Automatic storage system and method for accurately determining the position of stored items

Abstract

The invention relates to an automatic storage system (1), in particular a storage lift, with at least one storage and / or retrieval point (14) for stored items (11). Solutions from the prior art are expensive and require a lot of computing power. These solutions are improved in that the automatic storage system (1) has at least one detector (24) designed to determine a position of the stored item (11) in the automatic storage system (1) and to output a position signal (24a) representing the position of the stored item (11), wherein the detector (24) is further configured to output a time stamp (24b) with the position signal (24a) that is representative of a time (t0) of generation of the position signal (24a).

Description

[0001] Automatic storage system and method for accurately determining the position of stored items

[0002] The invention relates to an automatic storage system with at least one storage and / or retrieval point for stored objects and a conveyor device for transporting the stored objects at least to the at least one storage and / or retrieval point, a method for calculating at least one position of stored objects in an automatic storage system, as well as a computer program product and a computer-readable data carrier for carrying out the method.

[0003] Such an automated storage system can be designed as a picking device, a high-bay warehouse, or, in the simplest case, as an automated storage rack. In each of these configurations, stored items, i.e., stored goods, are transported back and forth between storage locations and the storage and / or retrieval point by one or more conveyor systems of the storage system. The transport of stored items in the automated storage system takes place automatically.

[0004] When storing stored items, they are transported from the storage point to their respective storage location; when retrieving items, they are transported from their respective storage location to the retrieval point. The storage point and retrieval point can be identical and, for example, be designed as a single access opening. In this case, the stored items can be both stored and retrieved at one location. However, the storage point and retrieval point can also be located spatially separated from each other. In this case, the stored items are stored at a different location than the retrieval point. A storage system can have any number of storage and / or retrieval points.

[0005] The stored items may be stored goods or storage goods carriers that carry stored goods and either remain in the storage system or are stored and / or retrieved together with the stored goods via the storage and / or retrieval point(s).

[0006] Modern storage systems, especially those used for order picking, must enable high access rates to stored items. With such high access rates, unnecessary waiting times at storage and / or retrieval points lead to high costs. These waiting times arise when waiting for the stored item during retrieval or for the conveyor system during storage. Therefore, the invention is based on the object of avoiding unnecessary waiting times in automated storage systems.

[0007] A further aspect of the present invention is the precise positioning of the stored goods or storage goods carrier in an automated storage system, for example, in an elevator shaft. Furthermore, the invention can also be applied to other positioning tasks during transport movements in a storage system.

[0008] This object is achieved on the one hand by an automatic storage system with at least one storage and / or retrieval point for stored objects, with at least one detector and with a conveyor device for transporting the stored objects at least to at least one storage and / or retrieval point, wherein the detector is designed to detect a position of the conveyor device and to output a position signal representative of the detected position of the conveyor device, wherein the detector is further designed to output a time stamp with the position signal which is representative of the time of detection of the position of the conveyor device.

[0009] This object is further achieved by a method for detecting the position of a conveyor device for transporting stored items in an automatic storage system, the method comprising the following steps: detecting a position of the conveyor device in the storage system while the conveyor device is moving; generating a timestamp that is representative of the time of detecting the position of the conveyor device; and providing the position signal together with the timestamp.

[0010] 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 carry out the method according to the invention, as well as to a computer-readable data carrier on which such a computer program product is stored.

[0011] The above solution makes it possible to avoid unnecessary waiting times during storage and / or retrieval, because the time of the position measurement, which is now precisely determined by the time stamp, allows the arrival times of the conveyor system at a specific location, for example a storage location or a storage and retrieval point, and the position at any given time to be determined more precisely.

[0012] In conventional warehouse systems, an undetermined time period ranging from around 10 ms to several tens of ms can elapse between a detector query and the completion of the position calculation. The exact duration of this time period depends, for example, on the current computer load and the volume of current data traffic. At the end of this time period, the calculated position no longer corresponds to the actual position of the conveyor because the conveyor has moved on. To obtain the most accurate position information possible, automated warehouse systems typically use cost-intensive components such as low-latency reaction modules, fast-transmission bus systems, interrupt controllers, and / or control devices with high computing power.

[0013] By outputting the timestamp together with the position signal, such expensive components can be dispensed with. With the inventive solution, it is irrelevant when the position signal was completely transmitted to a receiver and how long further processing of the position signal takes. Any delay in the transmission and evaluation of the position signal can be computationally compensated using the timestamp.

[0014] 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 automatic storage system, the method, and the computer program product. If it is a method feature, the device is readily configured to carry out the method step. Conversely, a device component can also be part of the method.

[0015] In a preferred embodiment, the detector can be designed to detect the position of the moving conveyor in the storage system.

[0016] The solution according to the invention can also, purely by way of example and not by way of limitation, enable the precise positioning of a load carrier or a lift before the load carrier is transferred to the storage locations or into the access opening (storage and / or retrieval point). The permitted, i.e., possible, positioning tolerances can be + / - 1 mm relative to the target position. Since the control is not implemented with interrupts as in the prior art, the solution according to the invention provides a more cost-effective control system.

[0017] Precise positioning can be triggered and / or controlled by a sensor event. Such a sensor event is, for example, the provision of a position signal, which can be represented by an integral or an edge, or generated by integration or the occurrence of an edge. The position signal can also be a combination of an integral and an edge. According to a first advantageous embodiment, the position of the conveyor device can be detected while it is transporting at least one storage item. In this way, both the position of the storage item after evaluation of the position signal and the arrival time of the at least one storage item at any desired location can be precisely determined.

[0018] The detector can be designed to detect only, i.e., exclusively, the position of the conveyor. Detecting only the position of the conveyor is particularly advantageous when the conveyor has transported the stored items to the storage location during storage, or when the stored items have been transported to the storage and / or retrieval point during retrieval, and is then moved to another position in the automated storage system. In this case, the conveyor travels empty or partially loaded to the other position. Measuring the position of the conveyor makes it possible to predict when it will arrive at the other position, enabling a user or machine to adapt its work processes accordingly.

[0019] In a further advantageous development, the storage system, in particular the detector, can be designed to determine whether stored goods and / or a storage goods carrier is positioned on the conveyor. This embodiment can be further improved by the detector being designed to alternatively or additionally determine the position of a stored object. This is advantageous when storing stored goods, i.e. when transporting stored goods to a storage location, or when retrieving stored goods, i.e. when transporting stored goods to the storage and / or retrieval point. The position of the conveyor can additionally be determined and used to control the conveyor. The storage system can further be designed to select whether the position of the conveyor, the storage goods carrier or the stored goods is detected. The selection is preferably made depending on whether stored goods and / or a storage goods carrier are located on the conveyor.

[0020] For this purpose, the automatic storage system can be configured in one possible embodiment to determine a position of the stored goods based on a position assignment and the position of the conveyor. Alternatively, the automatic storage system can be configured to read the position assignment from a memory in which it is previously stored. In another embodiment, the position assignment can be determined or detected by the storage system. The position assignment can be representative of a position and / or an alignment or orientation of stored goods on a storage goods carrier. Likewise, the position assignment can alternatively or additionally be representative of a position of the storage goods carrier on or at the conveyor.The storage system, in particular the data processing device, can thus be configured to determine a relative position of the stored goods on the storage goods carrier and / or a relative position of the storage goods carrier on the conveyor device based on the position assignment. The storage system is further configured to determine the position of the storage goods carrier and / or the stored goods from these relative positions, knowing the position of the conveyor device. In one embodiment, the data processing device can be configured to receive and / or further process the position assignment.

[0021] To determine the relative positions, the automated storage system can be equipped with at least one stored goods detector. This preferably operates contactlessly and can be a light barrier, a light curtain, a light sensor, a magnetic sensor, an ultrasonic or LIDAR sensor, or a camera.

[0022] Alternatively or additionally, the detector can be configured to distinguish between the conveyor, the storage goods carrier, and the stored goods arranged thereon. Thus, in a further embodiment, in addition to the position signal, an object signal can be generated and / or transmitted that is representative of the type of object whose position was determined by the detector.

[0023] For this purpose, the detector can be designed to detect position markings that are characteristic of the conveyor device, the storage goods carrier and / or the storage goods arranged thereon.

[0024] For example, in one embodiment, the position markers can be barcodes, QR codes, a hole or color pattern, or, in a simple case, specific patterns or shapes that can be recognized by the detector and assigned to an object. Optical detectors, laser scanners, or detectors with a camera can be used for this purpose. In other embodiments, the type of object whose position is determined by the detector can be transmitted via an RFID transponder. A suitably equipped detector can thus include an RFID reader module.

[0025] In a further advantageous embodiment, it can be provided that the position of the conveyor device is detected on the way to one of the at least one storage and / or retrieval points. This detection can take place, in particular, regardless of whether the conveyor device is transporting at least one storage item. In this embodiment, the position signal and time stamp can be used to precisely predict the arrival time of the conveyor device at the storage and / or retrieval point. Thus, further storage and / or retrieval steps can be precisely synchronized with the arrival of the conveyor device.

[0026] Precise positioning of a load carrier or the loads arranged on it may be necessary, for example, due to the elongation of a timing belt. Especially with large devices, when transporting heavy loads, or in the presence of environmental influences that could cause such elongation, only rough positioning is possible with a taught-in drive motor, since this elongation is not learned during the teach-in phase.

[0027] The aforementioned elongation can also occur with other traction devices, such as chains, ropes, or belts. For the sake of brevity, only belts are discussed below. However, the explanations apply to all traction devices in which elongation can occur, especially chains, ropes, and belts.

[0028] If such elongation is not taken into account, the position of the load carrier cannot be determined precisely, since the position of the load carrier without elongation at time tO x(tO) cannot be transferred or calculated to the position of the load carrier at time t1, as the elongation causes a time delay of the load carrier. Thus, for the position with elongation, x', x'(t1 tO) x(t1 tO) applies. The necessary error correction due to the elongation can be achieved, for example, by adding a correction value Δt, so that x'(t1) = x(t1+Δt).

[0029] Purely for example, the load carrier can be moved in the elevator shaft at three different speeds. The load carrier can be moved at an approximately constant speed between each two sensor events. The sensor events can, for example, and not limited to, a signal edge. In particular, several, preferably equidistant, sensor events can be generated along a transport path, for example, at a grid spacing of the observer.

[0030] For example, the storage carrier can be moved at normal speed (usually > 1 m / s) until the penultimate edge of the position signal and then decelerated to approximately 0.03 m / s. At the last signal edge before the target position, the storage carrier can approach the target position at an even lower, defined speed, for example 0.005 m / s. The stopping distance during the final deceleration is then small compared to the required positioning accuracy, so that it can be neglected for positioning purposes. In one embodiment, the automatic storage system can have multiple measuring points at specific locations. For example, each storage bracket pair (the storage bracket pairs can be provided at a grid spacing and represent possible storage positions in the storage lift) can be assigned a strut that is located just before and / or after the storage bracket. Likewise, multiple storage positions can be provided between two adjacent struts.

[0031] A first sensor signal can be generated at such a strut. The distance between two adjacent struts can specify a maximum value for the permissible elongation of the belt.

[0032] In a further embodiment, edge detection can be activated upon detection of the first sensor signal. This can be enabled, for example, by connecting an additional sensor. If the load carrier continues to move, the additional sensor can be configured to detect when the load carrier reaches an edge of the bearing bracket and / or a strut and generate another sensor event. As soon as the edge is detected, the speed of the load carrier can be reduced. The movement of the load carrier to the target position can thus occur at a lower speed from the time of edge detection.

[0033] Elongation can occur particularly during large accelerations. At constant speeds and insignificant changes in speed, such elongation can be negligible, so one advantage of the present invention can be precise fine positioning toward the target position at the end of the travel.

[0034] The more precise positioning allows for higher speeds than with current technology until shortly before reaching the target position. This saves several seconds per warehouse movement, allowing the warehouse system to be used more quickly and efficiently.

[0035] Furthermore, the automatic warehouse system can be configured to calculate and / or output a position of the conveyor or of a storage item transported by the conveyor at the time represented in the time stamp, depending on the position signal and the time stamp, at a time other than the time represented in the time stamp. The other time can be only a short time after the time represented in the time stamp, for example, less than 5 seconds or even less than 2 seconds or less than 1 second. Output is understood to mean both making data, for example the position, available, in particular by the data processing device, for external retrieval, and the actual output of the data via an output interface.

[0036] The automatic storage system can, for example, be configured to calculate and / or output a target position of the conveyor system based on the position signal and the time stamp. Alternatively or additionally, the automatic storage system can be configured to calculate and / or output a target position of a storage item transported by the conveyor system at the time specified in the time stamp based on the position signal and the time stamp.

[0037] The target position is a position that the conveyor and / or a storage item transported by the conveyor at the time the position of the conveyor is detected is expected to occupy at a later time than the time represented in the timestamp. In both embodiments, the positions of the conveyor and / or the storage item can be calculated in advance at a later time. Calculating the target position allows a prediction of the time at which the storage item will arrive at a predetermined location, i.e., the time at which the storage item will be transported to the predetermined location by the conveyor of the automated storage system.

[0038] Such a prediction makes it possible, for example, to calculate the remaining time until the arrival of the conveyor and / or the storage item transported by the conveyor at the time the position of the conveyor is detected at a predetermined location in the automated storage system, preferably at or in the at least one storage and / or retrieval point, and to generate and / or provide and / or output a remaining time signal representing the remaining time. The remaining time can be displayed or output visually and / or acoustically by the automated storage system, so that, for example, a user or a machine can adapt its work processes to the displayed remaining time.The remaining time is a time difference between a first point in time at which the target position of the conveyor and / or the stored items is reached and a second point in time at which the provision and / or output of the actual position takes place.

[0039] If storage and / or retrieval is carried out automatically, for example by a robot, a prediction of the position of the conveyor and / or the storage item transported by the conveyor at the time the position of the conveyor is detected allows for efficient, time-optimized control of the robot, since the time at which the conveyor and / or the storage item transported by the conveyor at the time the position of the conveyor is detected will arrive at a predetermined location, for example the storage and / or retrieval point, can be calculated. This allows the robot to arrive at the predetermined location at the same time or in synchronization with the conveyor or the storage items transported by the conveyor.

[0040] Alternatively or additionally, depending on the timestamp and the position signal, an actual position of the conveyor and / or a warehouse item transported by the conveyor at the time the position is recorded can be calculated and / or output. The actual position is the position at the exact point in time at which this position is calculated and / or output, particularly by the data processing device. The actual position therefore compensates for delays due to the transmission and processing of the position signal and timestamp. The transmission times can be known and / or stored in the warehouse system.

[0041] In a further embodiment, any transmission times that follow the calculation and / or output of the target or actual position and delay the further processing of the information on the actual position can be taken into account in advance by the automatic warehouse system and / or included in the calculation of the actual position by means of pre-compensation.

[0042] The automated storage system can preferably comprise a timer module for generating a time signal and / or a timer input for feeding in a time signal. Such an internal or external time signal can serve as a timer and allows the determination of points in time, for example, the point in time of position determination by the detector, or the point in time of position calculation based on the timestamp and position signal, and / or time spans, for example, the time span between the point in time represented in the timestamp and the point in time of position calculation. This makes it possible to retrospectively or predictively synchronize a movement of the conveyor system and / or the storage items transported by the conveyor system.

[0043] The automated warehouse system may comprise a data processing device configured to calculate and / or record the position of the conveyor and / or a storage item that was transported by the conveyor at the time represented by the time stamp, at a time other than the time represented by the time stamp. The data processing device may, for example, be a computer. In one embodiment, the data processing device is configured to control the conveyor. The data processing device may further comprise a warehouse management system in which a storage item is assigned to a storage component, for example, a storage location, the conveyor, and / or a storage and / or retrieval point depending on where the storage item is currently located. The timer module may be part of the data processing device.

[0044] The detector can be configured to automatically request the time signal when it detects the position of the conveyor and / or a storage item transported by the conveyor or determines that the conveyor and / or a storage item transported by the conveyor has reached the position of the detector. The detector is preferably configured to generate the time stamp depending on the time signal.

[0045] The position signal of the at least one detector can have a rising or falling signal edge, which represents the reaching of a predetermined position by an object, for example, the conveyor or a storage item transported by the conveyor. The rising or falling signal edge can be provided and / or encoded together with the timestamp. In other embodiments, other characteristic points in the position signal can be used, which are determined, for example, by a threshold module, a rise module (first derivative of the position signal curve), or an inflection point module (second derivative of the position signal curve).

[0046] According to an advantageous embodiment, the automatic warehouse system can provide movement data. The automatic warehouse system can further be configured to calculate a position of the stored item at a time other than that represented by the timestamp, depending on the movement data. The movement data can be stored, for example, in an electronic memory of the automatic warehouse system, in particular the data processing device.

[0047] The movement data can include at least speed data and / or acceleration data, for example along a transport path of the stored object or the conveyor device, or can be representative of a speed and / or acceleration profile, for example of the conveyor device. For example, the movement data can be representative of a speed profile between the location where the position of the conveyor device or of an object transported by the conveyor device at the time of position detection is recorded and a storage and / or retrieval point. This speed profile can be specified to control the movement of the conveyor device, including any braking and / or acceleration processes. The speed of the conveyor device can then be controlled or regulated based on the specified speed profile.Furthermore, this speed curve allows the location of the conveyor and / or a storage item transported by the conveyor at the time represented in the time stamp to be calculated more accurately at a time other than the time represented in the time stamp.

[0048] In one embodiment, the movement data can be acquired, for example, by monitoring the motor current and / or control signals to the conveyor. The detector can, for example, be integrated into the conveyor in one embodiment. It can be configured to continuously output a signal representative of the position of the conveyor, for example, to control the conveyor. The time course of such a signal representing the position of the conveyor can be representative of the movement data.

[0049] Such a detector can, for example, be integrated into the control system of the conveyor system and, in particular, provide position data used to control the conveyor system. The detector can also comprise a position measuring device, for example, an incremental or absolute position sensor. In one embodiment, the detector can, for example, be a rotary encoder whose detected rotation angle depends on the position of the conveyor system in the automated storage system.

[0050] The position of the conveyor can be measured and transmitted, in particular, at specified time intervals, for example, at a specified frequency. The specified time intervals can depend on the desired accuracy of the conveyor's position and the conveyor's maximum speed. Alternatively or additionally, the specified time intervals can depend on the step rate (unit: baud) of the selected transmission technology and can be adjusted accordingly.

[0051] Each position signal generated at the specified time intervals is provided with a timestamp. This allows any delay in the transmission and / or evaluation of the individual position signals to be computationally compensated for in a calculated position profile of the conveyor using the corresponding timestamp. The automated storage system can thus be designed to control the speed or acceleration of the conveyor depending on the calculated position profile of the conveyor.

[0052] The detector can be configured to generate or output the position signal depending on the position of the conveyor and / or a storage item transported by the conveyor. For example, the position signal can be output and / or generated when the conveyor or a storage item transported by the conveyor is located at a predetermined position in the storage system. This position can correspond to the position of the detector.

[0053] In particular, the detector can also be an IO-Link detector, meaning a detector that can be connected to actuators and controllers via a standardized IO-Link connection. The use of IO-Link technology offers the advantage of being independent of the fieldbus used and thus universally applicable. Furthermore, bidirectional communication is possible using simple wiring.

[0054] If a storage item is transported by several conveyor systems one after the other, their movement data can be provided and taken into account when calculating the position.

[0055] The automatic storage system can, in particular, comprise a storage lift or be a storage lift. In such a storage lift, load carriers with stored goods arranged on them can be moved as stored items between the storage and / or retrieval point and a storage location. The storage locations for the load carriers are arranged opposite one another and one above the other with respect to a conveyor shaft of the storage lift. The conveyor device can be arranged in the conveyor shaft.

[0056] In particular, the storage lift can have two storage racks with the conveyor shaft located between them. In particular, a load carrier can move along the conveyor shaft at a speed that can be assumed to be approximately constant, with the load carrier being decelerated upon reaching the storage location and / or upon reaching the storage and / or retrieval point and being accelerated upon leaving the storage and / or retrieval point and / or the storage location.

[0057] The detector is advantageously arranged stationary in the automated storage system, for example, at a location along a transport path for the conveyor system and / or stored items transported by the conveyor system. The detector can be arranged in the storage lift, in particular between the two storage racks in or on the conveyor shaft.

[0058] Likewise, the automatic storage system can also be a paternoster, a horizontal carousel, a vertical carousel or a small parts, high-bay or other warehouse with an aisle conveyor.

[0059] The storage system may comprise one or more storage devices, for example, storage lifts, carousels, or paternoster systems. Furthermore, the storage system may comprise one or more automatic conveyor belts and automatic handling systems, for example, robots. The conveyor belts may connect multiple storage devices to one another. The at least one detector may be arranged at any location within such a storage system, for example, on a conveyor belt or in a storage device.

[0060] In one embodiment, the automated storage system may comprise only a single storage device, such as a storage lift, a carousel, or a paternoster system. In such a case, the detector is preferably arranged in the one storage device.

[0061] In a further advantageous embodiment, two, three or more detectors are arranged along the transport path. The detectors are preferably spaced from the access opening and the storage location. This has the advantage that, despite a delay, the position of the stored item can be determined before it reaches the storage location or the storage and / or retrieval point. If the detector is arranged directly at the storage location or directly at the storage and / or retrieval point (i.e. at the access opening), there may be a risk that the remaining time until the storage location or the storage and / or retrieval point is reached is less than the delay resulting from the transmission and processing of the position signal and the time stamp. This has the disadvantage that the conveyor system and / or the stored items transported by the conveyor system have already arrived at their target position before this has been calculated and / or output.This can lead to unnecessary waiting times and thus to increased operating costs.

[0062] The detector can preferably be provided on a conveyor device provided movably in the automatic storage system, or on a holding element provided immovably in the automatic storage system on the transport path of the conveyor device and / or the stored items transported by the conveyor device, or can be designed in two parts, with a detector element arranged on the movable conveyor device and a trigger element on the immovable holding element, or vice versa. The at least one detector is preferably a non-contact detector. However, it can also have a mechanically actuated switch that is actuated when the position to be detected is reached and generates the position signal. A non-contact detector can have a light barrier, a light curtain, a light scanner, a magnetic sensor, an ultrasonic or LIDAR sensor, and / or a camera.

[0063] By way of example only and not by way of limitation, the detector can comprise a magnetic field sensor and a magnet. For generating the position signal, it is irrelevant whether the magnetic field sensor or the magnet is located on a moving element in the automated warehouse system. In the simplest case, the magnetic field sensor can be a coil or a Hall sensor. The detector can also comprise a light barrier.

[0064] In a two-part detector, the detection element can be configured to provide and / or output the position signal when the trigger element is detected. The trigger element can be configured to cause the detection element to output the position signal. In one embodiment, the position signal is only output when the trigger element is in a predetermined position relative to the detection element.

[0065] If the detection element is provided in a movable manner in the automated storage system, two or more spaced-apart trigger elements can be provided along the transport path. This makes it possible to generate a sequence of two or more position signals with different time stamps. Since the distances between the two or more trigger elements are known, the speed of the conveyor and / or the stored items transported by the conveyor can be determined from the time stamps or verified by comparing them with stored movement data.

[0066] The stored item (e.g. a storage item arranged on a storage goods carrier) can pass through a storage and / or retrieval opening of the storage and / or retrieval point during storage and retrieval, whereby the detector or another detector can be arranged directly at or in the storage and / or retrieval opening.

[0067] The method can be a computer-implemented method and stored on a computer-readable data carrier. The computer-readable data carrier according to the invention can be transient or persistent and can be a magnetic, optical, or electrical storage device, for example and not exclusively a floppy disk, a magnetic tape, a CD, a DVD, an HDD, an SSD, a ROM, or RAM memory. The method or the data processing device can be configured to provide and / or store a calculated position of the conveyor device in an image data set. The image data set can preferably be an image of the storage locations. This allows a user to clearly and intuitively represent the position of the stored items in the automatic storage system in relation to the automatic storage system.

[0068] The method and device can thus enable an improvement and increase in the efficiency of the human-machine interface, since a user receives information from the automatic storage system about the exact position of the conveyor and / or the storage items transported by the conveyor in the automatic storage system.

[0069] The storage and / or retrieval point can be designed as an access opening. The access opening is an opening or point that provides a connection 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 stored items each, storage goods carriers, 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 taken over or transferred for storage and / or retrieval into or from the storage system.

[0070] According to a further embodiment, the method and device can be designed to directly or indirectly control a robot which automatically moves to a suitable robot position depending on the actual position and / or the target position and / or the remaining time until the target position is reached.

[0071] Direct control occurs when the robot, a conveyor, or a transfer device is controlled directly by the data processing device or the computer-implemented method. Indirect control means that an external control device is prompted by the method and / or the device to perform such control itself. Of course, the control can also be part of the data processing device or the automated storage system. 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, which can be constructed purely from hardware, purely from software, or from 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.

[0072] 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.

[0073] 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.

[0074] They show:

[0075] Fig. 1 A schematic sectional view through an exemplary automatic storage system;

[0076] Fig. 2 A schematic sectional view of an exemplary storage system;

[0077] Fig. 3 A schematic representation of possible designs of the detector;

[0078] Fig. 4 A schematic representation of a position-time curve for calculating an actual position of the conveyor device and / or storage items transported by the conveyor device;

[0079] Fig. 5 A schematic representation of the position signal;

[0080] Fig. 6 A schematic representation of a further embodiment of the automatic storage system; and

[0081] Fig. 7 is a schematic representation of the exact positioning in the elevator shaft.

[0082] Fig. 1 shows a section through an automated storage system 1. The storage system 1 can comprise a storage lift, as shown here as an example. However, the storage system 1 can also be a horizontal or vertical carousel (paternoster), or a storage system with aisle conveyors, for example, a high-bay warehouse or a small parts warehouse.

[0083] The storage system 1 can also have a plurality of storage lifts, horizontal or vertical carousels or aisle conveyors.

[0084] This is illustrated schematically in Fig. 6. The storage system 1 shown comprises high-bay warehouses 1a with storage lifts 1b, a small parts warehouse 1c, and conveyor belts 1d that connect the high-bay warehouses 1a and the small parts warehouse 1c. A robot 1e is arranged along the conveyor belts 1d and is designed to place stored goods 10 onto the conveyor belts 1d or to remove them from the conveyor belts 1d. In other embodiments, multiple robots can be provided in the storage system. At a storage and / or retrieval point 14, operators 14a can store stored goods 10 in the storage system 1 or retrieve them from it.

[0085] The storage system 1, shown schematically in Fig. 1, comprises a storage area 2 in which stacked storage bins 4 are located. 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 carrier 8 and / or the storage goods 10 can be referred to as a storage item 11. The storage items 11 can be stationary at a storage bin 4 or can be moved to a storage bin 4 for storage and moved from a storage bin 4 for retrieval. The storage and / or retrieval of the storage items 11 takes place along a transport path 17.

[0086] The automatic storage system 1 can further comprise a conveyor 12, which serves to transport a storage item 11 for automatic storage and / or retrieval from and / or to a service opening 14. In a paternoster or a horizontal or vertical carousel, the conveyor 12 moves the storage items 11 along a continuously circulating course past the service opening 14 or toward or away from the service opening 14. The service opening 14 connects the storage area 2 with the outside environment of the automatic storage system 1 and can also be referred to as a storage and / or retrieval point 14.

[0087] In a storage lift or aisle conveyor, the conveyor device 12 can move in a storage aisle 16, i.e., along the transport path 17. The storage aisle 16 is 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). The storage aisle can represent the transport path 17 or be part of the transport path 17.

[0088] 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 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.

[0089] The storage system 1 can include a detector 24 configured to generate a position signal 24a. Furthermore, the detector 24 is configured to generate a timestamp 24b and to provide this timestamp 24b together with the position signal 24a. The timestamp 24b represents a time t0 of the generation of the position signal 24a.

[0090] The automatic storage system 1 has a timer module 25 for generating a time signal 25a and / or a timer input 25b for feeding the time signal 25a. The timer module 25 can be an incremental or absolute timer module 25. An incremental timer module 25 provides a continuous pulse sequence and is designed to count the continuous pulses. A corresponding time signal 25a can include the number of pulses and a time interval between consecutive pulses, wherein a time period since the start of the target process can be calculated from these two values. Alternatively, the time period can be stored in the time signal 25a. An absolute timer module 25 is designed to provide and / or output an absolute value of a time difference from a reference time. For this purpose, the time signal 25a can provide an integer value (128 bit, 64 bit, 32 bit integer).

[0091] This enables the automatic storage system 1 to generate the time stamp 24b based on the time signal 25a and to calculate the position at the other time depending on the time signal.

[0092] The detector 24 may be a single piece or may consist of a movable detector element 24c and a trigger element 24d.

[0093] In the example of Fig. 1, a detector 24 is located in a rear part of the service opening 14 and another detector 24f along the transport path 17 in the storage shaft 16. The detectors 24 and 24f can be identical or differ from each other, for example in their operating principle or their measuring range.

[0094] As shown in Fig. 1, the position signal 24a is generated at time e. In the illustrated case, a leading edge 24d of the position signal 24a corresponds to time t0. The position signal 24a can be automatically generated by the detector 24 when the conveyor and / or the storage objects 11 transported by the conveyor pass the detector or another predetermined position.

[0095] Purely by way of example, the time stamp 24b is encoded with the position signal 24a by pulse modulation or frequency modulation. In other embodiments, the time stamp 24b can be provided and transmitted on a separate channel or subsequent to the position signal 24b. In any case, the time stamp 24b contains the information at time t0, i.e., the information regarding the time at which the position of a storage object 11 was detected.

[0096] The position signal 24a can be an analog or digital signal generated by the detector. Regardless of whether the detector 24 is a non-contact detector or a switch or pushbutton, the position signal 24a can be represented by a change in a voltage (as shown in Fig. 1) or a current provided by the detector.

[0097] The position signal 24a is schematically illustrated in Fig. 5. This comprises position data 72, which can be provided in any coding and represents a position of the conveyor and / or a position of storage items transported by the conveyor. The position signal 24a further comprises the timestamp 24b.

[0098] In some embodiments, the position signal 24a may include additional information 74. This information may, for example, be representative of a relative position of the stored goods to the storage goods carrier 74a and / or a relative position of the storage goods carrier to the conveyor device 74b.

[0099] The detector 24 is configured to generate the position signal 24a together with the time stamp 24b and to output them to a data processing device 30. The data processing device 30 can simultaneously serve to control the conveyor device 12 and / or the transfer device 22.

[0100] The data processing device 30 may be a commercially available computer, for example, a PC. It has a processor 31, for example, a CPU, an ASIC, a VPU, an array processor, or combinations thereof, on which software with the function described below is executed. Some or all of the functions may also be performed by hardware.

[0101] In the embodiment of Fig. 1, at least a part of the detector 24 is located at the end of the operating opening 14 facing the storage area 2 or in a transition area 32 between the operating opening 14 and the storage area 2.

[0102] If a storage goods carrier 8 is transported from the service 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 storage goods 10 placed thereon, it is transported past the detector 24.

[0103] Alternatively or additionally, a detector 24, configured, for example, as a light barrier 24e, can also be provided in the conveyor shaft 16, i.e., along the transport path 17. The stored objects 11 are also guided past the light barrier 24e by the conveyor device 12, and a position signal 24a is generated together with the time stamp 24b. This is indicated by the arrow 36. During this movement, a position signal 24a is generated at successive times and thus at different positions along the transport path 17. However, a different time stamp 24b is encoded in the position signal 24a generated at the light barrier 24e.

[0104] An additional detector 24f can also be arranged in the transport path 17 near the storage locations 4. In another embodiment (not shown), the detector 24 can alternatively or additionally be arranged on the conveyor device 12 or be part of the conveyor device 12.

[0105] From the position signal 24a and the time stamp 24b contained therein or alternatively provided separately, an actual position 34c of the conveyor device 12 and / or the storage object 11 can be calculated with the aid of movement data 34, which can be stored in a memory element 34a. The actual position 34c is shown in dashed lines in Fig. 1. The storage objects 11 are, after passing the detector 24, in this case the light barrier 24e, and after the elapse of a dead time t tot has already moved further in the conveyor shaft 16. Nevertheless, the data processing device 30 can calculate an actual position 34c of the conveyor device 12 and / or the storage objects 11 using the time stamp 24b. Any dead time can be compensated for by the data processing device 30. The data processing device 30 can be configured to generate remaining time data 26. The remaining time data 26 can be present as a remaining time signal 28. The remaining time data 26 represents a remaining time 29 required to move the storage object 11 to a target position 34d.

[0106] The remaining time data 26, which represents the remaining time 29, can be transmitted, for example, to a display 38, which can be part of the data processing device 30. The remaining time 29 can be displayed in the form of an image 40 or a countdown 42.

[0107] Fig. 2 shows a schematic sectional view of an exemplary storage system 1.

[0108] In the embodiment shown, the storage goods carrier 8 and storage goods 10 are already located in the access opening 14 on the conveyor device 12. Storage takes place along a first direction 48 and in the storage shaft 16 along a second direction 50.

[0109] A detector 24 detects at a first measuring point 44 that the conveyor device 12 is located there and generates the position signal 24a together with the time stamp 24b. These signals 24a, 24b are transmitted (as shown in Fig. 1) to a data processing device 30. However, until these signals are completely transmitted and evaluated, a certain amount of time passes, the dead time ttot, within which the conveyor device 12 has reached the actual position 34c. Of course, the storage goods carrier 8 and the storage goods 10 located thereon have also reached this actual position 34c, but it is also possible that only the conveyor device 12 is moved through the storage shaft 16, for example, to remove a loaded storage goods carrier 10 from a storage location 4.

[0110] Independent of the dead time t to t, the automatic storage system 1 is able to determine the actual position 34c based on the time stamp 24b.

[0111] Also shown is the light barrier 24e, which generates a further position signal 24a and a further time stamp 24b during the further movement of the conveyor device 12.

[0112] Furthermore, the conveyor device 12 can transport the storage carrier 8 together with the stored goods 10 to the storage location 4 to a target position 34d. From the movement data 34 (not shown), the automatic storage system 1 can calculate, after passing the light barrier 24e, at what point in time the storage carrier 8 together with the stored goods 10 will arrive at the target position 34d. Likewise, the movement data 34 can be used to determine the point in time from which the transport must be decelerated. A deceleration profile can be known (learned). The movement data 34 also includes a movement along a third direction 52.

[0113] Fig. 3 shows in (a) to (d) a schematic representation of possible embodiments of the detector 24 in connection with the conveyor device 12, the storage goods carrier 8 and the storage goods 10.

[0114] The detector 24 can, for example, comprise a camera 54 that records image data within a recording cone 56. Based on the image data, it is possible to distinguish between the conveyor 12, the storage goods carrier ß, and the stored goods 10 and to determine their position.

[0115] Alternatively, the detector 24 may include a scanner 58 that scans an area in a pivoting motion (shown in different beams 59) and reads either a barcode 60 or a QR code 62, thus distinguishing the conveyor 12, the storage goods carrier 8, and the stored goods 10. The scanned area may also include a hole pattern and / or one or more color markings.

[0116] In a further embodiment, the detector 24, as previously described, can be designed as a light barrier 24e. In this case, distinguishing between the conveyor device 12, the storage goods carrier 8, and the stored goods 10 is difficult, so that the light barrier 24e is preferably only covered by the conveyor device 12 or by the storage goods carrier 8 positioned at a fixed position on the conveyor device 12. The light barrier 24e can thus preferably only be covered and thus actuated by the conveyor device 12 or only by an element permanently installed with the storage goods carrier 8. This allows for a clear assignment of the signal generated by the light barrier 24e.

[0117] Likewise, the detector 24 can consist of a light curtain 64 having a plurality of light sensors 66, each of which detects the presence of an object within a measuring range 70. By appropriately selecting the measuring ranges 70, at least a first light sensor 66a can serve solely to detect the conveyor device 12, at least a second light sensor 66b can serve to detect the storage goods carrier 8, and at least a third light sensor 66c with a larger measuring range 70 can serve to detect the storage goods 10. The measuring range 70 of the different light sensors 66a, 66b, and 66c is indicated by a dashed line.

[0118] Fig. 4 shows a position-time curve. This can describe the movement of a conveyor 12 or of a stored object 11. Since the stored object 10 is arranged in a position relative to the storage object carrier 8 and the storage object carrier 8 is arranged in a position relative to the conveyor 12, the position-time curves of the conveyor 12, the storage object carrier 8, and the stored object 10 can differ from each other only at the intersection point of the curve with the position axis, but not in their gradient.

[0119] In the position-time curve shown, a velocity v of the stored object 11 is assumed to be constant and known. In other embodiments, the position-time curve can also include regions with positive or negative acceleration.

[0120] At time t0, the position signal 24a is generated, which, as shown in Fig. 1, includes the time stamp 24b. In other embodiments, the time stamp 24b is provided separately from the position signal 24a. Since the speed v of the stored object 11 is known, even if a dead time t to t, the actual position 34c can be calculated. In other embodiments, this is also possible using motion data 34, which includes ranges of negative or positive acceleration. In the case shown, the motion data 34 contains a constant speed v, which corresponds to the increase in the graph shown.

[0121] With the help of the movement data 34 it is also possible to calculate when, ie at what time tziei, a target position 34d is reached.

[0122] It is also possible to determine the target position p based on a given time period. Z iei to calculate.

[0123] Fig. 7 schematically illustrates how the precise positioning of a load carrier 8 in a lift shaft can be achieved. A grid dimension 76 is shown, which may be, for example, 25 mm. This grid dimension can be defined, for example, by struts 78 (shown here only schematically by a double line). Relevant for the precise positioning is when a sensor event is generated by the sensor upon passing the strut 78. The exact design of the strut 78, for example, its geometry, thickness, length, material, etc., is irrelevant.

[0124] When passing a strut 78, a value can be incremented that roughly represents the position in the storage shaft. If the load carrier 8 (represented by an ellipse) now passes a strut 78, edge detection can be initiated at that point. This edge detection detects, for example, an edge 80 in the storage lift, which is used as the relative position 82 for further movement to the target position 34d. As soon as the edge 80 has been detected, the load carrier 8 can be moved at low speed to the target position 34d. This is symbolically represented by the relative movement from edge 84.

[0125] If elongation occurs, an actual position 86 is not identical with the calculated position 88 determined, for example, by the motor driving the storage goods carrier 8.

[0126] In the case of a slight elongation, the load carrier 8 can be located in a first actual position 86a, and in the case of a greater elongation, in a second actual position 86b. Several intermediate stages of elongation, not provided with reference symbols, are also possible.

[0127] Preferably, edge detection is started at edge 80 at an increment value I, which can be located at a predetermined distance 90 from the nearest strut 78. This distance 90 can be, for example, 5 mm. The increment value I is entered purely as an example for the position of several struts 78.

[0128] Thus, upon reaching a predetermined increment value I, edge detection can be initiated and, upon detection of the edge, the speed of the load carrier 8 can be reduced. Furthermore, upon detection of the edge, the speed can be reduced again. The speeds can preferably be reduced from > 1 m / s before reaching the strut 78, which is located in front of the target position 34d, to approximately 0.03 m / s up to the edge 80 and thereafter to approximately 0.005 m / s. These values ​​are purely exemplary and can be greater or smaller in other embodiments, either entirely or only proportionally.

[0129] Reference symbol

[0130] 1 Automatic storage system

[0131] 1a high-bay warehouse

[0132] 1b storage lift

[0133] 1c Small parts warehouse

[0134] 1d conveyor belt

[0135] 1st robot

[0136] 2 storage area

[0137] 4 storage spaces

[0138] 6 grid dimensions

[0139] 8 storage goods carriers

[0140] 10 Storage goods

[0141] 11 storage items

[0142] 12 Conveyor system

[0143] 14 Service opening / storage and / or retrieval point

[0144] 14a Operator

[0145] 15 Enclosure

[0146] 16 Lagergasse

[0147] 17 Transport route

[0148] 18 storage rack

[0149] 20 spatial direction

[0150] 22 Transfer device

[0151] 24 detector

[0152] 24a Position signal

[0153] 24b Timestamp

[0154] 24c detector element

[0155] 24d trigger element

[0156] 24e light barrier

[0157] 24f additional detector

[0158] 25 Timer module

[0159] 25a Time signal

[0160] 25b Timer input

[0161] 26 remaining time data

[0162] 28 Remaining time signal

[0163] 29 remaining time

[0164] 30 Data processing device

[0165] 31 processors

[0166] 32 Transition area between service opening and storage area

[0167] 34 Movement data

[0168] 34a Storage element

[0169] 34c Actual position

[0170] 34d Target position

[0171] 36 Arrow

[0172] 38 Display

[0173] 40 images

[0174] 42 Countdown

[0175] 44 Measuring point 48 First direction 50 Second direction 52 Third direction 54 Camera 56 Recording cone 58 Scanner 59 Beam 60 Barcode

[0176] 62 QR code 64 Light curtain 66 Light sensor 66a First light sensor 66b Second light sensor 66c Third light sensor 70 Measuring range 72 Position data

[0177] 74 further information 74a Relative position of the stored goods to the storage goods carrier 74b Relative position of the storage goods carrier to the conveyor 76 Grid dimension 78 Strut 80 Edge 82 Relative position 84 Relative travel from edge

[0178] 86 actual position 86a first actual position 86b second actual position 88 calculated position 90 specified distance

[0179] I Increment value v Speed ​​ttot Dead time tziei Target time to Time of detection p Position

[0180] Pziei target position

Claims

Claims 1. Automatic storage system (1) with at least one storage and / or retrieval point (14) for stored objects (11), with at least one detector (24) and with a conveyor device (12) for transporting the stored objects (11) at least to at least one storage and / or retrieval point (14), wherein the detector (24) is designed to detect a position of the conveyor device (12) in the storage system (1) and to output a position signal (24a) representative of the detected position of the conveyor device (12), and to output a time stamp (24b) with the position signal (24a) which is representative of the time (t0) of the detection of the position of the conveyor device (12).

2. Automatic storage system (1) according to claim 1, wherein the detector (24) is further configured to detect the position of the moving conveyor device (12) in the storage system (1).

3. Automatic storage system (1) according to claim 1 or 2, wherein the automatic storage system (1) is designed to calculate, depending on the position signal (24a) and the time stamp (24b), a position (34c) of the conveyor device (12) or of a storage object (11) that was transported by the conveyor device (12) at the time represented in the time stamp, at a time other than the time (to) represented in the time stamp (24b).

4. Automatic storage system (1) according to claim 3, wherein the automatic storage system (1) comprises a timer module for generating a time signal and / or a timer input for feeding in a time signal and is designed to calculate the position at the other time in dependence on the time signal.

5. Automatic storage system (1) according to one of claims 1 to 4, wherein movement data (34) are provided by the automatic storage system (1), and wherein the automatic storage system (1) is designed to calculate a position in the conveyor device (12) at a time other than the time represented in the time stamp as a function of the movement data (34).

6. Automatic storage system (1) according to claim 5, wherein the movement data (34) comprise at least speed data and / or acceleration data.

7. Automatic storage system (1) according to one of claims 2 to 6, wherein the automatic storage system (1) is further configured to calculate a remaining time (29) until the arrival of the conveyor device (12) and / or a storage object (11) transported by the conveyor device (12) at the time represented in the time stamp (24b) at a predetermined location in the automatic storage system (1) and / or a remaining time signal (28) representative of the remaining time (29).

8. Automatic storage system (1) according to one of claims 1 to 7, wherein the detector (24) comprises at least one IO Link sensor.

9. Automatic storage system (1) according to one of claims 1 to 8, wherein the detector (24) is arranged in the automatic storage system (1) at a location along a transport path (17) for stored objects (11).

10. Automatic storage system (1) according to one of claims 1 to 9, wherein the detector (24) is provided on a conveyor device (12) provided movably in the automatic storage system (1) and / or on a storage object (11) transported by the conveyor device (12), or on a holding element provided immovably in the automatic storage system (1) on the transport path (17) of the storage objects (11), or is designed in two parts, wherein a detector element (24c) is arranged on the movable conveyor device (12) and / or on the movable storage object (11) transported by the conveyor device (12) and a trigger element (24d) is arranged on the immovable holding element.

11. Use of a detector (24) in an automatic storage system (1) for determining the position of a conveyor device (12) and / or of a storage object (11) transported by the conveyor device (12), wherein the detector (24) is designed to determine a position of the conveyor device (12) and / or of the storage object (11) transported by the conveyor device (12) and to output a position signal (24a) representing the position of the conveyor device (12) and / or of the storage object (11) transported by the conveyor device (12), and to output a time stamp (24b) with the position signal (24a) which is representative of a time (to) of generation of the position signal (24a).

12. Method for detecting the position of a conveyor device (12) for transporting stored items (11) in an automatic storage system (1), comprising the method steps: Detecting a position of the conveyor device (12) in the storage system (1); Generating a time stamp (24b) representative of the time (to) of detecting the position of the conveyor device (12), and Providing the position signal (24a) together with the time stamp (24b).

13. The method according to claim 12, wherein the position of the conveyor (12) is detected while the conveyor (12) is moving.

14. 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 claim 12 or 13.

15. A computer-readable data carrier on which the computer program product according to claim 14 is stored.

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