distribution (38), and wherein the detector device (24) comprises a plurality of reflected light sensors (25) arranged parallel to one another.

2. Order picking device (1) according to claim 1, wherein the reflected light sensors (25) are directed vertically downwards.

3. Order picking device (1) according to claim 1 or 2, wherein the reflected light sensors (25) are arranged along at least one line.

4. Order-picking device (1) according to one of claims 1 to 3, comprising a transport path along which the stored goods (10) and / or the stored goods carrier (8) are transported between the at least one retrieval and / or storage point (14) and a storage location, wherein the plurality of reflected light sensors (25) are arranged transversely to the transport path.

5. Order picking device (1) according to claim 4, wherein the plurality of reflected light sensors (25) are arranged on an upper side of the transport path.

6. Order-picking device (1) according to one of claims 1 to 5, wherein the plurality of reflected light sensors (25) are arranged on an upper side of the retrieval or storage point (14).

7. Order-picking device (1) according to one of claims 1 to 6, comprising a data processing system (30) connected to the detector device (24), wherein the data processing system (30) is designed to calculate, based on the height distribution (38) provided by the detector device (24), a loss-space-reduced redistribution of the stored goods, in which at least a part of the stored goods (10) in the order-picking device (1) is distributed differently on the storage goods carriers (8) than on the stored storage goods carriers (8), wherein a total stack height (56) the storage goods carrier (8) in the loss-space-reduced storage goods redistribution is smaller than the total stack height (56) of the same stored storage goods carrier (8).

8. Order-picking device (1) according to one of claims 1 to 6, comprising a data processing system (30) connected to the detector device (24) or order-picking device (1) according to claim 7, wherein the data processing system (30) is designed to generate an image data set (48) which represents an image (54) of the storage goods carriers (8) stored in the storage locations (4) with the height distribution (38) of the storage goods (10) on the respective storage goods carrier (8) at its storage location (4) in the order-picking device (1).

9. Order-picking device (1) according to claim 7 or 8, wherein the data processing system (30) is designed, - to provide the image data set (48) graphically, optically, acoustically and / or haptically to a user (82) and / or to provide a user (82) with instructions for reloading storage goods (10) from one storage goods carrier (8) to another storage goods carrier (8) of the order-picking device (1) depending on the storage goods redistribution with reduced loss space; or - to control a robot (90) for reloading stored goods (10) from one storage goods carrier (8) to another storage goods carrier (8) of the order-picking device (1) as a function of the storage goods redistribution with reduced loss space.

10. Order-picking device (1) according to one of claims 1 to 9, wherein the order-picking device (1) is designed to detect a deflection (120) of a storage goods carrier (8) or a tray and / or to calculate a value representative of the deflection (120).

11. Order picking device (1) according to claim 10, wherein the order picking device (1) is designed to reduce a size (130a) of a safety area (130) depending on the deflection (120).

12. Use of a plurality of reflex light sensors (25) in an order-picking device (1) for determining a height distribution (38) of the stored goods (10) or the stored goods carrier (8).

13. Method for calculating a height distribution (38) of stored goods (10) on a storage goods carrier (8), comprising determining a location-dependent height (26) of stored goods (10) by means of a plurality of reflected light sensors (25) arranged parallel to one another.

14. The method according to claim 13, further comprising providing elevation data (28) representing the location-dependent elevations (26) to a data processing system (30), and calculating the elevation distribution (38) from the elevation data (28).

15. The method according to claim 13 or 14, wherein the method step of determining the location-dependent height (26) of stored goods (10) comprises the relative movement of the plurality of reflective light sensors (25) arranged parallel to one another with respect to the stored goods (10).

16. A computer program product comprising instructions which, when the computer program product is executed by a computer, cause the computer to carry out the method according to any one of claims 13 to 15.

17. A computer-readable data carrier on which the computer program product according to claim 16 is stored.

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