Method for controlling a suspended article store, suspended article store, and article carriers for a suspended article store having route closures, collision avoidance, information transmission and multiple addressing

Abstract

The invention relates to a method for controlling a suspended article store (1) comprising article carriers (5), which each travel autonomously or at least semi-autonomously on a network (49) by means of a longitudinal and transverse dynamics controller which travels therewith, for suspended storage and transport of stored articles (3), comprising: storing the article carriers (5) in a storage region (401) of the suspended article store (1), selecting an addressee (403) from the article carriers (5) located in the storage region (401) in order to move the addressee (403) to retrieve a stored article (3) held in the addressee (403), closing at least one route portion (603, 605, 607) of the network (49), using the at least one route portion (603, 605, 607) to move the addressee (403) for a retrieval process of the stored article (3) held in the addressee (403), and moving the addressee by means of the longitudinal and transverse dynamics controller which travels therewith.

Description

[0001] Method for controlling a hanging goods warehouse, hanging goods warehouse and goods carrier for a hanging goods warehouse with route closures, collision avoidance, information forwarding and multiple addressing

[0002] The invention relates to a method for controlling a hanging goods warehouse, in particular a hanging bag warehouse, with goods carriers, in particular hanging bags, traveling on a network for the hanging storage and transport of stored goods. Furthermore, the invention relates to a goods carrier, in particular a hanging bag, for the hanging storage and / or sorting of stored goods in a hanging goods warehouse, in particular a hanging bag warehouse, wherein at least one of the stored goods can be accommodated in the goods carrier. Furthermore, the invention relates to a hanging goods warehouse, in particular a hanging bag warehouse, with a network, in particular a rail network, on which goods carriers, in particular hanging bags, having longitudinal dynamics and transverse dynamics control can be moved autonomously or at least semi-autonomously for the storage and transport of stored goods.

[0003] In automated warehouses, production facilities and during goods transport, for example in mail order businesses, it is necessary to load goods into and unload them from containers as automatically as possible. The goods can be stored in these containers before being delivered and are then transported to the station where they are packaged for onward transport to the customer. Transport within the warehouse is usually carried out using overhead conveyors. The containers are usually made like fabric bags and are suspended from a rail system at the top with a type of wire hanger. A container of this type is known, for example, from WO 2014 / 012965 A1. Its side wall elements are controlled by a rod assembly so that the side wall elements, which are connected to one another via a connecting area, can be folded out.In the area of ​​a loading station, the containers are also transferred into a horizontal or inclined position.

[0004] Comparable conveyor containers and associated overhead conveyor systems are known, for example, from DE 102004018 569 A1, EP 2 130 968 A1 or EP 2 196 415 A. The transport pockets described therein are made of flexible materials in the form of a loop in which the conveyor material is held. For loading, these transport pockets are opened from above in order to be able to place the conveyor material into the loop. Unloading takes place by either removing the conveyor material from the side or ejecting it or, for example, according to EP 2 130 968 A1, by opening the loop downwards. Furthermore, DE 103 54 419 A1 discloses a conveyor material carrier which has a relatively rigid and flat plastic wall with a cutout for loading and unloading with conveyor material. Other conveyor material containers are manufactured like hanging, flat plastic trays which are covered on one side with elastic materials which clamps the conveyor material.

[0005] It is common practice to load such containers mechanically and unload them manually. The transport cycle is determined by the slowest process, which also depends on the quantity of transported goods. In particular, a large number of individual items can slow down loading and / or unloading. For example, unloading and / or reassembling disassembled transport containers can determine the maximum possible transport cycle.

[0006] EP 2 686 258 B1 relates to an overhead conveyor system with a transport pocket for the automatic unloading of a loaded piece of cargo and with an unloading station. The transport pocket has a horizontal base on which the piece of cargo can be stored for transport purposes. The base interacts with a lifting device which is designed to raise the base of the transport pocket loaded with at least one piece of cargo, when the transport pocket is in an unloading position, in a vertical direction in such a way that the at least one piece of cargo can be pushed out centrally through an end face of a base body of the transport pocket by means of a pushing device, wherein the pushing device has a slider which engages through another end face of the base body into an interior of the base body where the at least one piece of cargo is located when the base is raised.For unloading, the two opposite open front sides, the floor that can be raised vertically and the slider of the pushing device that passes through one of the front sides are required.

[0007] DE 20 2017 100 206 U1 discloses a material container for an overhead conveyor system for transporting material, which container is adjustable between an open position and a closed position. The material container has a base that is mechanically associated with an ejection device. By means of the ejection device, the base can be adjusted between a transport position, in which the material can be stored within the material container, and an ejection position, in which the material can be ejected from the material container.

[0008] DE 10 2018 105 795 A1 discloses a method for loading or unloading a material held on a flexible material of a material container by means of a station such as an unloading station and / or a loading station of an overhead conveyor system, as well as a material container, unloading station, and overhead conveyor system according to the method. The material container is brought closer to the station, where an attractive force is then exerted between the station and the material container to couple the flexible material of the material container. The thus coupled material container is tilted, and the material is ejected from the material container in a sliding motion.

[0009] DE 102018 128 417 A1 describes a method for transporting and sorting a sorting pocket suspended from a rolling adapter rolling on a rail network of a sorting system for transporting a piece of goods. The method comprises: providing the rail network of the sorting system, providing the rolling adapter of the sorting pocket rolling on the rail network, providing electrical drive energy for the rolling adapter, converting the provided electrical drive energy by means of the rolling adapter itself into kinetic energy for transporting the sorting pocket, and providing devices according to the method. The rolling adapters serve to suspend and move the sorting pockets.For this purpose, they each have a chassis with two coaxially rotating wheels, a suspension arranged between the wheels and carried by them, on which the sorting pocket is suspended, an electric drive for driving the wheels and a control device or partial control device for autonomously or at least semi-autonomously controlling the rolling adapter along a travel path selected from a plurality of travel paths.

[0010] It is also known that industrial objects communicate with each other according to a network standard, which is also referred to as the Industrial Internet of Things (IIoT).

[0011] Based on this prior art, the present invention is based on the first object of enabling the simplest and most efficient retrieval processes possible in a hanging goods warehouse, in particular a hanging bag warehouse, with a large number, in particular up to one million, of autonomously or at least semi-autonomously movable goods carriers, in particular hanging bags, in particular up to 30,000 per hour, while ensuring the most conflict-free and efficient shared use of resources, in particular a network of the hanging goods warehouse. A second object of the invention was to keep an autonomously or at least semi-autonomously movable goods carrier, in particular a hanging bag, collision-free on a travel path in a hanging goods warehouse, in particular a hanging bag warehouse.A third object of the invention was also to enable retrieval and / or sorting processes in a generic hanging goods warehouse, in particular a hanging bag warehouse, with the lowest possible data rate or message density. A fourth object of the invention was to enable storage and retrieval with simultaneous sorting of stored goods in a hanging goods warehouse, in particular a hanging bag warehouse, with the least possible effort, preferably in a space-saving manner, and in the shortest possible time.

[0012] The first task is achieved with the method mentioned above through the following steps: storing the goods carrier in a storage area of ​​the hanging goods warehouse, selecting a recipient from the goods carriers located in the storage area for moving the recipient to retrieve a stored item held in the recipient, blocking at least one route section of the network, in particular depending on the selection, a condition, an environment and / or a location of the recipient within the hanging goods warehouse, and using the at least one route section to move the recipient for a retrieval process of the stored item held in the recipient and moving the recipient by means of the longitudinal and / or lateral dynamic control system traveling with the recipient. Alternatively or additionally, the at least one blocked route section can be used for external movements of other goods carriers to clear a retrieval path for the recipient.The retrieval process can be carried out collision-free. The addressee and the other goods carriers have their own longitudinal dynamics control and / or lateral dynamics control for movement, whereby the longitudinal dynamics control and / or lateral dynamics control only sets / sets a driving state on the track section when the track section is blocked for other goods carriers or their rolling adapters. The track section is therefore reserved for the addressee and, if necessary, for goods carriers that are also to be moved with it, in particular for goods carriers that are avoiding the addressee. The addressee preferably has its own traveling electric drive, which can be controlled or is controlled by the longitudinal dynamics control, and in particular actuators to initiate a turning maneuver into the blocked track section.Any coordination required to avoid collisions, especially the associated radio power density, directly between the goods carriers involved can be avoided or at least reduced to a minimum. Both the recipient and any externally moved goods carriers have an interference-free section of the hanging goods warehouse's network, particularly the rail network.

[0013] Preferably, the blocking of at least one section of the hanging garment warehouse can be controlled decentrally. This eliminates the need for additional radio traffic between a central control device and the goods carriers involved in the retrieval process. Furthermore, the computing capacity required for this in the control device can be saved. Decentralized control allows a compromise between centralized control and pure swarm intelligence, which can be provided by the individual goods carriers. This enables very high scalability while still maintaining a comparatively high level of knowledge and targeted control of the processes within the hanging garment warehouse, as well as minimal radio power / data traffic density. Decentralized control can be implemented using decentralized referee controls, which can be provided, for example, in blocks or sections within the hanging garment warehouse and each control sections of the network.

[0014] In a preferred embodiment, an eager area lock is initiated for an eager area in which the addressee is located, wherein a further retrieval process in the same storage area and a further initiation of an identical storage area lock for a further addressee is prevented, preferably for the duration of the storage area lock. This allows two or more requests within a storage area to be processed without conflict. It is therefore possible for the central control device to randomly generate requests that can nevertheless be processed within the hanging garment warehouse by the decentralized control system. Computing capacity of the central control device to avoid usage conflicts within the hanging garment warehouse, in particular within a storage area, in particular on a storage line, is not required. This enables simple decentralized control and maximum scalability.In particular, the addressee is addressed by means of a notification network and / or a first radio link and the at least one section of the link is blocked by means of a second radio link bridging a comparatively short distance, in particular according to a standard known as Bluetooth Low Energy (BLE).

[0015] Furthermore, the method can be implemented by initiating the storage area lock by the addressed recipient, establishing the storage area lock if the storage area is currently released, otherwise waiting, and initiating it again after a certain period of time has elapsed. It is also conceivable for the storage area lock to be controlled by a referee control system, preferably via one of the second radio links, preferably per storage area or per block, each with a plurality of storage lines. The section-by-section blocking of the network or storage area lock can thus be initiated, in particular, by the recipient after they have received a message that they should leave their storage location. This advantageously allows the method to run and be controlled in a decentralized manner.Any central control device can be limited to generating and executing the selection, but can also optionally create a picture of the conditions in the hanging garment warehouse. Central storage of the storage location can therefore be necessary, but is not required. In this case, it is sufficient to link the relevant stored goods to the recipient and ensure that the message to carry out the retrieval process reaches the recipient. The remaining steps required for this can be controlled decentrally.

[0016] Alternatively or additionally, the following can be carried out: Calculating the space required on a shunting lane of the hanging goods warehouse network for the retrieval process, and initiating a shunting lane closure of at least one section of the shunting lane for, preferably exclusive, use by goods carriers of the storage area that are to be moved due to the addressee's retrieval process, wherein, preferably for a period of the shunting lane closure, use for a further retrieval process in the same section and initiating an identical or overlapping shunting lane closure for another purpose, for example for a retrieval process from a parallel one of the storage lanes, is prevented.This allows areas of the hanging goods warehouse, especially those required for external movements and / or evasive movements for the recipient's retrieval process, i.e., to clear the retrieval path, to be kept clear and thus collision-free. This process can advantageously be carried out independently of the central control system and also enables maximum scalability. Mutual waiting and inhibition also minimizes the required communication requirements and thus radio power density.

[0017] A further preferred embodiment of the method involves lifting the storage area lock if the shunting lane lock has not been achieved after a specified or predeterminable number of attempts. This avoids prolonged deadlocks while simultaneously waiting for the same network resource, particularly for unauthorized movements on the shunting lanes. It is conceivable to specify a number of ten attempts, particularly between five and fifteen, and then start again from the beginning with initiating the storage area lock. In tests, this number has resulted in particularly efficient control and particularly short retrieval times.

[0018] According to a further alternative, it is conceivable to reinitiate the warehouse roadblock and / or the warehouse area block if these cannot be achieved, and to randomly vary or increase the time between attempts to achieve the warehouse roadblock and / or the warehouse area block. Algorithms can be used for this purpose. Tests have shown that increasing the waiting times after each attempt enables sensible resource management on the network and / or an overall particularly low power density. The increase can be exponential; in particular, the waiting time can be doubled for each new attempt. Algorithms of this type are also known as backoff algorithms, which can be used for this purpose.However, it is also conceivable to additionally or alternatively determine the waiting times with a random variable, in particular to multiply a base waiting time with such a variable, so that the waiting times exhibit a random dispersion around a base value.Preferably, the at least one blocked section of the route comprises at least a section of a storage line in the storage area and at least a section of a shunting line adjacent to the storage area, which preferably runs orthogonally to the storage line, wherein goods carriers located on the storage line which block a retrieval path of the addressee are moved from the storage line in the direction of the shunting line, wherein the goods carriers turn onto the shunting line and the following addressee crosses the shunting line and is moved further in the direction of an expressway which runs parallel to the shunting line, wherein the goods carriers are preferably moved back onto the storage line in the opposite direction after the addressee has crossed the shunting line. This enables the addressee to be retrieved quickly and easily, with only short distances having to be covered.The order of the stored goods in the goods carriers is maintained.

[0019] The second object is achieved with the method mentioned above through the following steps: providing a goods carrier, in particular a hanging bag, into which at least one of the stored goods can be accommodated; specifying, in particular determining and specifying, a travel path for the goods carrier; autonomous and self-propelled movement of the goods carrier, in particular by means of a rolling adapter of the hanging bag, through the hanging goods warehouse on the travel path; providing an omnidirectional proximity sensor device that travels with the goods carrier and / or providing a directional proximity sensor device that travels with the goods carrier; controlling a speed of the hanging bag on the travel path depending on at least one of the two proximity sensor devices. The speed can be adjusted so that collisions can be reliably avoided.By using the directional proximity sensor device, it can be ensured that the speed can be specifically adapted to collision partners appearing in the direction of travel and, at the same time, by means of the omnidirectional proximity sensor device, to collision partners approaching from any direction. In the event of an impending collision, the speed can be reduced, in particular reduced to zero. It is also conceivable to control the speed to a value below zero, i.e., to reverse. Furthermore, evasive action can also be controlled. This allows not only waiting but also active evasive action to avoid collisions. Thus, actively evading or avoiding a collision can be achieved by slowing down, reversing, changing direction, etc.Preferably, it is provided that a longitudinal and lateral control is activated to travel along the travel path as soon as no approach of a collision partner is sensed or measured by the proximity sensor device. This control or autonomous driving control can be interrupted or supplemented to avoid the collision by overriding a specified speed of the longitudinal control depending on the proximity sensor devices, i.e. the goods carrier travels more slowly and / or stops to avoid the collision. It is also conceivable that the speed is actively increased in order to avoid a collision, for example with a slowly approaching coalition partner. Likewise, the lateral dynamics control can be overridden, for example by initiating an actually unintended change of direction or preventing an intended one.The route itself is preferably located within the hanging goods warehouse between a starting point and a destination point. This point, or at least the destination point, can be initially determined and / or specified. Preferably by a central or higher-level control device or decentrally by the hanging pockets themselves. It is therefore conceivable for the hanging pockets to determine and execute routes themselves, for only the starting and / or destination points to be specified by the control device, and / or alternatively for the entire route to be specified by the control device for the respective goods carrier.

[0020] A preferred embodiment of the method is carried out by determining an omnidirectional distance value between the goods carrier and at least one other goods carrier of the hanging warehouse using the omnidirectional proximity sensor device and controlling the speed as a function of the omnidirectional distance value. The omnidirectional distance value preferably scales linearly with a distance between the hanging pockets and can be specified, for example, in a metric unit and / or converted into such a unit. A threshold value can preferably be defined for the omnidirectional distance value, based on which or upon reaching which threshold value an intervention in the longitudinal control, in particular a reduction of the speed, preferably to zero, is to take place.

[0021] In a further preferred alternative, the omnidirectional distance is determined as a function of a path and / or radio link that can be established between the goods carrier and the at least one further goods carrier, in particular a signal strength of a radio signal of the radio link, and / or a signal strength of a radio signal emitted by the further goods carrier and / or a signal strength occurring in the path or radio link. A path can be understood as any wireless data connection, preferably via radio. It is conceivable to use a radio link that can be established according to a standard protocol, for example according to the Bluetooth Low Energy (BLE) standard. Radio links according to this standard are easy to set up using standard components, whereby each of the hanging pockets can have a corresponding transceiver unit.These can be controlled by a control unit and advantageously return a signal strength that can be used as the omnidirectional distance value. Bluetooth Low Energy can operate omnidirectionally or, depending on the antennas used, with a known radiation pattern and can therefore be advantageously used to generate the omnidirectional distance value.

[0022] A further alternative for carrying out the method comprises determining a direction-dependent distance value between the goods carrier and any object of the hanging goods warehouse by means of the direction-dependent proximity sensor device and controlling the speed as a function of the direction-dependent distance value.

[0023] In a further embodiment, the direction-dependent distance value can be determined by emitting and receiving a reflection of a light beam. Such direction-dependent proximity sensor devices are also known as time-of-light sensors. The light beam is emitted, reflected by the object, and a travel time until its return can then be used as the direction-dependent distance value or converted into it and output accordingly. The speed can be reduced when approaching the object, in particular to zero, in order to avoid a collision. The object can be another goods carrier, or parking, handling, and / or sorting devices in the hanging goods warehouse. Thus, for example, a collision-free approach to such a device can occur.The light beam can be focused, for example, by a laser beam, which enables directional control. Directional control can also be understood as a measurement in an angular range or measuring cone in which the light is emitted. In a further preferred embodiment, the directional distance value is determined in one direction of travel or in the direction of travel and against the direction of travel of the goods carrier on the travel path. The directional distance value can be determined either unidirectionally in the direction of travel of the goods carrier or bidirectionally in and against the direction of travel, i.e., either forwards or forwards and backwards in relation to a direction of travel of the goods carrier. In the case of bidirectional control, longitudinal control of the speed can also be carried out when reversing. In addition, it is possible to react to hanging bags approaching from behind, e.g.by increasing speed and / or driving off to clear a path.

[0024] It is also possible to implement the method by controlling the speed on straight and / or intersection-free sections, particularly of the network or rail network of the hanging goods warehouse, depending on the directional proximity sensor device. When traveling straight ahead, the direction of the directional distance value coincides with the direction of travel, allowing the system to react to obstacles and / or goods carriers traveling ahead.

[0025] In addition, the speed in and / or before intersections can be controlled depending on the directional proximity sensor device and / or the omnidirectional proximity sensor device. At intersections, it is important to be able to detect collision partners approaching at an angle, which is possible using the omnidirectional proximity sensor device or the omnidirectional distance value that can be generated with it. Thus, when approaching a predicted or potential collision point in an intersection, the speed of one of the hanging pockets can be reduced so that the two potential collision partners can travel freely through the intersection one after the other. The decision as to which of the hanging pockets continues and which reduces its speed can be made using any algorithm.

[0026] Furthermore, it is preferably conceivable to control the speed depending on the directional proximity sensor device for electronically coupling the goods carrier with at least one other goods carrier for convoy travel. The goods carriers can thus be electronically coupled, allowing optimal utilization of a traffic space or the network of the hanging goods warehouse. A comparatively high traffic density can be achieved on the hanging goods warehouse network with comparatively short individual travel times for individual goods carriers.

[0027] According to an advantageous embodiment of the method, the following steps are performed: moving a first goods carrier along a first path of the network and moving a second goods carrier along a second path of the network, wherein the first and second paths intersect at an intersection, and making a right-of-way decision into the intersection in favor of the first or second goods carrier based on a specified or determinable parameter. This reliably prevents a collision at the intersection.

[0028] Preferably, all goods carriers in the hanging garment warehouse are assigned a unique priority number as a parameter, preferably in the form of an ordinally scalable variable, and the priority decision is made in favor of the goods carrier with the higher priority number. For example, consecutive integer numbers 1...n can be assigned as priority numbers, and the goods carrier with the lower (or higher) number receives priority.

[0029] It is also possible that the distances of the first goods carrier and the second goods carrier from the intersection are determined as parameters, preferably in each case by the directional approach sensor device and / or the speeds of the first goods carrier and the second goods carrier and that the right-of-way decision is made in favor of the goods carrier that has the shorter distance and / or the higher speed.

[0030] Finally, the process can be carried out simultaneously for a large number of goods carriers, especially hanging bags, located in the hanging goods warehouse. This allows a large number of individual routes for individual goods carriers, which may intersect, to be processed or implemented in parallel within the hanging goods warehouse.

[0031] The third task is achieved with the method mentioned above by the following steps: Storing the goods carriers in a storage area of ​​the hanging goods warehouse, wherein in particular possible retrieval paths of the goods carriers are mutually blocked, Selecting an addressee from the goods carriers located in the storage area for retrieving a stored item held in the addressee, Transmitting a first message to the addressee, wherein the first message preferably comprises a travel instruction for the addressee, Transmitting a second message to a plurality, in particular to the remaining hanging bags located in the storage area, wherein the second message preferably comprises an instruction to clear a retrieval path and / or can be interpreted as such, Clearing a retrieval path leading out of the storage area for the addressee depending on the second message,and starting a retrieval process for the addressee and the stored goods contained therein along the cleared retrieval path depending on the first message. Two messages are sufficient to clear the retrieval path and retrieve the stored goods, of which at least one or both are equally addressed to a plurality of goods carriers. These then carry out the clearing and retrieval process by means of autonomous or at least semi-autonomous driving or relocation. This can take place on network traffic routes, preferably on a rail network that the goods carriers can travel autonomously or at least semi-autonomously. This avoids or at least minimizes the need to send individual messages to individual goods carriers. However, it is also preferable that global processing of the messages by all goods carriers in the hanging goods warehouse not take place.Because the messages are preferably addressed only to goods carriers in the warehouse area and / or are only received and / or processed by them. It is conceivable to transmit the messages via a radio link that preferably covers only the warehouse area and / or provides local coverage. This allows the lowest possible data rate or message density to be achieved, particularly for hanging goods warehouses with more than 30,000 retrieval processes per hour and up to, or possibly more than, 1,000,000 goods carriers participating in storage, control, and the necessary communication. Furthermore, the energy consumption, particularly required for communication, can be reduced to a minimum.

[0032] Preferably, the first message can be sent via a first radio link and received by the addressee, wherein the second message is initiated by the addressee upon receipt of the first message. The radio link can run via a notification network from a central control device directly to the addressee. The first message is preferably processed by the addressee, so that the second message can be initiated upon this processing. The addressee can preferably be set up and / or programmed for this purpose using software. In particular, rules can be stored, the observance or execution of which by the goods carrier blocking the retrieval path enables the retrieval path to be cleared.Because the initiation is carried out by the addressee, the load on both the central control device and the notification network can be relieved, thus reducing message density. Calculations required for clearance can be carried out decentrally using the goods carriers themselves. The notification network can have a multi-level hierarchical structure, in particular be designed at least partially as a mesh network and be configured to transmit messages that are addressed simultaneously to a large number of predefined recipients. Furthermore, it can in particular additionally have a large number of radio links running between the goods carriers themselves, e.g. according to a known standard such as Bluetooth Low Energy (BLE). Such a network is known from an application by the same applicant with the internal file number DE4720, to the content of which reference is hereby made.

[0033] In a preferred embodiment, a check is made to determine whether there are any goods carriers in the retrieval path, the second message is initiated only if there are goods carriers in the retrieval path, and a travel instruction is followed by the addressee if the retrieval path is already free immediately after receiving and processing the first message, or, if the retrieval path is not free immediately after receiving and processing the first message, the travel instruction is followed only if it has been cleared, preferably by the goods carriers in the forwarding chain. If the retrieval path is already free, no further messages are required, and the addressee can immediately begin following their travel instruction. This can further reduce data traffic.The driving instructions can be temporarily stored in the goods carrier for subsequent follow-up, preferably generated there according to stored rules.

[0034] Alternatively or additionally, the travel instruction is transmitted to the addressee via the first message and / or an instruction to clear the retrieval path is transmitted via the second message. The addressee thus receives the travel instruction directly, preferably directly from the central control unit. This means that the addressee's destination is known to the central control unit. Furthermore, only this one first message is required for the retrieval process between the central control unit and the addressee. Sending further messages to the central control unit and addressing further goods carriers – which may block the retrieval path – via the central control unit are generally not required.

[0035] A further embodiment involves generating the second message by means of the addressee, transmitting the second message via at least one forwarding chain to the goods carriers that block the retrieval path, establishing the forwarding chain via a plurality of second radio links running between the goods carriers that block the retrieval path, and storing and processing the second message in each goods carrier, preferably in a memory location that can be provided for each goods carrier, and forwarding the processed second message to an adjacent goods carrier to establish the forwarding chain in the goods carriers blocking the retrieval path. Although a plurality of individual second radio links are set up, these are significantly shorter and therefore consume less energy than radio links running between the central control device and the goods carrier.This allows energy consumption, message density, and the energy density required to transmit messages in a radio room of the hanging goods warehouse to be reduced to a minimum. Particularly preferred is the forwarding chain or the multiple second radio links that run between adjacent goods carriers. This allows the lengths of the second radio links and thus energy consumption to be further reduced. Furthermore, the computational effort in the central control unit can be minimized, since the second message does not need to be generated and transmitted there.

[0036] A further advantageous possibility is that the forwarding chain is established multiple times in the reverse direction between the addressee and a goods carrier acting as the end user. The end user is preferably located at one end of a storage line in the storage area of ​​the hanging goods warehouse, i.e. at the end of the still blocked retrieval path. This allows all goods carriers blocking the retrieval path to exchange information with each other. In particular, for example, the information that the retrieval path needs to be cleared can initially flow from the addressee to the end user in a first pass of the forwarding chain. In a second pass in the reverse order, the goods carriers can be informed how much space is required to clear it and which travel instructions result from this information. In a third pass, the addressee can communicate that they have left the storage line.After the third pass through the information chain from the recipient to the end user, the goods carriers can receive the information that they can return to the warehouse line to fully complete the retrieval process. The central control unit does not need to be involved in these processes. However, it is conceivable that the central control unit, similar to an observer, simulates the processes in the warehouse area after the first message has been sent, thereby providing at least a simulated picture of the processes in the warehouse. This can then be used as the basis for subsequent retrieval processes without the need for further messages and / or data traffic, particularly via radio links.

[0037] The second message processed and forwarded by the goods carriers blocking the retrieval path preferably contains additional information compared to the second message sent by the addressee, and the end user uses the last second message received to clear the retrieval path. Thus, the second message is not simply forwarded; each goods carrier adds additional information that serves to carry out an efficient retrieval process. For example, the second messages processed by the goods carriers can each contain a sum of the length of the respective goods carrier and the length of the goods carriers in front of it, and the end user can use the last second message received to determine the distance or position required for the addressee's retrieval process.The length of the obstructing carriers is thus added up to a total length, which can be used, for example, to block or reserve a section of a shunting lane large enough to accommodate the number of carriers. The end user can thus determine a destination point sufficiently far from the storage lane to ensure space behind it for all carriers.

[0038] Furthermore, the method can be carried out by generating a plurality of subsequent travel instructions, in particular by means of the blocking goods carriers themselves, for the goods carriers blocking the retrieval path, and by the blocking goods carriers following the subsequent travel instructions to clear the retrieval path. It is conceivable for the second message to be sent from the addressee via the plurality of second radio links, wherein the second radio links form the forwarding chain of all goods carriers in the storage area, the forwarding chain includes all goods carriers in the storage area that block the retrieval path, and one of the second radio links runs between each two of the goods carriers. Calculation steps for generating the subsequent travel instructions can be located between individual forwardings of the second message. This allows for decentralized calculation and thus a reduction in the load on the central control device.

[0039] A further preferred embodiment of the method is carried out by forwarding an individual storage location in the storage area for each goods carrier, providing a storage space in the goods carriers, saving the individual storage location in the storage space of the respective goods carriers, storing the respective goods carriers at the respectively saved individual storage location, changing the individual storage locations when passing through the forwarding chains, and relocating the goods carriers blocking the retrieval path depending on the changed individual storage locations in order to free the retrieval path. In this way, the goods carriers can clear the retrieval path autonomously or at least semi-autonomously. The calculations and control processes required for this can be carried out decentrally by the goods carriers themselves. These are preferably programmed for this purpose. Particularly preferably, all goods carriers have identical software equipment.This reduces the complexity of the overall system. Each of the goods carriers can optionally assume the function of the addressee or one of the goods carriers clearing the retrieval path. This can be decided based on the first message, which is directed to a specific one of the goods carriers via the central control device, or subsequently based on the second message, which can be initiated by the addressee. Alternatively, it is conceivable that at least the second message is also received via the addressee and merely forwarded, i.e. not generated itself. However, it is also possible for the first message to be sent over the first radio link and listened to by the other goods carriers, but ignored if an ID of the addressee sent along with it does not match its own ID.Based on such a check, it can be determined whether the respective goods carrier is acting as the addressee or a passively stored goods carrier. Based on the addressee's second message, it can then be decided whether the respective goods carrier is acting as a goods carrier clearing the retrieval path. Preferably, the first and second messages can be combined into a single message, which can be transmitted equally to the goods carriers in the storage area. The single message can be transmitted to the addressee and the other goods carriers in the storage area, preferably in one process, in particular via a radio link in one transmission process, i.e. preferably to all goods carriers in the storage area in one process and / or virtually simultaneously.This eliminates the need for individual data traffic directed to individual goods carriers, while still ensuring that all goods carriers potentially required to clear the retrieval path and the recipient with the requested stored goods have the information required for the retrieval process. This transmission process can be initiated by a central control device and transmitted via a notification network. The notification network can have a multi-level hierarchical structure, in particular, it can be implemented at least partially as a mesh network and can be designed to transmit messages that are simultaneously addressed to a plurality of predefined recipients. Such a network is known from an application by the same applicant with the internal file number DE4720, the contents of which are hereby incorporated by reference.The overall message may, for example, contain a driving instruction to carry out a circular movement between adjacent storage lanes in the storage area, preferably a 180-degree circular movement.

[0040] In a preferred embodiment, a group identification feature is first provided and assigned to the goods carriers in the storage area. Preferably, the group identification feature is stored in each goods carrier in the storage area. This allows the goods carriers in the storage area to be grouped together, not only physically within the storage area, but also data-wise using the uniform group identification feature. The overall message is received and stored in the respective goods carrier depending on the group identification feature. This makes it possible to address and communicate with the goods carriers in the storage area jointly, and / or to transmit the overall message to them.

[0041] Alternatively or additionally, the method is carried out by assigning an individual storage location in the storage area for each goods carrier, providing a storage space in the goods carriers of the storage area, saving the individual storage location in the storage space of the respective goods carrier, and storing the respective goods carrier at the saved individual storage location. Preferably, the storage location and / or the group identification feature are assigned and saved for the first time during storage, whereby, upon regrouping, a dynamic change of the storage location can occur in the memory of the respective goods carrier and, preferably, in parallel, also in the central control device. Together with the group message, this enables a unique identification of all goods carriers located in the storage area.With knowledge of the respective storage area, whereby each storage area can be assigned a different group identification feature, this labeling system allows all goods carriers in the hanging goods warehouse to be uniquely labeled and thus individually addressable or accessible by the central control system. At the same time, each goods carrier also knows its own storage location, enabling unique identification. This reduces the complexity of the message structure or overall message, as well as storage requirements.

[0042] A further embodiment is provided with transmitting a driving instruction for the addressee by means of the first message, transmitting the group identification feature and the storage location by means of the second message, receiving the messages combined to form the overall message from the respective goods carrier if the sent group identification feature of the messages matches the stored group identification feature of the respective goods carrier, carrying out the retrieval process by means of the addressee if the received individual storage location matches the stored storage location of the addressee,Clearing the retrieval path for the addressee using the remaining goods carriers in the storage area if the received group identification feature of the second message matches the respective stored group identification feature and the received individual storage location does not match the stored storage location. Therefore, each goods carrier that has been sent with the overall message is first checked to see whether the sent group identification feature matches the stored group identification feature. The overall message is only saved and followed if they match. Advantageously, all goods carriers can be addressed simultaneously with a single group message, whereby the appending of the storage location and the route description can simultaneously trigger the retrieval of the addressee and the regrouping of the goods carriers in the way. This allows for a message density and data rate,So the energy density or energy requirement of the corresponding data / radio traffic must be reduced to a minimum.

[0043] Another advantageous option is for the overall message to be sent centrally, in particular via the central control device, and received virtually simultaneously by the goods carriers in the warehouse area. It is conceivable that other goods carriers in the hanging goods warehouse also receive the overall message, but ignore it due to the mismatched group identification feature, i.e., do not process and / or save it. How many of the goods carriers in the hanging goods warehouse actually receive and ignore the overall message can depend on an operating strategy, particularly an AI-supported operating strategy of the notification network, especially a mesh network. It is therefore conceivable to send the group message, which is only addressed to the goods carriers in the warehouse area, via radio only in one area of ​​the warehouse, so that the transmission power density can be further reduced with regard to the entire hanging goods warehouse.

[0044] Furthermore, the method can be implemented by calculating a new storage location within the storage area after receiving the overall message according to a predefined rule using the respective goods carrier itself and, in parallel, for each remaining goods carrier in the central control device according to the rule, and relocating the remaining goods carriers to the new storage location within the storage area and storing the new storage location in the memory of the respective remaining goods carrier. With just one overall message, the clearing of the retrieval path and the relocation can be triggered, which is carried out based on the rule.Because each goods carrier in the warehouse area knows the rule and is programmed to execute it, and the central control unit, as a system observer, also calculates in the background based on the rule, the system status in the central control unit is known at all times, for example, for the next retrieval process in the warehouse area, even though goods carriers may be in new storage locations after each retrieval process. This can occur without explicit feedback from the individual goods carriers in the warehouse area, which also further reduces the message density and data rate, i.e., the energy density or energy consumption of the corresponding data / radio traffic.Clearing the retrieval path and retrieval can preferably be accomplished by circling the storage area by 180 degrees within two parallel storage lanes of the storage area, circling the storage area on another lane of the overhead warehouse surrounding it, and / or exiting onto a shunting lane and then returning to the storage area. The recipient does not participate in this movement and instead simply leaves the storage area toward its new destination as soon as the retrieval path is clear. After this process, the goods carriers are ready for the next retrieval by saving the new storage location.

[0045] The second object is also achieved by the goods carrier mentioned at the outset, in particular a hanging bag, by means of the following features: a computing unit for storing, processing and / or controlling a travel path of the goods carrier, preferably located within the hanging goods warehouse and between a starting point and a destination point, a goods carrier adapter, in particular a rolling adapter, for the autonomous and self-propelled movement of the goods carrier along the travel path, an omnidirectional proximity sensor device traveling with the goods carrier and a direction-specific proximity sensor device traveling with the goods carrier, wherein the computing unit is designed to control a speed of the goods carrier on the travel path as a function of the two proximity sensor devices.Preferably, a starting point and / or destination point of the route can be received, stored, and / or processed by the computing unit, whereby, in particular, the route between the starting and destination points can be autonomously determined and controlled collision-free by the computing unit. Alternatively, however, the entire route can also be specified by a central control device of the hanging goods warehouse and transmitted to the computing unit.

[0046] It is advantageous if the computing unit is designed to receive a starting point and / or destination point of the travel path, to process it and, preferably in a storage unit, to store it, to autonomously determine a travel path lying between the starting point and destination point and to steer the goods carrier collision-free along the travel path. Alternatively or additionally, the computing unit can also be designed to receive a predetermined travel path, e.g. from the starting point to the destination point, from a central control device of the hanging goods warehouse and to steer the goods carrier collision-free along the predetermined travel path. According to a preferred embodiment, the goods carrier has a receiving unit for receiving the stored goods, which is detachably connected to the roller adapter by means of a hanger, in particular suspended, wherein the receiving unit preferably comprises a flexible bag material or a transport container or a liquid container.This makes it easy to retrofit or replace and, if necessary, to use different recording units in a mixed mode.

[0047] The first object is also achieved with the hanging goods warehouse mentioned above by the following features: a controller designed to select a recipient from the goods carriers located in the storage area for retrieving a stored item held in the recipient, and to block at least one section of the network depending on the recipient's selection, so that the at least one blocked section can be used exclusively for the duration of a retrieval process of the stored item held in the recipient, in particular exclusively by the recipient and / or for external movements of hanging pockets required for the retrieval process, wherein the storage area of ​​the network is drag-chain-free, carrier-free, and preferably actuator-free. This allows the network to be used by the goods carriers without conflict.Conflict-free and efficient shared resource use is possible for a large number of autonomously or at least semi-autonomously movable goods carriers, in particular hanging bags, for example, with up to one million individual hanging bags, display processes, and / or sorting processes, in particular up to 30,000 per hour. The hanging goods warehouse is designed, configured, and / or programmed, in particular, to carry out a previously described process. This also results in the advantages described above. The hanging goods warehouse, in particular the storage area, is also free of actuators.In particular, the network of the hanging goods warehouse, in particular at least of the storage area, interacts with the goods carriers passing through it / these without the need for control elements, whereby lateral dynamics, in particular turning maneuvers, are controllable by means of the lateral dynamics control of the respective goods carrier or the carrier adapter of the goods carrier, and the network is designed to be passive for the turning maneuvers. In particular, the network is designed to be passive for at least one turning maneuver of the respective hanging pocket for entering or leaving the storage area, in particular a storage lane of the storage area. For this purpose, an intersection that can be crossed and leads from a highway and / or shunting lane into the storage area is designed to be free of control elements - in comparison to a branch referred to as an adjustable switch.

[0048] In a preferred embodiment of the hanging garment warehouse, the control system comprises a central control device for selecting the addressee and a plurality of referee controls arranged decentrally within the hanging garment warehouse for blocking at least one route section. In particular, each of the referee controls covers an area of ​​the hanging garment warehouse, e.g., one of the storage areas or storage lines arranged parallel to one another, grouped into blocks, plus the shunting lines surrounding these. This enables decentralized resource management, which provides a good compromise between comparatively communication-intensive swarm intelligence and central control, whereby the referee controls still provide a certain insight into the processes within the hanging garment warehouse while still enabling maximum scalability.It is conceivable that the referee controls could be arranged autonomously within the hanging goods warehouse in the sense of distributed intelligence. This could be done either completely autonomously or with feedback and / or control to / via the central control device. It is conceivable that the feedback could contain summarized, condensed and / or processed information and could process and answer specific requests from the central control device, requiring comparatively little data traffic compared to 100% monitoring of all goods carriers. To increase operational reliability, the referee controls could be designed redundantly, for example, with three of each, with data being assessed as correct if two of the three results generated in parallel match. This way, trouble-free operation can continue even if one of the units fails.For decentralized control, a plurality of second radio links can be provided between the respective referee control system and the goods carriers and / or between the goods carriers themselves, e.g., according to a known standard such as Bluetooth Low Energy (BLE). Such a network is known from an application by the same applicant with the internal file number DE4720, to the content of which reference is hereby made. The radio links then run between the goods carriers and the referee control system. Communication between the addressee and / or the respective referee control systems and the central control device can take place via a first radio link of the notification network. However, either no connection at all can be provided between the respective referee control systems and the central control device in the sense of autonomous operation to save data traffic, or a separate third link can be provided.

[0049] The third object is further achieved with the hanging goods warehouse mentioned at the outset by the following features: at least one storage area for storing the goods carriers, a central control device which is designed to select an addressee from the goods carriers located in the storage area for displaying a stored item received in the addressee and a notification network, in particular with a first transmission path and a plurality of second transmission paths which can be established between the goods carriers, which is designed to transmit a first message to the addressee and a second message to a plurality, in particular to the remaining goods carriers located in the storage area, wherein the central control device is further designed toDepending on the second message, to clear a retrieval path leading out of the storage area for the addressee, and, depending on the first message, to initiate a retrieval process for the addressee and the stored goods contained therein along the cleared retrieval path. This makes it possible, in particular with up to or possibly more than one million individual hanging bags, to carry out retrieval and / or sorting processes, in particular up to 30,000 per hour, with the lowest possible data rate or message density and a particularly low power density. The hanging goods warehouse is set up, designed, and / or programmed in particular to carry out a previously described process. In this respect, the previously described advantages also arise.

[0050] Preferably, the storage area comprises a number of parallel storage lines, and the network comprises at least one shunting line, preferably arranged orthogonally to the number of parallel storage lines, into which the number of parallel storage lines lead, as well as at least one express line arranged on a side of the shunting line closest to the storage area and running parallel to it. This results in an advantageous structural configuration of the network, which enables simple and rapid retrieval of the goods carriers. Preferably, a shunting line and a express line are provided on each side of the storage lines of the storage area, thereby further increasing flexibility. Furthermore, it is advantageous if two shunting lines and an intermediate express line are provided between each two storage areas arranged adjacent to the storage lines in the longitudinal direction.

[0051] According to a further advantageous embodiment, three adjacent, preferably directly adjacent, intersection modules are provided, with the central intersection module forming at least part of the expressway and the outer intersection modules each forming at least part of the respective shunting lane. Each of the intersection modules preferably has four entrances, each entrance being connected to the other three entrances, and the intersection modules are preferably rotationally symmetrical. This allows networks of different sizes and layouts to be constructed easily and flexibly using a few standardized components.

[0052] The fourth task is solved with the hanging goods warehouse mentioned above by the following features: A plurality of levels, each of the levels comprising a network, in particular a rail network, on which the goods carriers can be moved autonomously or at least semi-autonomously, at least one storage area per network with a plurality of storage streets arranged parallel to one another for storing the goods carriers and the stored goods accommodated in the goods carriers, at least one shunting road per network into which the storage streets flow, at least one express road per network which is downstream of the at least one shunting road and is arranged parallel to it, a transfer buffer per level downstream of the network, in particular the express road of the network, for pre-sorting the stored goods accommodated in the goods carriers,At least one conveyor system, preferably vertically conveying and located downstream of the transfer buffers of the levels, for the final sorting of the goods carriers and the stored goods held in the goods carriers in a predetermined or predeterminable sequence, preferably at least one lockable section per network. This allows for the storage of a large number of stored goods with relatively little space requirement and with relatively short routes for storage and retrieval.

[0053] It is advantageous if several shunting roads are provided, which surround the storage roads of the storage area in a ring-shaped or rectangular manner and / or that several express roads are provided, which surround the storage roads of the storage area and preferably several shunting roads in a ring-shaped or rectangular manner. This can increase the flexibility of the

[0054] Movement sequences are increased and the required distances are kept short.

[0055] For a better understanding of the invention, it is explained in more detail using the following figures.

[0056] They show in a highly simplified, schematic representation:

[0057] Fig. 1 is a schematic three-dimensional view from the side front and top of a hanging warehouse;

[0058] Fig. 2 is a schematic side view of a hanging pocket for the hanging goods storage shown in Fig. 1;

[0059] Fig. 3 is a schematic three-dimensional view obliquely from above of several of the hanging pockets shown in Fig. 2 on a rail network;

[0060] Fig. 4 is a schematic view of a level of a hanging goods warehouse to illustrate a retrieval with a reversal of a direction of movement;

[0061] Fig. 5 is a schematic view of the level of the hanging goods warehouse to illustrate a retrieval with a circuit / swing;

[0062] Fig. 6 to Fig. 9 each show a schematic view of a storage area of ​​the hanging goods warehouse with two storage lines for the detailed illustration of control processes for the retrieval shown in Figure 4;

[0063] Fig. 10 is a schematic detailed view analogous to the view in Fig. 8 of a part of a level of the hanging warehouse to illustrate a closure of at least one section of a network of the hanging warehouse;

[0064] Fig. 11 is a flowchart of a method for controlling the hanging goods warehouse, in particular for blocking the section of track;

[0065] Fig. 12 is a view of part of a level of the hanging goods warehouse shown in Fig. 1, with travel paths traveled by rolling adapters individually and in a column; - ZI -

[0066] Fig. 13 is a partial view of an intersection of the plane shown in Fig. 12 to illustrate collision avoidance;

[0067] Fig. 14 is a flowchart of a method for operating a hanging goods warehouse;

[0068] Fig. 15 is a schematic view of a level of a hanging goods warehouse to illustrate a retrieval with a reversal of a direction of movement;

[0069] Fig. 16 is a schematic view of the level of the hanging goods warehouse to illustrate a retrieval with a circuit / swing;

[0070] Fig. 17 to Fig. 20 each show a schematic view of a storage area of ​​the hanging goods warehouse with two storage lines for the detailed illustration of control processes for the retrieval shown in Fig. 15;

[0071] Fig. 21 is a flowchart of a method for controlling and operating the hanging goods warehouse shown in the preceding figures;

[0072] Fig. 22 is a schematic view of a level of a hanging goods warehouse to illustrate a retrieval with a reversal of a direction of movement;

[0073] Fig. 23 a schematic view of the level of the hanging goods warehouse to illustrate a retrieval with a circuit / swing;

[0074] Fig. 24 is a schematic view of a storage area of ​​the hanging goods warehouse with two storage lanes to illustrate the transmission of two messages; and

[0075] Fig. 25 is a flowchart of a method for controlling and operating the hanging goods warehouse shown in the preceding figures.

[0076] By way of introduction, it should be noted that in the variously described embodiments, identical parts are provided with identical reference symbols or component designations, whereby the disclosures contained in the entire description can be applied analogously to identical parts with identical reference symbols or component designations. Furthermore, the positional information chosen in the description, such as top, bottom, side, etc., refers to the directly described and illustrated figure, and these positional information must be applied analogously to the new position in the event of a change in position. DESCRIPTION OF THE FIGURES

[0077] Before describing the invention in detail, it should be noted that it is not limited to the specific components of the device or the specific method steps, as these components and methods may vary. The terms used herein are intended only to describe particular embodiments and are not intended to be limiting. Furthermore, when the singular or indefinite articles are used in the description or claims, this also refers to the plural of these elements, unless the overall context clearly indicates otherwise.

[0078] Figure 1 shows a schematic three-dimensional view obliquely from the side, front and top, of a hanging goods warehouse 1 for goods 3 to be stored in a hanging manner. The hanging goods warehouse 1 comprises a network 49, in particular a rail network, and a plurality of goods carriers 5, each for receiving a stored item 3. In the example shown, the hanging goods warehouse 1 is designed as a hanging pocket warehouse, wherein the goods carriers 5 are designed as hanging pockets. The goods carriers 5, in particular hanging pockets, are self-propelled and each have a moving longitudinal and transverse dynamic control system. Reference is made below to the specific embodiment of the hanging pocket warehouse. However, the invention also encompasses other types of hanging goods warehouses 1, which can have differently designed goods carriers instead of hanging pockets. For the sake of simplicity, the terms hanging goods warehouse and hanging pocket warehouse as well as goods carrier and hanging pocket are used partly synonymously below.

[0079] In the example shown, the hanging pocket warehouse 1 has at least two levels 9, 13, here a total of four, with a first level 9 and a second level 13 being provided with reference numerals for example. More or fewer levels are conceivable, for example, 10 levels or more arranged vertically one above the other. A network 49, in particular a rail network, is provided in each level 9, 13.

[0080] Each of the levels 9, 13 of the hanging bag warehouse 1 has a transfer buffer 7, 11, of which only a first transfer buffer 7 and a second transfer buffer 11 are provided with reference numerals. The hanging bag warehouse 1 serves for receiving, storing, sorting, and / or retrieving stored goods 3. Optionally as a pure storage or sorting device. The transfer buffers 7, 11 are preferably arranged vertically one above the other, which is symbolized by a line 27. However, it is also conceivable to arrange at least two of the transfer buffers 7, 11 one above the other and / or to arrange them obliquely to a vertical spatial direction along the line 27.

[0081] A ring conveyor system 23, preferably a plurality of such, also runs along the imaginary line 27 along which the transfer buffers 7, 11 are arranged. The transfer buffers 7, 11 are arranged adjacent to the ring conveyor system 23 in such a way that the stored goods 3 can be transferred from them into the ring conveyor system 23 and / or stored from there into the levels 9, 13 or the transfer buffers 7, 11 of the levels 9, 13.

[0082] In one embodiment, the stored goods 3 can be transferred directly to the ring conveyor system 23. However, the stored goods 3 are preferably transferred to the ring conveyor system 23 while located in a hanging pocket 5. Particularly preferably, the entire hanging pocket 5 is driven autonomously, in particular by means of a traveling electric drive, controlled, and / or moved before provision, during provision, and / or transfer of the hanging pocket 5. The method preferably takes place using or by means of electric drives, in particular without drag chains and / or carriers. For this purpose, the hanging pocket warehouse 1 is designed, for example, at least partially or entirely, without drag chains and / or carriers, preferably at least within levels 9, 13.

[0083] For this purpose, the suspended pocket storage system 1 comprises the network 49, for example, a rail network with connecting sections and branches such as crossings and / or switches. This is preferably a grid with straight rails connected to each other by crossings and / or switches, for example, with rectangular meshes.

[0084] In order to store the stored goods 3 in the hanging bag warehouse 1, in particular in a storage area 401 of the network 49 described in more detail in the following figures, the network 49 has a transfer point 53 via which the individual stored goods 3 are transferred into individual hanging bags 5. Preferably, only one of the stored goods 3 is transferred per hanging bag 5. However, several are also conceivable, provided they can be accommodated in the corresponding hanging bag 5. In the transfer point 53, the stored goods 3 can optionally be buffered and transferred directly into the hanging bags 5. For this purpose, the hanging bags 5 can travel to the transfer point 53, in particular travel autonomously or semi-autonomously via the network 49 to the transfer point 53, and after the transfer, then travel on, preferably again autonomously, to a specified or specifiable storage location in the hanging bag warehouse 1.

[0085] At an unloading station 55 of the hanging bag storage system 1, the stored goods 3 are removed from the ring conveyor system 23 and are available there, preferably in a predetermined or predeterminable sequence 15. It is conceivable for a column of hanging bags 5 to move from the ring conveyor system 23 into the unloading station 55 in the desired sequence 15, or to be transferred from the ring conveyor system 23 to the unloading station, be unloaded there, and then return for further loading. The unloading station 55 can be located inside or outside one of the levels 9, 13, preferably on a lowest level.

[0086] Alternatively, however, it is also conceivable that the hanging pockets 5 are conveyed by means of the ring conveyor system 23 and unloaded at the unloading station 55 in the desired order and immediately transported back empty to the hanging pocket storage 1 by means of the ring conveyor system 23, i.e. without the respective hanging pockets 5 remaining in the unloading station 55 or being available there, for example in order to continue to travel or be transported further to the transfer point 53 after unloading.

[0087] The hanging pockets 5 are particularly preferably designed so that they travel autonomously along the network 49. Hanging pocket warehouses 1 with autonomously moving hanging pockets 5 are known and are described, for example, in DE10 2018 128 417 A1, so that a more detailed description is omitted here. Preferably, a control device 25 is provided for monitoring and controlling the hanging pocket warehouse 1, in particular for specifying the desired sequence 15 and controlling the ring conveyor system 23, which control device exchanges information with the functional units of the hanging pocket warehouse 1. Figure 2 shows a schematic side view of a goods carrier 5 designed as a hanging pocket 5 for the hanging pocket warehouse 1 shown in Figure 1, and Figure 3 shows a three-dimensional view of several of the hanging pockets 5 shown in Figure 2, suspended in the network 49, which is designed, for example, as a rail network. For this purpose, the hanging pockets 5 each have a rolling adapter 61 with wheels 57.The rolling adapters 61 can be driven by a drive energy, merely indicated by reference numeral 59, and a drive utilizing this energy. The hanging pockets 5 are preferably designed in two parts and can comprise the rolling adapter 61 and a pocket material suspended or hung thereon, in particular in a manner that can be removed without damage. The pocket material can, for example, comprise a flexible and / or foldable material in which a stored item 3 can be accommodated.

[0088] In general, however, the product carriers 5 are not limited to the aforementioned, preferably flexible, bag material. Instead of the bag material, for example, a suitable hanger for hanging items of clothing could also be provided, which is connectable to the rolling adapter 61. The product carrier 5 could also comprise a substantially rigid transport container, such as a box, which is attached in a suitable manner to the rolling adapter 61. Furthermore, it would be conceivable for the product carrier 5 to comprise a liquid container, e.g., a bottle, which in turn is attached in a suitable manner to the rolling adapter 61.

[0089] In Figure 3, a double arrow 51 indicates a possible direction of movement of the hanging pockets 5 in the network 49. The hanging pockets 5, in particular their rolling adapters 61, are configured, programmed, and / or designed for autonomous or semi-autonomous movement on the network 49.

[0090] For this purpose, the hanging pockets 5, in particular the rolling adapters 61, can have their own drive, preferably an electric drive, and each have their own longitudinal and lateral dynamics control. By means of the longitudinal control, at least two driving states from the following group can preferably be set: stopping and driving forward. Preferably from the group: reversing, stopping and driving forward. Particularly preferably, different speeds and / or transient driving states can be set, in particular in combination with a longitudinal acceleration control / regulation. In a special embodiment, the longitudinal dynamics control can have an electric motor as its own drive, and can set at least one driving state from the group: “forward driving, reversing driving, stopping, accelerated forward driving, accelerated reversing driving, braked forward driving, braked reversing driving”.The lateral dynamics control can in particular have electrically controllable steering elements and can set at least one driving state from the group: drive straight ahead, turn left, turn right.

[0091] Preferably, the network 49 can be designed passively, i.e., without control elements. Control element-free can be understood as meaning that the network 49 does not have any active control elements that influence the transverse dynamics of the rolling adapters 61 or the hanging pockets 5, on which wheels or contact surfaces can rest transversely to the direction of travel to effect a network-adjustable change of direction, as is known, for example, from conventional adjustable switches.

[0092] Particularly preferably, the net 49 of each level is constructed horizontally or substantially horizontally. "Substantially horizontal" here means that the rolling adapters 61 traveling thereon do not roll away automatically due to gravity when stationary, thus they can preferably be constructed without a parking brake. In this case, the drive is therefore gravity-free, and thus not gravity-induced. Furthermore, the drive can be designed as an electric drive, whereby the longitudinal dynamics control or the drive can be drag-chain-free, gravity-free, and / or driver-free.

[0093] Figure 2 shows the hanging pocket 5 with the stored goods 3 held therein. The stored goods 3 are located within a U-shaped hanging pocket material, particularly a flexible material. Loading and unloading can occur, in particular, from above or from the side. As mentioned above, the goods carrier 5 could also be designed differently and, for example, comprise a rigid transport container or a liquid container. In the latter case, the stored goods 3 would be a corresponding liquid.

[0094] Figure 4 shows a schematic view of a level of the hanging goods 1, for example the

[0095] Level 9 of the previously described hanging pocket storage system 1. Level 9 is only partially shown, whereby the dimensions and number of individual elements of level 9 described here can be varied depending on the requirements of the hanging pocket storage system 1. The number of levels themselves can also be varied.

[0096] Unless explicitly mentioned, reference is also made to the following figures. Level 9, which is only partially shown, has the network 49 with a plurality of rails. The network 49 has, for example, rectangular meshes formed by the rails and crossings, wherein corresponding four-way switches can be provided at mesh nodes. The wheels 57 of the rolling adapters 61 of the hanging pockets 5 can roll on the rails of the network 9. Movement of the rolling adapters 61 can occur autonomously or at least semi-autonomously. For this purpose, each of the rolling adapters 61 can have its own drive acting on the wheels 57 and a corresponding control system.

[0097] The network 49 can, in principle, be traversed by the rolling adapters 61 in any direction. Preferably, the switches are designed to be passive, essentially fulfilling the function of a crossing. The rolling adapters 61, or their lateral dynamic control, interact with the switches through appropriate steering devices (not shown in detail) to effect desired changes of direction. Movements of the rolling adapters 61 are shown in bold dashed lines in the figure.

[0098] Preferably, however, the network 49 is used and traveled by the rolling adapters 61 – regardless of the previously described free travel and usage options – according to predefined or predeterminable rules. For this purpose, directions, speeds, and preferably types of use can be specified for certain sections of the network 49, for example. In the present case, the network 49 can have at least one storage lane 62 for storing the rolling adapters 61, including the hanging pockets 5 attached thereto. In the storage lanes 62, one or more of the rolling adapters 61 can be stored in a row 60, symbolized, for example, by a curved bracket. For this purpose, they remain at rest, preferably in a power-saving idle state, parked one behind the other in the row 60 of the corresponding storage lanes 62.

[0099] For retrieval, the roller adapters 61 of all hanging pockets 5 to be moved can be awakened and moved again accordingly. In this exemplary embodiment, storage lines 62 are arranged parallel to one another throughout level 9 and are shown horizontally and as solid lines in Figure 4. The rules and arrangement offer the advantage that material flows during storage and retrieval can be standardized and thus run faster, easier, and free of resource conflicts on the network 49.

[0100] The hanging pockets 5 are symbolized by rectangles in Figure 4. The storage aisles 62 of the hanging pocket warehouse 1 have a cross-intersection length compared to other areas of the hanging pocket warehouse 1, in particular expressways and / or marshalling yards, in particular a length that is at least 1.5 times longer, preferably at least 3 times longer, in particular at least 10 times longer, for example between 3 and 25 times longer, preferably approximately 20 times longer. The cross-intersection length can be, for example, between 3 and 20 meters longer, preferably approximately 15 meters longer. The cross-intersection length can be, for example, between 3 and 20 meters longer, preferably approximately 15 meters longer, depending on the use or optimization of the hanging pocket warehouse 1. For example, the length can be shorter for rapid access and short storage times of the stored goods 3 and longer for comparatively low handling frequencies.

[0101] The hanging bag warehouse 1 also has shunting lines 66, preferably at least one shunting line 66. The shunting lines 66 are arranged at an angle to the storage lines 62, preferably orthogonally thereto. In Figure 4, the shunting lines 66 are shown vertically and also in solid lines. Preferably, at least one of the storage lines 62 opens into at least one of the shunting lines 66 at the angle, preferably orthogonally. In contrast to the storage lines 62, stopping for storage purposes is not permitted on the shunting lines 66. A reversal of the direction of movement is optionally possible. In the present case, the storage lines 62, which are combined in blocks 76, open into two of the shunting lines 66 at least on one side, preferably on both sides and at the angle, in particular orthogonally. The blocks 76 each have a plurality of storage lines 62 arranged parallel to one another. In the present case, 5 each.The number can vary, for example, between 2 and 30, preferably between 5 and 20, in particular approximately 15. The number can also be adapted to a task of the hanging bag storage system 1. It is optionally conceivable for the blocks 76 to be surrounded by a ring of shunting lanes 66. However, express lanes 72 are provided at an upper and / or lower end of the respective blocks 76 and parallel to the storage lanes 62, preferably directly adjacent to each other.

[0102] To ensure a smooth and rapid outflow of the stored goods 3 or hanging bags 5, a comparatively high speed may be driven on the expressways 72, and in particular, continuous travel is provided; thus, unjustified stopping is not intended or should be avoided. Reasons for stopping can therefore preferably be limited to collision avoidance. Particularly preferably, the expressways 72 can generally have a directional movement of the hanging bags 5 or their rolling adapters 61. Furthermore, it is optionally possible for the expressways 72 to be arranged parallel to one another at a certain distance, with the blocks 76 arranged between them.It is conceivable that expressways 72 arranged parallel to one another have opposite specifications for the direction of movement, i.e. at least one pair of expressways 72 arranged parallel to one another with opposite specifications for the direction of movement is provided. Furthermore, the expressways 72 can be arranged at an angle to one another, preferably intersecting at this angle. For example, they can be arranged orthogonally to one another. In this case, the expressways 72 can be arranged in a grid and preferably with alternating specifications for the direction of movement. In this way, ring roads can be formed surrounding at least one or more of the blocks 76, which can be traveled in one direction and at particularly high speed. The alternating directions are shown in the figure by arrows 78 and the expressways 72 are shown in dashed lines.

[0103] It can be seen in Figure 4 that, particularly preferably, the storage roads 62 are crossed at least on one side by one of the shunting roads 66, and one of the expressways 72 arranged at an angle to the storage roads 62 runs parallel to the respective shunting road 66. As shown in Figure 4, it is possible for one of the shunting roads 66 to be arranged parallel to each of the expressways 72 on both sides, with one of the blocks 76 adjacent to it, wherein a plurality of connections and junctions connect one of the shunting roads 66 to the respective expressway 72 and in turn to the storage roads 62 of the respective blocks 76. Thus, a grid-like arrangement of at least two, preferably three rails of the network 49 running parallel to one another is formed, which rails are spaced at a distance of the storage roads 62 from the hanging pockets 5 orwhose rolling adapter 61 has at least partially or autonomously navigable switches or crossings and limits the trestles 76 orthogonally to the orientation of the storage lanes 62 or connects them to the remaining network 49 of the hanging pocket storage 1. The arrangement is divided by the traffic regulations into the shunting lanes 66 and the expressways 72, whereby a physical structure can have identical parts at crossings and / or switches and rail sections in order to enable a cost-effective and easily assembled structure.

[0104] In the following, possible uses of this grid-like arrangement of storage aisles 62, shunting lanes 66, and expressways 72 are explained in more detail using Figure 4 as an example of a relocation. One of the stored goods 3 in the hanging pocket warehouse 1 is scheduled for relocation, for example, retrieval, preferably initially to the unloading station 55. The hanging pocket 5 with the scheduled stored goods 3 is shown in dotted lines in Figure 4, although the stored goods 3 itself contained in the hanging pocket 5 is not visible. The scheduled stored goods 3 can be identical at one or more locations in the hanging pocket warehouse 1, and a selection can be made based on a criterion before scheduling.

[0105] As can be seen in Figure 4, the hanging pockets 5 shown in dotted lines are removed, which is symbolized by a dashed and bold arrow 74.

[0106] Before this can take place, however, the hanging pocket 5 (shown in dotted lines) or the stored goods 3 contained therein are first scheduled for retrieval. This can be done using the central control device 25.

[0107] In order to free up a retrieval path 70 along which the hanging pocket 5 of the scheduled storage goods 3 can leave the row 60, further of the storage goods 3, whose hanging pockets 5 are relocated to a shunting line 66, 68 of the hanging pocket warehouse 1, shown in solid lines. The shunting line 66 is arranged orthogonally to the storage line 62 and intersects it at a four-way switch or intersection at one end of the storage line 62. As soon as the retrieval path 70 is free, the relocation or retrieval of the hanging pocket 5 of the scheduled storage goods 3 can take place along it, which is symbolized in Figure 4 by the bold and dashed arrow 74.The hanging pocket 5 of the planned storage goods 3 can then optionally be temporarily stored or, if necessary, can be moved directly to the unloading station 55 or conveyed, preferably moving into the ring conveyor system 23 and being conveyed by means of this to the unloading station 55.

[0108] As can be seen in Figure 4, the direction of movement of the hanging pockets 5 of the additional storage goods 3 in row 60 is reversed in order to clear the retrieval path 70 and then the hanging pockets 5 of the additional storage goods 3 are moved back into row 60. In this case, the hanging pockets 5 of the three storage goods 3 are moved, preferably in a convoy, out of row 60 into storage line 62. After the hanging pocket 5 of the scheduled storage goods 3 has been moved, the three hanging pockets 5 of row 60 are moved back into storage line 62 in the opposite direction. This process with the reversal of the direction of movement is symbolized in Figure 4 by a dashed and bold arrow 80. The sequence of the hanging pockets 5 of the three storage goods 3 and thus the sequence of the storage goods 3 themselves is maintained.The shunting roads 66 can be used in a constant direction, which allows for smoother traffic flow.

[0109] Figure 5 shows a further possibility for clearing the retrieval path 70 and relocating the hanging pocket 5 of the planned storage goods 3 along it. For this purpose, the hanging pockets 5 of the other storage goods 3 are moved in a ring-shaped manner, which is symbolized by the arrow 80, or alternatively in a pendulum movement, which is indicated by a double arrow 88. In contrast, the entire block 76 is not circumnavigated, but rather an additional storage line 64 is used, as indicated by the dashed and bold arrow 80 in Figure 5. This can preferably take place in an adjacent storage line 62, as shown in Figure 5, or in any other of the storage lines 62 of the corresponding block 76. When the additional storage line 64 is used, the shunting lines 66, 68 are traveled over a particularly short section.This allows a comparatively large number of these processes to run in parallel, further reducing sorting and / or access times. As soon as the scheduled storage goods 3 have reached one end of the storage line 62, the retrieval path 70 is clear and they can be relocated, in particular retrieved, by crossing the shunting line 66 and via the expressway(s) 72, which is symbolized in Figure 5 by the dashed and bold arrow 74.

[0110] Preferably, the hanging pockets 5 or the stored goods 3 are rotated by 180 degrees for each retrieval. Preferably with an adjacent one of the storage lines 62. The hanging pockets 5 of the stored goods 3 are therefore swapped between the storage lines 62, preferably between the two adjacent ones of the storage lines 62, whereby a sequence of the hanging pockets 5 or the stored goods 3 is reversed or mirrored in each case and the retrieval takes place in the process. This simplifies inventory management because, although the contents of the respective storage lines 62 are mirrored, they remain intact in their entirety except for the planned one of the stored goods 3. The arrangement of the individual stored goods 3 within the storage lines 62 is also irrelevant. The planned one of the stored goods 3 can be moved out autonomously and independently of the non-planned one of the stored goods 3 by means of the roller adapter 61 of the associated hanging pocket 5.It also doesn't matter which of the storage lines 62 also participates in the rotation. What matters is that the rolling adapter 61 of the hanging pocket 5 of the scheduled item of storage goods 3 is addressed, and that the storage line 62 with this scheduled item of storage goods 3, as well as any other, in particular directly adjacent, storage line 62, participates in at least half, preferably exactly half, of the rotation.

[0111] It is evident that half a rotation is sufficient for each of the storage goods 3 thus moved along the two storage roads 62 to pass exactly once at one of the shunting roads 66, 68, which are arranged on both sides of the front ends of the storage roads 62. At this moment, the planned storage goods 3 leave the circular movement, in particular onto the corresponding one of the shunting roads 66, 68 or by crossing directly onto the adjacent or parallel expressway 72. In this application, circular movement or rotation can also be understood as a movement on a closed track that deviates from a pure circular shape. The shunting roads 66 can be traveled in a constant direction and, due to the circling, are subject to comparatively low traffic loads, which allows for more fluid traffic overall.

[0112] Figure 6 shows a schematic view of a storage area 401 of the hanging bag warehouse 1 with two storage lines 62, 64 to illustrate a transmission of two messages 405 and 407 for controlling a retrieval analogous to the retrieval process shown in Figure 5.

[0113] In this application, a storage area 401 can be understood as any section of the network 49 of a respective level 9, 13, which is intended, used, or reserved at least temporarily, in particular permanently, for storing the hanging bags 5 and the stored goods 3 contained therein, i.e., in particular, has at least one of the storage lines 62 and / or 64. The following description of an advantageous embodiment of the storage area 401 applies to all of the embodiments described in the application.

[0114] Within the scope of the present application, the storage area 401 preferably comprises at least one, preferably straight, storage line 62, in particular at least two parallel storage lines 62, 64. The number of storage lines 62, 64 terminate at at least one end in a, preferably straight, shunting line 66, which is preferably aligned orthogonally to the number of storage lines 62, 64. Furthermore, at least one, preferably straight, express line 72 is preferably provided, which runs parallel to the shunting line 66, wherein the shunting line 66 is located between the express line 72 and the number of storage lines 62, 64.

[0115] If the relevant storage area 401 is located in a central area of ​​a level 9, 13 of the hanging bag warehouse 1, then preferably a shunting line 66 and a fast track 72 are provided at each end of the number of storage lines 62, 64, as shown, for example, in Figure 5. According to an advantageous structural embodiment, the storage lines 62, 64 can, for example, each have one or more straight rail modules. Two shunting lines 66 and an intermediate fast track 72 (or at least sections thereof) are preferably formed by three adjacently arranged crossing modules. Each crossing module has four entrances for connecting a rail module or another crossing module. The crossing module is designed such that one entrance is connected to the three remaining entrances.The hanging pockets 5 can therefore either turn left or right at each entrance to the adjacent entrance or go straight ahead to the opposite entrance.

[0116] In the above-mentioned example of the storage area 401, for example, the rail module of the first storage line 62 can be adjacent to a first entrance of a first crossing module, which simultaneously forms part of the shunting line 66. The second entrance of the first crossing module, opposite the first entrance, can be connected to the first entrance of a second crossing module, which simultaneously forms part of the expressway 72. The second entrance of the second crossing module, opposite the first entrance, can in turn be connected to the first entrance of a third crossing module, which simultaneously forms part of the further shunting line 66. The second entrance of the third crossing module, opposite the first entrance, can in turn be connected to a rail module, which simultaneously forms a storage line of a further storage area.The third and opposite fourth entrances of the three adjacent crossing modules can, for example, be connected directly to the respective entrances of three adjacent crossing modules or indirectly via rail modules. This allows a network 49 of the desired design and size to be very flexibly created from a few standardized components.

[0117] Figure 6 essentially corresponds to a detail of Figure 5; in particular, the retrieval and movement of the hanging pockets 5 take place as described in Figure 5. It essentially addresses the ongoing communication. Regarding the movements of the hanging pockets 5, reference is made to the remaining description of the figures, in particular to Figure 5.

[0118] Figure 6 shows the central control unit 25, from which a first message 405 originates. This message is sent to an addressee 403 via a notification network 419, in particular a first radio link 409 of the notification network 419. The addressee 403 uses the first message 405 and, based on it, performs a retrieval process along the retrieval path 70 to a destination, for example, one of the ring conveyor systems 23.

[0119] The addressee 403 is therefore a hanging bag 5 stored in the storage area 401, which is selected or scheduled for retrieval, in particular of a stored item 3 held therein, or its rolling adapter 61. The process of scheduling and selecting can be carried out on the basis of a request directed to the hanging bag warehouse 1, for example an order with one or more of the stored items 3, which can be implemented by means of the central control device 25.

[0120] The first message 405 contains a driving instruction for the addressee 403, indicated by the reference number 417. The addressee 403 receives this and initially stores it in a memory location 415.

[0121] The addressee 403 is located in a storage area 401 of the hanging bag warehouse 1, which here, for example, has two storage streets arranged parallel to each other, analogous to Eagerstraße 62 and the further Eagerstraße 64 in Figure 5.

[0122] In the warehouse street 62, in which the addressee 403 is located, further hanging pockets 5 block the retrieval path 70, which are indicated in Figure 6 by a curved bracket 437.

[0123] To clear this, the blocking hanging bags 5 must first leave Lagerstraße 62.

[0124] To this end, the addressee 403 initiates a second message 407, which is forwarded via a forwarding chain 421 to the blocking hanging pockets 5 up to an end user 423 of the hanging pockets 5. This can be done via a plurality of second radio links 411 established between the hanging pockets 5 or their rolling adapters 16. The forwarding chain 421 comprises the plurality of second radio links 411. After this process, the blocking hanging pockets 5 all have the information that the retrieval path 70 must be cleared. The end user 423 terminates the forwarding chain 421, more precisely a first pass thereof, and initiates it in the reverse direction, as indicated in Figure 7. During the first pass of the forwarding chain 421, the number of blocking hanging pockets 5 that it runs over is counted, so that the end user 423 has the information about how many of the hanging pockets 5 are blocking the retrieval path 70.

[0125] During the second pass through the forwarding chain 421, this information is communicated to the blocking hanging pockets 5, i.e., how many hanging pockets 5 in total are blocking the retrieval path 70 and how far an evasive maneuver must be performed as a result of this information. The space required by each individual blocking hanging pocket 5 can be summed up during the pass through the forwarding chain. As soon as this information is available to all, the blocking hanging pockets 5 begin the evasive maneuver to clear the retrieval path 70, which is indicated by arrow 80 in Fig. 7. To do so, they leave Eagerstraße 62 and turn onto Rangierstraße 66, as shown in Fig. 8.

[0126] Furthermore, Figure 8 shows that addressee 403 then leaves Eagerstraße 62 and heads towards Expressway 72, according to driving instruction 417.

[0127] As soon as the addressee 403 has left Eagerstraße 62, it again initiates the forwarding chain 421, i.e. a third pass, this time again in the direction of the end user 423. The information is forwarded that Eagerstraße 62 is free again and consequently the blocking hanging pockets 5 can re-enter it, which is indicated in Figure 9.

[0128] To do this, turn in the opposite direction from Rangierstraße 66 in the direction of arrow 80 into Eagerstraße 62.

[0129] The blocking hanging pockets 5 also have the storage location 415, by means of which individual current eager locations 413 in the storage area 401 or on the storage lanes 62, 64 and / or intermediate destinations to be targeted on the shunting lane 66 and, after the retrieval path 70 has been cleared, on the storage lane 62 again, can be stored and accordingly controlled autonomously or at least semi-autonomously. Information on how far the respective hanging pockets 5 must move out of the storage lane 62 to clear the retrieval path 70 and what space on the storage lane they occupy when returning can be generated, e.g., by summation, during each pass through the forwarding chain and can be generated and stored decentrally in the respective hanging pockets 5, and from this, corresponding individual driving instructions can be generated.

[0130] For clearing the retrieval path 70 and retrieving the addressee 403, the hanging pockets 5 can each have their own computing unit 127 shown in Figure 2 and a storage location 415 indicated only in the addressee 403 in Figure 2 and in Figure 6.

[0131] Figure 10 shows a schematic detailed view analogous to the view in Figure 8 of a part of a level 9, 13 of the hanging bag storage 1 shown in the previous figures to illustrate a closure of at least one section of the network 49 of the hanging bag storage 1. Reference is also made to the figures described above.

[0132] Figure 10 shows a retrieval process of addressee 403. For this purpose, the addressee uses a portion of the storage line 62 as the retrieval path 70. The shunting lines are only indicated by reference numerals 66 and 68. Furthermore, a third-party or evasive movement of further hanging pockets 5 from the storage line 62 to the shunting line 66 takes place, which is indicated by the dashed arrow 80.

[0133] To avoid collisions, sections of network 49 are closed, as indicated by curved brackets in Figure 11. In particular, storage roads 62 or sections 603 of marshalling roads 66 may be closed. Sections 603 are preferably located between intersections and therefore do not include them. In this case, crossing traffic may be possible despite the closure.

[0134] These can preferably be set up using a referee control 601 responsible for a section of the network 49. Alternatively, centrally using the control device 25. Particularly preferred is a mixed approach in which the referee controls 601 of the respective sections are connected to the control device 25. However, it is also conceivable for the referee controls 601 to act autonomously in the sense of decentralized control and / or intelligence.

[0135] Specifically, preferably the exact storage line 62 on which the addressee 403 was located is blocked by a storage area barrier 605. This can alternatively also comprise larger areas, e.g., one or more other storage lines 62 running parallel. In addition, the shunting line 66 is blocked by a shunting line barrier 607 for the diverting hanging bags 5. This allows the entire retrieval process to take place without collisions. The warehouse road block has the effect that the same storage line 62 on which the addressee 403 was located during addressing cannot be used for retrieval processes of other hanging bags 5 on the same storage line 62. In addition, a request for the shunting line block 607 of the shunting line 66 is triggered. This has the effect that one or more sub-sections, which are located in particular between intersections of the hanging bag warehouse 1, cannot be used by other hanging bags 5.

[0136] Figure 11 shows a flow diagram of a corresponding method. Reference is also made to the previous figures. Steps are represented by rectangles. Information and calculation units are represented by corresponding symbols. Routes, especially unrouted routes, are shown in dashed lines. Involved elements and / or processes of the hanging bag storage system 1 are indicated by ovals.

[0137] In a first step 609, the addressee 403 is addressed. The recipient receives a message that a relocation is to be performed. In principle, this message can be transmitted via any method, preferably via the notification network 419, in particular via the first transmission path 409.

[0138] In a second step 611, the storage area lock 605, in particular valid for the storage line 62 on which the addressee 403 is located, is then requested. This request can be executed centrally by the control device 25. Preferably, however, it can be processed, controlled, and / or configured using the referee control 601. For this purpose, the addressee 403 can send a message to the referee control 601 via one of the second radio links 411, which is indicated in Figure 11 by a dashed arrow.

[0139] A first query 613 can then be executed, in particular by means of the addressee 403, to determine whether the storage area lock 605 is set. If the storage area lock 605 is not set or cannot be set, a wait occurs in a third step 615, which then, after the expiration of an initial wait period, leads back to the second step 611, i.e., a renewed query to set up the storage area lock 605.

[0140] If the storage area lock 605 is set up, which is preferably done or decided and released by the referee control 601, a fourth step 617 is executed, in which a space requirement for evasive movements of the retrieval process on the shunting line 66 is calculated. This can be done in any desired manner, for example centrally, preferably decentrally using the first forwarding chain 421 or the first pass through the forwarding chain 421. Alternatively, however, a fixed value can also be specified that reserves or makes available sufficient space on the shunting line 66 for all conceivable retrieval processes, which can be particularly useful for low-traffic hanging bag warehouses.

[0141] As soon as the space requirement is determined, it can be transmitted to the referee control 601, in particular via one of the second radio links 411. This can be done in particular by means of the end user 423 of the first forwarding chain 421, which is the first to have the result of the calculation of the space requirement or to have stored it.

[0142] In a fifth step 619, the shunting road block 607 can then be requested, in particular also by the end user 423, preferably also via the second radio link 411.

[0143] A second query is then executed. This query can be executed by the end user 423, which, if the shunting road block 607 is not present, leads to a sixth wait step 623. After a second wait period, this step can lead back to the fifth step 619, which can then be executed repeatedly by the end user 423.

[0144] Alternatively, it is conceivable (not explicitly shown in Figure 11) to set a termination criterion after, for example, 10 repetitions, in particular 5 to 15 repetitions, in order to avoid a very long stay in this loop. This can then branch to the first step 609, and the already established storage area lock 605 can also be lifted, so that the method can begin again until the retrieval process of the addressee 403 can then take place without collisions or the resources required for this are available on the network 49. During the second waiting time, the end user 423 can wait and also postpone the second forwarding chain 421 or not start it at all.

[0145] In the event of an abort, the end user 423 can start an additional forwarding chain to inform all previously involved hanging bags of the abort information, in particular also the referee control 601.

[0146] If the resources on network 49 are free, i.e., the shunting road block 607 has been successfully set up, the second query 621 branches to a seventh step 625. This initiates the relocation process for the addressee 403. This can preferably be done, as described above, by initiating the second forwarding chain 421 via the end user 423.

[0147] In the case of repeated executions of queries 613 and 621, the first and / or second waiting time can be varied, randomly and / or increasing per repetition, in particular according to a backoff algorithm.

[0148] Figure 12 shows a view of part of the first level 9 of the hanging bag warehouse 1 shown in Figures 1 to 3, with travel paths 105 traveled by hanging bags 5 individually and in a column 129. One of the travel paths 105 for one of the hanging bags 5 is shown as an example. The travel path 105 runs between a starting point 101 and a destination point 103. A path still to be traveled by the hanging bag 5 is shown in dashed lines. The starting point 101 is located in a storage line (not shown in detail) in which the hanging bags 5 can be temporarily stored. The destination point 103 is in the first transfer buffer 7. The hanging bag 5 can move autonomously on the travel path 105 from the storage line to the transfer buffer 7.

[0149] The first level 9 is divided into subunits 131, six of which can be seen in Figure 12 and in which the storage roads (not shown in detail) are arranged. Expressways 135 are arranged between the storage roads. A dashed circle 133 indicates an area where two of the expressways 135 intersect. In this case, a potential collision could occur there between the convoy 129 and the suspended pocket 5 located on the exemplary track 105. As already described, the suspended pocket 5 comprises a rolling adapter 61 with a computing unit 127. The computing unit 127 is configured to control and regulate autonomous driving on the network 49, for example, controlling the drive energy 59 acting on the wheels 57 of the rolling adapter 61.

[0150] Figure 13 shows a partial view of an intersection 125 of the first level 9 shown in Figure 12 to illustrate collision avoidance in the collision zone indicated by the circle 133 at the intersection 125 of the expressways 135.

[0151] A total of four of the hanging pockets 5 can be seen, with column 129 and another of the hanging pockets 5 approaching intersection 125 at a speed of 111 each.

[0152] Preferably, an approach to the intersection 125 can be recognized by the respective hanging pockets 5. For this purpose, means not shown in detail can be provided on the respective hanging pockets 5.

[0153] It can be seen that the hanging pockets 5 of column 129 already have a lower speed than the other hanging pocket 5 approaching intersection 125 from the left.

[0154] To detect a distance between the hanging pockets 5, each of them has an omnidirectional proximity sensor device 107, by means of which a path 117 can be established between any two of the hanging pockets 5. The path 117 is preferably a radio path according to the Bluetooth Low Energy (BLE) standard. Using a reported signal strength in the path 117, an omnidirectional distance value 113, shown in Figure 13, can be generated. The omnidirectional proximity sensor device 107 can be provided, for example, on the rolling adapter 61 and can communicate with the computing unit 127 in a suitable manner.

[0155] As a result of a detected risk of collision, either the further hanging pocket 5 approaching from the left or the front hanging pocket 5 of the column 129 is decelerated to such an extent, i.e. the speed 111 is reduced accordingly, in particular to a standstill at a speed of zero, that a collision-free passing of the intersection 125 or the collision zone marked by the dashed circle 133 is possible one after the other.

[0156] The column 129 consists of a plurality of electronically coupled hanging pockets 5. For this purpose, each of these has at least one directional proximity sensor device 109. Preferably, this is directed unidirectionally, i.e., along the direction of travel, which is symbolized in Figures 12 and 13 by reference numeral 137 and runs in the direction of speed 111. Alternatively, the directional proximity sensor device 109 can also measure bidirectionally, i.e., in and against the direction of travel, as shown by way of example in Figure 13. The directional proximity sensor device 107 can, for example, be provided on both sides of the rolling adapter 61, viewed in the direction of travel.

[0157] The directional proximity sensor devices 109 are preferably designed as time-of-light (ToL) sensors, in which light beams 121 are emitted and received again. Their travel time to any object 119 and back again can be converted into a directional distance variable 115 shown in Figure 13 and used as an input variable for longitudinal control to avoid collisions, more precisely for controlling the respective speed 111 of the hanging pockets 5. Figure 13 shows an example of an object 119, for example, an entry into the first transfer buffer 7. However, the object can also be additional hanging pockets 5, as is the case in column 129.The omnidirectional proximity sensor device 107 and the directional proximity sensor device 109 of the respective hanging pocket 5 are connected as measuring elements upstream of a computing unit indicated in Figure 13 by reference numeral 127. Each hanging pocket 5, in particular its rolling adapter 61, thus has its own computing unit 127 with which, in particular, the tasks of collision avoidance, longitudinal control, or control of the respective speed 111 can be performed.

[0158] Figure 14 shows a flow chart for operating a hanging pocket storage system 1 shown in the previous figures.

[0159] First, one of the hanging pockets 5 is provided, with which the method is carried out in order to move it, and thus also the stored goods 3 contained therein, collision-free through the hanging pocket warehouse 1. The hanging pocket 5 moves autonomously and self-propelled along the travel path 105 through the hanging pocket warehouse 1, preferably by means of the rolling adapter 61, which can have a corresponding drive for this purpose. The travel path can be specified, for example, by the central control device 25, or can be present or stored in the computing unit 127 after a specification or calculation of the starting point 101 and the destination point 103.

[0160] For a first query 143, a traveling omnidirectional proximity sensor device 107 is provided in the hanging pocket 5. For a second query 145, a directional proximity sensor device 109 traveling with the hanging pocket 5 is provided. In a first step 139 and a second step 141, the speed 111 of the hanging pocket 5 on the travel path 105 is then controlled depending on at least one of the two proximity sensor devices 107, 109, preferably depending on both proximity sensor devices 107, 109.

[0161] Preferably, in a third step 147, the omnidirectional distance value 113 between the hanging pocket 5 and at least one other hanging pocket 5 of the hanging pocket storage 1 is determined by means of the omnidirectional proximity sensor device 107, as well as the directional distance value 115 between the hanging pocket 5 and any object 119 of the hanging pocket storage by means of the directional proximity sensor device 109. The distance values ​​113 and 115 serve as measured values ​​for the longitudinal control of the movement of the hanging pocket 5 on the travel path 105. Queries 143 and 145 can be used to decide, depending on the driving state, whether only one or both distance values ​​113 and 115 are used for the control. This allows a collision to be avoided as best as possible.To control the speed 111 (steps 139 and 141), the rolling adapter 61 or a drive of the rolling adapter 61 is used with the aid of the drive energy 59 as auxiliary energy.

[0162] Several cases can be distinguished.

[0163] For a straight-ahead journey or a movement on intersection-free sections 123, shown for example in Figure 12 between two of the intersections 125, of the network 49, the control can be carried out depending on the direction-dependent distance variable 115, preferably exclusively.

[0164] This can also be done when traveling in convoy 129, with the distance control additionally being applied to another of the suspended carriers 5 traveling ahead. This allows a large number of the suspended carriers 5 to be coupled to form convoy 129.

[0165] When driving through the intersection 125, it is conceivable to use both distance variables 113 and 115, for example weighted, in order to supplement the direction-dependent signals of the direction-dependent proximity sensor device 115 despite cornering.

[0166] Likewise, when approaching intersection 125, the omnidirectional distance value 113 can also be evaluated in order to be able to see around the corner and to proactively enable the passage of intersection 125 without collision.

[0167] It is conceivable to switch to the corresponding distance values ​​113 and 115 by means of a selection device (not shown in detail) depending on a location and / or a current travel state of the hanging pocket 5 in the network 49. The selection device can be implemented in the computing unit 127.

[0168] Figure 15 shows a schematic view of a level of a hanging bag storage system 1, for example, level 9 of the previously described hanging bag storage system 1 (see Figure 1). Level 9 is only partially shown, but the dimensions and number of individual elements of level 9 described here can be varied depending on the requirements of the hanging bag storage system 1. The number of levels themselves can also be varied.

[0169] Unless explicitly mentioned, reference is also made to the following figures. Level 9, which is only partially shown, has the network 49 with a plurality of rails. The network 49 has, for example, rectangular meshes formed by the rails and crossings, wherein corresponding four-way switches can be provided at mesh nodes. The wheels 57 of the rolling adapters 61 of the hanging pockets 5 can roll on the rails of the network 9. Movement of the hanging pockets 5 can occur autonomously or at least semi-autonomously. For this purpose, each of the hanging pockets 5, in particular their rolling adapter 61, can have its own drive acting on the wheels 57 and a corresponding control, in particular in the form of a computing unit 127 (see Figure 2).

[0170] The network 49 can, in principle, be traversed in any direction by the suspended pockets 5. Preferably, the switches are designed to be passive, essentially fulfilling the function of a crossing. The suspended pockets 5, or their lateral dynamic control, interact with the switches via appropriate steering devices (not shown in detail) in such a way that desired changes of direction can be achieved. Movements of the suspended pockets 5 are shown in bold dashed lines in Figure 15.

[0171] Preferably, however, the network 49 is used and traveled by the hanging pockets 5 – regardless of the previously described free travel and usage options – according to predefined or predeterminable rules. For this purpose, directions, speeds, and preferably types of use can be specified for specific sections of the network 5. In the present case, the network 49 can have at least one storage lane 62 for storing the hanging pockets 5. In the storage lanes 62, one or more of the hanging pockets 5 can be stored in a row 60, symbolized, for example, by a curved bracket. For this purpose, they remain at rest, preferably in a power-saving idle state, parked one behind the other in the row 60 of the corresponding storage lanes 62.

[0172] For retrieval, all of the hanging pockets 5 to be moved can be awakened and moved again accordingly. In this exemplary embodiment, storage lines 62 are arranged parallel to one another throughout level 9 and are shown horizontally and in solid lines in Figure 15. The rules and arrangement offer the advantage that material flows during storage and retrieval can be standardized and thus faster, simpler, and free of resource conflicts on the network 49.

[0173] The hanging pockets 5 are symbolized by rectangles in Figure 15. The storage aisles 62 of the hanging pocket warehouse 1 have a cross-over length compared to other areas of the hanging pocket warehouse 1, in particular expressways and / or shunting roads, in particular a length that is at least 1.5 times longer, preferably at least 3 times longer, in particular at least 10 times longer, for example between 3 and 25 times longer, preferably approximately 20 times longer. The cross-over length can be, for example, between 3 and 20 meters longer, preferably approximately 15 meters longer. The cross-over length can be dependent on the use or optimization of the hanging pocket warehouse 1, for example, shorter for rapid access and short dwell times of the stored goods 3 and longer for comparatively low handling frequencies.

[0174] The hanging bag warehouse 1 also has shunting lines 66, preferably at least one shunting line 66. The shunting lines 66 are arranged at an angle to the storage lines 62, preferably orthogonally thereto. In Figure 15, the shunting lines 66 are shown vertically and also in solid lines. Preferably, at least one of the storage lines 62 opens into at least one of the shunting lines 66 at the angle, preferably orthogonally. In contrast to the storage lines 62, stopping for storage purposes is not permitted on the shunting lines 66. A reversal of the direction of movement is optionally possible. In the present case, the storage lines 62, which are combined in blocks 76, open into two of the shunting lines 66 at least on one side, preferably on both sides and at the angle, in particular orthogonally. The blocks 76 each have a plurality of storage lines 62 arranged parallel to one another, in the present case five each.The number can vary, for example, between 2 and 30, preferably between 5 and 20, in particular approximately 15. The number can also be adapted to a task of the hanging bag storage system 1. It is optionally conceivable for the blocks 76 to be surrounded by a ring of shunting lanes 66. However, express lanes 72 are provided at an upper and / or lower end of the respective blocks 76 and parallel to the storage lanes 62, preferably directly adjacent to each other.

[0175] In order to achieve a good and rapid outflow of the stored goods 3 or hanging bags 5, a comparatively high speed may be driven on the expressways 72 and, in particular, continuous travel is provided, i.e., stopping without reason is not intended or should be avoided. Reasons for stopping can therefore preferably be limited to collision avoidance. Particularly preferably, the expressways 72 can generally have a directional movement of the hanging bags 5. Furthermore, it is optionally possible for the expressways 72 to be arranged parallel to one another at a certain distance, with the blocks 76 arranged in between. It is conceivable that expressways 72 arranged parallel to one another have opposite specifications for the direction of movement, i.e., at least one pair of expressways 72 arranged parallel to one another is provided with opposite specifications for the direction of movement.Furthermore, the expressways 72 can be arranged at an angle to one another, preferably intersecting at the angle. For example, they can be arranged orthogonally to one another. In this case, the expressways 72 can be arranged in a grid pattern and preferably with alternating directions of movement. In this way, ring roads surrounding at least one or more of the blocks 76 can be formed, allowing particularly fast, one-way travel. The alternating directions are shown in Figure 15 by arrows 78, and the expressways 72 are shown by dashed lines.

[0176] It can be seen in Figure 15 that, particularly preferably, the storage roads 62 are crossed at least on one side by one of the shunting roads 66, and one of the expressways 72 arranged at an angle to the storage roads 62 runs parallel to the respective shunting road 66. As shown in Figure 15, it is possible for one of the shunting roads 66 to be arranged parallel to each of the expressways 72 on both sides, with one of the blocks 76 adjacent thereto, wherein a plurality of connections and junctions connect one of the shunting roads 66 to the respective expressway 72 and, in turn, to the storage roads 62 of the respective blocks 76.Thus, a grid-like arrangement of at least two, preferably three parallel rails of the network 49 is formed, which has at least partially autonomous or autonomously navigable switches or crossings at a distance of the storage lines 62 from the hanging pockets 5 and limits the trestles 76 orthogonally to the orientation of the storage lines 62 or connects them to the remaining network 49 of the hanging pocket storage 1. The arrangement is divided by the traffic regulations into the shunting lines 66 and the expressways 72, whereby a physical structure can have identical parts at crossings and / or switches and rail sections in order to enable a cost-effective and easily assembled structure.

[0177] In the following, possible uses of this grid-like arrangement of storage aisles 62, shunting lanes 66, and expressways 72 are explained in more detail using Figure 15 as an example of a relocation. One of the stored goods 3 in the hanging bag warehouse 1 is scheduled for relocation, for example, retrieval, preferably initially to the unloading station 55. The hanging bag 5 with the scheduled stored goods 3 is shown in dotted lines in Figure 15, although the stored goods 3 itself contained in the hanging bag 5 is not visible. The scheduled stored goods 3 can be identical at one or more locations in the hanging bag warehouse 1, and a selection can be made based on a criterion before scheduling.

[0178] As can be seen in Figure 15, the hanging pockets 5 shown in dotted lines are removed, which is symbolized by a dashed and bold arrow 74.

[0179] Before this can take place, however, the item 3 shown in dotted lines is first scheduled for retrieval. This can be done using the central control device 25.

[0180] In order to free up a retrieval path 70 along which the hanging pocket 5 of the scheduled storage goods 3 can leave the row 60, the hanging pockets 5 of the other storage goods 3 are relocated to a shunting line 66, 68 of the hanging pocket warehouse 1, shown in solid lines. The shunting line 66 is arranged orthogonally to the storage line 62 and intersects it at a four-way switch or intersection at one end of the storage line 62. As soon as the retrieval path 70 is free, the relocation or retrieval of the scheduled storage goods 3 can take place along it, which is symbolized in Figure 15 by the bold and dashed arrow 74. The scheduled storage goods can then optionally be temporarily stored or, if necessary, travel directly to or be conveyed to the unloading station 55, preferably entering the ring conveyor system 23 and being conveyed to the unloading station by means of this.

[0181] As can be seen in Figure 15, the direction of movement of the hanging pockets 5 of the other storage items 3 in row 60 is reversed in order to clear the retrieval path 70 and then the hanging pockets 5 of the other storage items 3 are moved back into row 60. In this case, hanging pockets 5 of the three storage items 3 are moved out of row 60 and out of storage line 62, preferably in a convoy. After the relocation of the hanging pocket 5 of the scheduled storage item 3, the hanging pockets 5 of the three storage items 3 in row 60 are moved back into storage line 62 in the opposite direction. This process with the reversal of the direction of movement is symbolized in Figure 15 by a dashed and bold arrow 80. The sequence of the hanging pockets 5 of the three storage items 3 and thus of the storage items 3 themselves is maintained.The shunting roads 66 can be used in a constant direction, which allows for smoother traffic flow.

[0182] Figure 16 shows another possibility for clearing the retrieval path 70 and relocating the planned storage goods 3 along it. For this purpose, the other storage goods 3 are moved in a circular motion, symbolized by arrow 80, or alternatively in a pendulum motion, indicated by a double arrow 88. In contrast, the entire block 76 is not circumnavigated, but rather an additional storage line 64 is used, as indicated by the dashed and bold arrow 80 in Figure 16. This can preferably take place in an adjacent storage line 62, as shown in Figure 16, or in any other of the storage lines 62 of the corresponding block 76. When using the additional storage line 64, the shunting lines 66, 68 are used over a particularly short section. This allows a comparatively large number of these processes to run in parallel, further reducing sorting and / or access times.As soon as the scheduled storage goods 3 have arrived at one end of the storage line 62, the retrieval path 70 is free and they can be relocated, in particular retrieved, by crossing the shunting line 66 and via the expressway(s) 72, which is symbolized in Figure 16 by the dashed and bold arrow 74. Preferably, the hanging pockets 5 or the storage goods 3 are rotated by 180 degrees for each retrieval. Preferably with an adjacent one of the storage lines 62. Thus, the storage goods 3 are exchanged between the storage lines 62, preferably between the two adjacent storage lines 62, whereby a sequence of the storage goods 3 is reversed or mirrored in each case, and the retrieval takes place in the process. This simplifies inventory management, since the contents of the respective storage lines 62 are mirrored but remain intact in their entirety except for the scheduled storage goods.The arrangement of the individual storage goods 3 within the storage streets 62 is also irrelevant. The scheduled storage goods 3 can be moved out autonomously and independently of the non-scheduled storage goods 3. It is also irrelevant which of the storage streets 62 also participates in the rotation. What is important is only that the scheduled storage goods 3 is addressed and that the storage street 62 with this scheduled storage goods 3, as well as any other, in particular directly adjacent, storage street 62, participates in at least half, preferably exactly half, of the rotation.

[0183] It is evident that half a rotation is sufficient for each of the storage goods 3 thus moved along the two storage lines 62 to pass exactly once past one of the shunting lines 66, 68, which are arranged on both sides of the front ends of the storage lines 62. At this moment, the planned storage goods 3 leave the circular movement, in particular onto the corresponding one of the shunting lines 66, 68 or by crossing directly onto the adjacent or parallel expressway 72. In this application, circular movement or rotation can also be understood as a movement on a closed track that deviates from a pure circular shape.

[0184] The shunting roads 66 can be used in a constant direction and are comparatively lightly congested due to the roundabout, which allows for more fluid traffic overall.

[0185] Figure 17 shows a schematic view of a storage area 401 of the hanging bag warehouse 1 with two storage lines 62, 64 to illustrate the transmission of two messages 405 and 407 for controlling a retrieval analogous to the retrieval process shown in Figure 16. Figure 17 essentially corresponds to a detail of Figure 16; in particular, retrieval and movement of the hanging bags 5 take place as described in Figure 16. The discussion essentially focuses on the ongoing communication. Regarding the movements of the hanging bags 5, reference is made to the remaining description of the figures, in particular to Figure 16.

[0186] Figure 17 shows the central control unit 25, from which a first message 405 originates. This message is sent to an addressee 403 via a notification network 419. The addressee 403 uses the first message 405 and, based on it, performs a retrieval process along the retrieval path 70 to a destination, for example, one of the ring conveyor systems 23.

[0187] The addressee 403 is therefore a hanging bag 5 stored in the storage area 401, which is selected or scheduled for retrieval, in particular for a storage item 3 held therein. The scheduling and selection process can be carried out based on a request directed to the hanging bag warehouse 1, for example, an order with one or more of the storage items 3, which can be implemented by means of the central control device 25.

[0188] The first message 405 contains a driving instruction for the addressee 403, indicated by the reference number 417. The addressee 403 receives this and initially stores it in a memory location 415.

[0189] The addressee 403 is located in a storage area 401 of the hanging bag warehouse 1, which here, for example, has two storage streets arranged parallel to each other, analogous to the storage street 62 and the further storage street 64 in Eigur 16.

[0190] In Lagerstraße 62, where the addressee 403 is located, further hanging pockets 5 block the removal path 70, which are indicated in Eigur 17 by a curved bracket 437.

[0191] To clear this, the obstructing hanging bags 5 must first leave the storage route 62. To do so, the addressee 403 initiates a second message 407, which is forwarded via a forwarding chain 421 to the obstructing hanging bags 5 up to an end user 423 of the hanging bags 5.

[0192] After this process, the blocking hanging pockets 5 all have the information that the retrieval path 70 must be cleared. The end user 423 terminates the forwarding chain 421, more precisely, a first pass of it, and initiates it in the reverse direction, as indicated in Figure 18. During the first pass of the forwarding chain 421, the number of blocking hanging pockets 5 it runs over is counted, so that the end user 423 has the information about how many of the hanging pockets 5 are blocking the retrieval path 70.

[0193] During the second pass through the forwarding chain 421, this information is communicated to the blocking hanging pockets 5, i.e., how many hanging pockets 5 in total are blocking the retrieval path 70 and how far an evasive action must be taken as a result of this information. The space required by each individual blocking hanging pocket 5 can be summed up during the forwarding chain. As soon as this information is available to all, the blocking hanging pockets 5 begin the evasive action to clear the retrieval path 70, which is indicated by arrow 80 in Figure 18. To do so, they leave Eagerstraße 62 and turn onto Rangierstraße 66, as shown in Figure 19.

[0194] Furthermore, Figure 19 shows that addressee 403 then leaves Eagerstraße 62 and heads towards Expressway 72, according to driving instruction 417.

[0195] As soon as the addressee 403 has left Eagerstraße 62, it again initiates the forwarding chain 421, i.e. a third pass, this time again in the direction of the end user 423. The information is forwarded that Eagerstraße 62 is free again and consequently the blocking hanging pockets 5 can re-enter it, which is indicated in Figure 20.

[0196] To do so, they turn in the opposite direction from the shunting lane 66 back into the storage lane 62 in the direction of arrow 80. The blocking hanging pockets 5 also have the storage space 415, by means of which individual current storage locations 413 in the storage area 401 or on the storage lanes 62, 64 and / or intermediate destinations to be targeted on the shunting lane 66 and, after the removal path 70 has been cleared, again on the storage lane 62 can be stored and can be controlled accordingly autonomously or at least semi-autonomously.

[0197] Information on how far the respective hanging pockets 5 have to move out of the storage line 62 in order to clear the retrieval path 70 and which space on the storage line they take up again when moving back can be generated, for example by summing up, when the forwarding chain is passed through and can be generated and stored decentrally in the respective hanging pockets 5 and from this, corresponding individual travel instructions can be generated.

[0198] Figure 21 shows a flow diagram of a method for controlling and operating the hanging pocket storage system 1 shown in the preceding figures. Reference is also made to the preceding figures.

[0199] In a first step 425, the hanging pockets 5 are stored in the storage area 401 of the hanging pocket warehouse 1.

[0200] From these, the addressee 403 is selected in a second step 427. Thus, the storage area 401 can first be selected from a plurality of storage areas 401 of the hanging bag warehouse 1, in order to then select the addressee 403 for retrieving a storage item 3 held in the addressee 403. It is also conceivable to select the addressee 403 directly, for example, using an identification feature that is valid within the entire hanging bag warehouse 1 and uniquely identifies the addressee 403, in particular a number that can be assigned to the hanging bags 5.

[0201] Then, in a third step 429, the first message 405 is transmitted to the addressee 403, and in a fourth step 431, the second message 407 is transmitted to other hanging pockets 5 located in the storage area 401. In particular, only to all hanging pockets 5 in the storage area 401 that block the retrieval path 70. Preferably, the first message 407 is sent to the addressee 403 by transmission via a first radio link 409 and received by the addressee 403. It is possible for the addressee 403 to store and process the first message 405. Based in particular on this, the second message 407 can be initiated by the addressee 403. To initiate the second message 407, the addressee 403 can send it via a plurality of second radio links 411, which can result in a forwarding chain 421 via the blocking hanging pockets 5.This can be done multiple times iterating in different directions between the addressee 403 and the end user 423.

[0202] In a fifth step 433, depending on the second message 407, the retrieval path 70 leading out of the storage area 401 is cleared for the addressee 403, and in a sixth step 435, depending on the first message 405, the retrieval process of the addressee 403 and the stored goods 3 received therein is started along the cleared retrieval path 70.

[0203] For the creation of the retrieval path 70 and the retrieval of the addressee 403, the hanging pockets 5, in particular their rolling adapter 61, can each have its own computing unit 127 (see Figure 2) as well as a storage location 415 which is only indicated in Figure 2 and Figure 17 in the addressee 403.

[0204] Figure 22 shows a schematic view of a level of a hanging bag storage system 1, for example, level 9 of the previously described hanging bag storage system 1. Level 9 is only partially shown, whereby the dimensions and number of individual elements of level 9 described here can be varied depending on the requirements of the hanging bag storage system 1. Likewise, the number of levels themselves can be varied.

[0205] Unless explicitly mentioned, reference is also made to the following figures. Level 9, which is only partially shown, has the network 49 with a large number of rails, crossings and / or switches. The network 49 has, for example, rectangular meshes formed by the rails and crossings, wherein corresponding four-way switches can be provided at mesh nodes. The wheels 57 of the hanging pockets 5 can roll on the rails of the network 9. Movement of the hanging pockets 1 can occur autonomously or at least semi-autonomously. For this purpose, each of the hanging pockets 5 can have its own drive acting on the wheels 57 and a corresponding control system.The network 49 can, in principle, be traversed in any direction by the suspended pockets 5, with the switches preferably being designed passively, and the suspended pockets 5 interacting with the switches through appropriate steering devices (not shown in detail) to effect desired changes of direction. Movements of the suspended pockets 5 are shown in bold dashed lines in Figure 22.

[0206] Preferably, however, the network 49 is used and traveled by the hanging pockets 5 – regardless of the previously described free travel and usage options – according to predefined or predeterminable rules. For this purpose, directions, speeds, and preferably types of use can be specified for specific sections of the network 5. In the present case, the network 49 can have at least one storage lane 62 for storing the hanging pockets 5. In the storage lanes 62, one or more of the hanging pockets 5 can be stored in a row 60, symbolized, for example, by a curved bracket. For this purpose, they remain at rest, preferably in a power-saving idle state, parked one behind the other in the row 60 of the corresponding storage lanes 62.

[0207] For display, all of the hanging pockets 5 that are to be moved can be woken up and moved again accordingly.

[0208] In this exemplary embodiment, storage lines 62 are arranged parallel to one another throughout level 9 and are shown horizontally and solidly in Figure 22. The rules and arrangement offer the advantage that material flows during storage and retrieval can be standardized and thus faster, simpler, and free of resource conflicts on the network 49.

[0209] The hanging pockets 5 are symbolized by rectangles in Figure 22. The storage aisles 62 of the hanging pocket warehouse 1 have a cross-over length compared to other areas of the hanging pocket warehouse 1, in particular expressways and / or marshalling roads, in particular a length that is at least 1.5 times longer, preferably at least 3 times longer, in particular at least 10 times longer, for example between 3 and 25 times longer, preferably approximately 20 times longer. The cross-over length can be, for example, between 3 and 20 meters longer, preferably approximately 15 meters longer. The cross-over length can be, for example, between 3 and 20 meters longer, preferably approximately 15 meters longer, depending on the use or optimization of the hanging pocket warehouse 1. For example, the length can be shorter for rapid access and short storage times of the stored goods 3 and longer for comparatively low handling frequencies.

[0210] The hanging bag warehouse 1 also has shunting lines 66, preferably at least one shunting line 66. The shunting lines 66 are arranged at an angle to the storage lines 62, preferably orthogonally thereto. In Figure 22, the shunting lines 66 are shown vertically and also in solid lines. Preferably, at least one of the storage lines 62 opens into at least one of the shunting lines 66 at the angle, preferably orthogonally. In contrast to the storage lines 62, stopping for storage purposes is not permitted on the shunting lines 66. A reversal of the direction of movement is optionally possible. In the present case, the storage lines 62, which are combined in blocks 76, open into two of the shunting lines 66 at least on one side, preferably on both sides and at the angle, in particular orthogonally. The blocks 76 each have a plurality of storage lines 62 arranged parallel to one another. In the present case, 5 each.The number can vary, for example, between 2 and 30, preferably between 5 and 20, in particular approximately 15. The number can also be adapted to a task of the hanging bag storage 1.

[0211] It is optionally conceivable that the blocks 76 are surrounded by a ring of shunting roads 66. However, expressways 72 are provided at an upper and / or lower end of the respective blocks 76 and parallel to the storage roads 62, preferably directly adjacent to each other.

[0212] In order to achieve a good and rapid outflow of the stored goods 3 or hanging bags 5, a comparatively high speed may be driven on the expressways 72 and, in particular, continuous travel is provided, i.e., stopping without reason is not intended or should be avoided. Reasons for stopping can therefore preferably be limited to collision avoidance. Particularly preferably, the expressways 72 can generally have a directional movement of the hanging bags 5. Furthermore, it is optionally possible for the expressways 72 to be arranged parallel to one another at a certain distance, with the blocks 76 arranged in between. It is conceivable that expressways 72 arranged parallel to one another have opposite specifications for the direction of movement, i.e., at least one pair of expressways 72 arranged parallel to one another is provided with opposite specifications for the direction of movement.Furthermore, the expressways 72 can be arranged at an angle to one another, preferably intersecting at the angle. For example, they can be arranged orthogonally to one another. In this case, the expressways 72 can be arranged in a grid pattern and preferably with alternating directions of movement. In this way, ring roads surrounding at least one or more of the blocks 76 can be formed, allowing particularly fast, one-way travel. The alternating directions are shown in Figure 22 by arrows 78, and the expressways 72 are shown by dashed lines.

[0213] It can be seen in Figure 22 that, particularly preferably, the storage roads 62 are crossed at least on one side by one of the shunting roads 66, and one of the expressways 72 arranged at an angle to the storage roads 62 runs parallel to the respective shunting road 66. As shown in Figure 22, it is possible for one of the shunting roads 66 to be arranged parallel to each of the expressways 72 on both sides, with one of the blocks 76 adjacent thereto, wherein a plurality of connections and junctions connect one of the shunting roads 66 to the respective expressway 72 and, in turn, to the storage roads 62 of the respective blocks 76.Thus, a grid-like arrangement of at least two, preferably three mutually parallel rails of the network 49 is formed, which has at least partially autonomous or autonomously navigable switches or crossings at a distance of the storage lines 62 from the hanging pockets 5 and limits the trestles 76 orthogonally to the orientation of the storage lines 62 or connects them to the remaining network 49 of the hanging pocket storage 1. The arrangement is divided by the traffic regulations into the shunting lines 66 and the expressways 72, whereby a physical structure can have identical parts of switches and rail sections in order to enable a cost-effective and easily assembled structure.

[0214] In the following, possible uses of this grid-like arrangement of storage aisles 62, shunting lanes 66, and expressways 72 are explained in more detail using Figure 22 as an example of a relocation. One of the stored goods 3 in the hanging bag warehouse 1 is scheduled for relocation, for example, retrieval, preferably initially to the unloading station 55. The hanging bag 5 with the scheduled stored goods 3 is shown in dotted lines in Figure 22, although the stored goods 3 itself contained in the hanging bag 5 is not visible. The scheduled stored goods 3 can be identical at one or more locations in the hanging bag warehouse 1, and a selection can be made before scheduling.

[0215] As can be seen in Figure 22, the hanging pockets 5 shown in dotted lines are removed, which is symbolized by a dashed and bold arrow 74.

[0216] Before this can take place, however, the item 3 shown in dotted lines is first scheduled for retrieval. This can be done using the control device 25.

[0217] In order to free up a retrieval path 70 along which the scheduled storage goods 3 can leave row 60, further storage goods 3 are relocated to a shunting line 66, 68 of the hanging bag warehouse 1, shown in solid lines. The shunting line 66 is arranged orthogonally to the storage line 62 and intersects it at a four-way switch at one end of the storage line 62. As soon as the retrieval path 70 is free, the relocation or retrieval of the scheduled storage goods 3 can take place along it, which is symbolized in Figure 22 by the bold and dashed arrow 74. The scheduled storage goods can then optionally be temporarily stored or, if necessary, travel directly to or be conveyed to the unloading station 55, preferably enter the ring conveyor system 23 and be conveyed by this to the unloading station.

[0218] As can be seen in Figure 22, the direction of movement of the remaining items 3 in row 60 is reversed in order to clear the retrieval path 70, and then the remaining items 3 are moved back into row 60. In this case, three items 3 are moved from row 60 out of storage line 62, preferably in a convoy. After the scheduled item 3 has been moved, the three items 3 in row 60 are moved back into storage line 62 in the opposite direction. This process, with the reversal of the direction of movement, is symbolized in Figure 22 by a dashed and bold arrow 80. The sequence of the three items 3 is maintained. The shunting lines 66 can be used in the same direction, thereby achieving smoother traffic flow.Figure 23 shows another possibility for clearing the retrieval path 70 and relocating the planned storage goods 3 along it. For this purpose, the other storage goods 3 are moved in a circular motion, symbolized by arrow 80, or alternatively in a pendulum motion, indicated by a double arrow 88. In contrast, the entire block 76 is not circumnavigated, but rather an additional storage line 64 is used, as indicated by the dashed and bold arrow 80 in Figure 23. This can preferably take place in an adjacent storage line 62, as shown in Figure 23, or in any other of the storage lines 62 of the corresponding block 76. When using the additional storage line 64, the shunting lines 66, 68 are used over a particularly short section. This allows a comparatively large number of these processes to run in parallel, further reducing sorting and / or access times.As soon as the planned storage goods 3 have arrived at one end of the storage road 62, the retrieval path 70 is free and it can be relocated, in particular retrieved, by crossing the shunting road 66 and via the expressway(s) 72, which is symbolized in Figure 23 by the dashed and bold arrow 74.

[0219] Preferably, the hanging pockets 5 or the stored goods 3 are rotated by 180 degrees per retrieval. Preferably with an adjacent one of the storage lines 62. Thus, the stored goods 3 are exchanged between the storage lines 62, preferably between the two adjacent ones of the storage lines 62, whereby a sequence of the stored goods 3 is reversed or mirrored in each case, and the retrieval takes place in the process. This simplifies inventory management, since the contents of the respective storage lines 62 are mirrored, but remain unchanged in their entirety or sequence, except for the planned stored goods.

[0220] The arrangement of the individual items of storage goods 3 within the storage lines 62 is also irrelevant. The scheduled item of storage goods 3 can be moved out autonomously and independently of the non-scheduled items of storage goods 3. It is also irrelevant which of the storage lines 62 also participates in the rotation. The only important thing is that the scheduled item of storage goods 3 is addressed and that the storage line 62 with this scheduled item of storage goods 3 and any other, in particular directly adjacent, storage lines 62 participate in at least half, preferably exactly half, of the rotation. These two storage lines 62 can be organizationally combined into one storage area. It is clear that half a rotation is sufficient for each of the items of storage goods 3 moved in this way on the two storage lines 62 to pass one of the shunting lines 66, 68, which are arranged on both sides of the front ends of the storage lines 62, exactly once.At this moment, the planned storage goods 3 leave the circular movement, in particular onto the corresponding shunting road 66, 68 or by crossing directly onto the adjacent or parallel expressway 72. In this application, circular movement or rotation can also be understood as a movement on a closed track that deviates from a pure circular shape.

[0221] The shunting roads 66 can be used in a constant direction and are comparatively lightly congested due to the roundabout, which allows for more fluid traffic overall.

[0222] Figure 24 shows a schematic view of a storage area 301 of the hanging bag warehouse 1 with two storage lines 62 to illustrate a transmission of two messages 305 and 307.

[0223] Figure 24 essentially corresponds to a detail of Figure 23; in particular, the retrieval and movement of the hanging pockets 5 take place as described in Figure 23. It essentially addresses the ongoing communication. Regarding the movements of the hanging pockets 5, reference is made to the remaining figure description, in particular to Figure 23.

[0224] Figure 24 shows the central control unit 25, from which a first message 305 and a second message 307 originate. These are sent via a notification network 319 to the hanging pockets 5 of the storage area 301. Preferably, the messages 305 and 307 are combined into a single message 309 and sent simultaneously via the notification network 319 to the hanging pockets 5. However, it is also conceivable to send / transmit these individually, at a time delay, and / or in any other manner.

[0225] The first message 305 is addressed to an addressee 303. The addressee 303 uses the first message 305 and, based on this, carries out a retrieval process along the retrieval path 70 to a destination, for example, one of the ring conveyor systems 23. The addressee 303 is therefore a hanging bag 5 stored in the storage area 301, which has been selected or scheduled for retrieval, in particular of a stored item 3 held therein. The scheduling and selection process can be carried out based on a request directed to the hanging bag warehouse 1, for example, an order with one or more of the stored items 3, which can be implemented by the central control device 25.

[0226] The first message 305 contains a driving instruction 317 for the addressee 303, shown in Figure 25. The second message 307 contains an eager location 313 within the eager area 301, shown in Figure 25.

[0227] The eager location 313 sent with the second message 307 is that of the addressee 303, whereby the addressee can thereby infer that he is the addressee 303 and must follow the travel instruction 317 of the first message 305. For this purpose, each hanging pocket 5 of the storage area 301 can save its own actual storage location in a storage location and, upon receiving the second message 307, compare it with the sent storage location 313. All other hanging pockets 5 of the storage area 301 can infer from this that they are not addressed and must therefore clear the retrieval path 70, in particular through rules programmed in each of the hanging pockets 5, which, for example, enable the rules shown in Figures 22 and 23, or control them decentrally in each of the participating hanging pockets 5.

[0228] Furthermore, in addition to the transmitted storage location 313, the second message 307 contains a group identification feature 311, shown in Figure 25, which is assigned to all hanging pockets 5 of the storage area 301 and can be stored therein. The hanging pockets 5 located in a specific storage area of ​​the hanging pocket warehouse 1 are thus grouped via the group identification feature 311. This grouping can be stored in the respective hanging pocket 5, in particular when it is stored, in order to uniquely identify it together with a stored storage location 313. The storage location 313 can preferably refer to only one location within the storage area 301, which offers advantages in the calculation and control of the processes within the respective storage area 301. In this way, each hanging pocket 5 within the hanging pocket warehouse 1 can be differentiated and also addressed.Figure 25 shows a flow diagram of a method for controlling and operating the hanging pocket storage system 1 shown in the preceding figures. Reference is also made to the preceding figures.

[0229] In a first step 321, the hanging pockets 5 are stored in the storage area 301 of the hanging pocket warehouse 1.

[0230] From these, the addressee 303 is selected in a second step 323. Thus, first, the storage area 301 is selected from a plurality of storage areas 301 of the hanging bag warehouse 1, and then the addressee 303 is selected for displaying a storage item 3 received in the addressee 303.

[0231] Then, in a third step 325, the first message 305 is transmitted to the addressee 303 and, in a fourth step 327, the second message 307 is transmitted to the remaining hanging pockets 5 located in the storage area.

[0232] As indicated by a dashed rectangle in Figure 25, steps 325 and 327 can be combined into one process by transmitting messages 305 and 307 in the overall message 309. The overall message 309 is also indicated by dashed lines in Figure 25.

[0233] In a fifth step 329, depending on the second message 307, the retrieval path 70 leading out of the storage area 301 is cleared for the addressee 303, and in a sixth step 331, depending on the first message 305, the retrieval process of the addressee 303 and the stored goods 3 received therein is started along the cleared retrieval path 70.

[0234] For clearing the retrieval path 70 and retrieving the addressee 303, the hanging pockets 5 can have their own computing unit 127, shown in Figure 2, as well as a storage location 315, indicated in Figure 25. The storage location 315 can be identical to the storage location 415 (Figure 2) or it can be provided additionally. Control can thus be carried out autonomously and decentrally via the hanging pockets 5, preferably after a one-time initiation by means of messages 305 and 307 by the central control device 25, and completed. In the storage location 315, an individually stored storage location 313, the group identification feature 311, preferably assigned during storage, and, if applicable, a transmitted travel instruction 317 can be stored in each of the hanging pockets 5 of the hanging pocket warehouse 1.The respectively stored storage location 313 can be dynamically overwritten during the process, preferably with each successful retrieval of an addressee 303, and correspond to the storage location 313 to be newly occupied and / or occupied after the retrieval path 70 has been cleared. However, it is also conceivable to historically record a plurality of occupied storage locations 313 in each of the hanging pockets 5, for example, in order to improve fault tolerance, traceability, diagnosis, and / or maintenance of the hanging pocket storage 1. The storage locations 313 can also be dynamically changed or stored in the central control device 25, in particular synchronously in the sense of a system observer without further feedback from the hanging pockets 5 themselves. This way, data and radio traffic for feedback can be saved.

[0235] Preferably, the overall message 309 can be sent by the central control device 25 and delivered via the notification network 319 to the hanging bags 5, preferably to all hanging bags 5 of the storage area 301, wherein the overall message 309 is received and processed by these, preferably received virtually simultaneously.

[0236] In a preferred embodiment, all information from messages 305 and 307 is made available to all hanging pockets 5 of the entire storage area 301, in particular, sent centrally in the form of the overall message 309. Control of the processes initiated thereby is then carried out decentrally by the hanging pockets 5 of the storage area 301. For this purpose, queries and processing steps can be performed in each hanging pocket 5 after receipt, i.e., in particular, decisions can be made.

[0237] For this purpose, the messages 305, 307, which are combined into the overall message 309, can only be received by the respective hanging pocket 5 if the transmitted group identification feature 311 of the messages 305, 307 matches the group identification feature 311 of the respective hanging pocket 5 stored in the respective storage location 315. Once the reception and / or storage has taken place, further decentralized processing can take place by means of a query / decision. The retrieval process is preferably carried out by the addressee 303 only if the received individual storage location 313 matches the actual storage location 313 of the addressee 303 previously stored in the storage location 315. This allows the addressee 303 to be addressed unambiguously, even though all hanging pockets 5 receive the same overall message.

[0238] The relocation process can also be initiated by means of a query. For this purpose, the retrieval path 70 can only be cleared for the addressee 303 using the remaining hanging pockets 5 of the storage area 301 if the received group identification feature 311 of the second message 307 matches the group identification feature 311 stored in the respective storage location 315 and the received individual storage location 313 does not match the actual storage location 313 stored in the storage location of the respective hanging pocket 5.

[0239] After the addressee 303 has been removed from storage and the removal path 70 has been cleared, a plurality of or all of the hanging pockets 5 of the storage area 301 may have a new actual storage location 313, for example, after the 180-degree rotation described in Figure 23. However, it is also conceivable that the hanging pockets 5 return to their previous actual storage location 313 after these processes. Thus, a respective new target storage location 313 corresponds to the original actual storage location 313. This could be the case with a 360-degree rotation on the storage lines 62 or with a reversal of direction as described in Figure 22.

[0240] A new target storage location 313 can preferably be calculated according to corresponding rules in each of the participating hanging pockets 5, which then place it autonomously or at least semi-autonomously in the new actual storage location. In other words, the hanging pockets 5 move to the self-calculated target storage location and then assign it as the new actual storage location. The process can then be repeated for further retrieval.

[0241] Since, preferably to save data traffic, no or only cursory feedback is provided to the central control device 25, the latter can also calculate new storage locations 313 for all participating hanging bag racks 5 based on the rule, similar to a system observer. Thus, the central control device 25 has a detailed picture of the processes within the hanging bag warehouse 1 even without direct feedback, which can be used in particular for centralized control of the processes.

[0242] In an optional embodiment, after receiving and processing the messages 305 and 307 in the hanging pockets 5 and / or in parallel also in the control unit 25, the new target storage location 313 within the storage area 301 is first calculated.

[0243] The local calculation and control can be carried out according to the specified rule using the respective hanging pocket 5 itself, i.e., in parallel in all hanging pockets 5 of the storage area 301. This can reduce the load on the central control device 25.

[0244] The hanging pockets 5 can then be relocated to the respective new target storage location 313 within the storage area 301, except for the addressee 303, who can directly follow the transmitted transport instruction 317. Preferably, the respective new target storage location 313 is saved as the new actual storage location in the storage location 315 of the respective hanging pocket 5, and is then available for a repetition of the process or the next retrieval operation. The saved storage location 313, in particular the newly calculated and saved target storage location 313, therefore always corresponds to the actual storage location 313 actually occupied within the storage area 301, with the exception of the time during a change of location to complete the retrieval path 70.

[0245] The embodiments show possible embodiments, whereby it should be noted at this point that the invention is not limited to the specifically illustrated embodiments of the same, but rather various combinations of the individual embodiments with each other are also possible and this possibility of variation lies in the ability of the individual active in this technical field due to the teaching of technical action through objective invention.

[0246] The scope of protection is determined by the claims. However, the description and the drawings must be used to interpret the claims. Individual features or combinations of features from the various embodiments shown and described can represent independent inventive solutions in themselves. The problem underlying the independent inventive solutions can be derived from the description. All information on value ranges in this description is to be understood as including any and all sub-ranges thereof. For example, the reference 1 to 10 is to be understood as including all sub-ranges starting from the lower limit of 1 and the upper limit of 10. This means that all sub-ranges begin with a lower limit of 1 or greater and end with an upper limit of 10 or less, for example 1 to 1.7, or 3.2 to 8.1, or 5.5 to 10.

[0247] For the sake of clarity, it should finally be pointed out that, in order to better understand the structure, some elements have been shown out of scale and / or enlarged and / or reduced in size.

[0248] List of reference symbols

[0249] Hanging goods storage / hanging bag storage 80 arrow 88 double arrow

[0250] Storage goods 101 starting point

[0251] Goods carrier / hanging bag 103 Destination point first transfer buffer 105 Travel path first level 107 Omnidirectional approach

[0252] Transfer arrangement sensor device second transfer buffer 109 directional approach second level sensor device

[0253] Order 111 Speed

[0254] Ring conveyor system 113 omnidirectional distance size

[0255] Control device 115 directional distance value

[0256] Line 117 route

[0257] Net 119 Object

[0258] Double arrow 121 Light beam

[0259] Transfer point 123 section

[0260] Unloading station 125 intersection

[0261] Wheels 127 Calculation unit

[0262] Drive energy 129 column

[0263] Series 131 subunits

[0264] Roll adapter 133 circle

[0265] Lagerstraße 135 expressways further Lagerstraße 137 direction

[0266] Rangierstraße 139 first step further Rangierstraße 141 second step

[0267] Swap path 143 first query

[0268] Expressway 145 second query

[0269] Arrow 147 third step

[0270] block

[0271] Arrow 301 Storage area Addressee 435 6th step first message (driving instruction) 437 Bracket second message (group ID and 601 referee control

[0272] Storage location) 603 Section

[0273] Total message 605 Storage area lock

[0274] Group identification feature 607 Shunting roadblock

[0275] Storage location 609 1st step

[0276] Memory location 611 2nd step

[0277] Driving instruction 613 1. Query

[0278] Notification Network 615 3rd Step

[0279] 1. Step 617 4. Step

[0280] 2nd step 619 5th step

[0281] 3. Step 621 2. Query

[0282] 4 Step 623 6th Step

[0283] 5th step 625 7th step

[0284] Step 6

[0285] storage area

[0286] Recipient first message second message first radio link second radio link

[0287] Storage location

[0288] Storage space

[0289] Driving instructions

[0290] Notification network

[0291] forwarding chain

[0292] End participants

[0293] Step 1

[0294] Step 2

[0295] Step 3

[0296] 4 Step

[0297] Step 5

Claims

Patent claims 1. Method for controlling a hanging goods warehouse (1), in particular a hanging bag warehouse (1), with goods carriers (5), in particular hanging bags (5), which move autonomously or at least semi-autonomously on a network (49) by means of a respective longitudinal and transverse dynamic control system, for the hanging storage and transport of stored goods (3), with: - storing the goods carriers (5) in a storage area (401) of the hanging goods warehouse (1), - selecting an addressee (403) from the goods carriers (5) located in the storage area (401) for moving the addressee (403) to retrieve a storage item (3) received in the addressee (403), - blocking at least one section (603, 605, 607) of the network (49), - using the at least one blocked section (603, 605, 607) to move the addressee (403) for a retrieval process of the stored goods (3) received in the addressee (403), - Moving the addressee using the longitudinal and / or transverse dynamic control system that moves with the addressee.

2. Method according to claim 1, characterized by: blocking the at least one route section (603, 605, 607) depending on the selection of the addressee (403) and / or a state of the addressee (403) and / or an environment of the addressee (403) and / or a location of the addressee (403) within the hanging goods warehouse (1).

3. Method according to claim 1 or 2, characterized by: Using the at least one blocked route section (603, 605, 607) for external movements of further goods carriers (5) to free up a retrieval path (70) for the addressee (403).

4. Method according to one of claims 1 to 3, characterized by: - decentralized control of the blocking of at least one section (603, 605, 607) within the hanging goods warehouse (1).

5. Method according to one of claims 1 to 4, characterized by: - initiating a storage area lock (605) for a storage area (401) in which the addressee (403) is located to lock the at least one route section (603, 605, 607), - wherein preferably for a period of the storage area lock (605) a further retrieval process in the same storage area (401) as well as a further initiation of an identical storage area lock (605) for a further addressee is prevented.

6. Method according to claim 5, characterized by: - initiating the storage area lock (605) by means of the addressed addressee (403), and - Establish the storage area lock (605) if the storage area (401) is currently released or wait and re-initiate after a period of time if the storage area (401) is currently locked.

7. Method according to one of claims 1 to 6, characterized by: - Calculating the space required on a shunting lane (66) of the network (49) of the hanging goods warehouse (1) for the retrieval process, - initiating a shunting road block (607) of at least one section (603) of the shunting road (66) for use by goods carriers (5) of the storage area (401) to be moved due to the retrieval process of the addressee (403), wherein use for a further retrieval process in the same section (603) and initiation of an identical shunting road block is prevented preferably for a duration of the shunting road block (607).

8. Method according to one of claims 5 to 7, characterized by: - Removing the storage area lock (605) if the shunting road lock (607) has not been achieved after a predetermined or predeterminable number of attempts.

9. Method according to one of claims 5 to 8, characterized by: - Re-initiating a block of the storage road (62) and / or the storage area block (605) if this cannot be achieved, - randomly varying or increasing the time duration between attempts to achieve the storage road closure (62) and / or between attempts to achieve the storage area closure (605).

10. Method according to one of claims 1 to 9, characterized in that the at least one blocked section (603, 605, 607) comprises at least a section of a storage line (62) of the storage area (401) and / or at least a section of a shunting line (66) adjacent to the storage area (401), which preferably runs orthogonally to the storage line (62), and / or that goods carriers (5) located on the storage line (62) which block a retrieval path (70) of the addressee (403) are moved from the storage line (62) in the direction of the shunting line (66), wherein the goods carriers (5) turn onto the shunting line (66) and the following addressee (403) crosses the shunting line (66) and is moved further in the direction of an expressway (72) which runs parallel to the shunting line (62), wherein the goods carriers (5) preferably return in the opposite direction to the storage road (62) are moved,after the addressee (403) has crossed the Rangierstraße (66).

11. Method for controlling a hanging goods warehouse (1), in particular a hanging bag warehouse (1), preferably with goods carriers (5), in particular hanging bags (5), which move autonomously or at least semi-autonomously on a net (49) by means of a respective longitudinal and transverse dynamic control, for the hanging storage and / or sorting of stored goods (3), preferably according to one of claims 1 to 10, characterized by: - providing a goods carrier (5), in particular a hanging bag (5), into which at least one of the stored goods (3) can be accommodated, - specifying a travel path (105) along the network (49) for the goods carrier (5), - autonomous and self-propelled movement of the goods carrier (5) on the travel path (105) through the hanging goods warehouse (1), - Providing an omnidirectional proximity sensor device (107) traveling with the goods carrier (5) and / or, - providing a directional proximity sensor device (109) traveling with the goods carrier (5), - Controlling a speed (111) of the hanging pocket (5) on the travel path (105) as a function of at least one of the two proximity sensor devices (107,109).

12. The method according to claim 11, comprising: - Determining an omnidirectional distance value (113) between the goods carrier (5) and at least one further goods carrier (5) of the hanging goods warehouse (1) by means of the omnidirectional proximity sensor device (107), - Controlling the speed (111) depending on the omnidirectional distance size (113).

13. The method according to claim 12, comprising: - Determining the omnidirectional distance value (113) as a function of a path (117) and / or radio path that can be established between the goods carrier (5) and the at least one further goods carrier (5), in particular a signal strength of a radio signal of the radio path, and / or a signal strength of a radio signal emitted by the further goods carrier (5) and / or a signal strength occurring in the path (117) or radio path.

14. Method according to one of claims 11 to 13, comprising: - determining a direction-dependent distance value (115) between the goods carrier (5) and any object (119) of the hanging goods storage (1) by means of the direction-dependent proximity sensor device (109), - Controlling the speed (111) of the goods carrier (5) as a function of the directional distance value (115).

15. The method according to claim 14, comprising: - Determining the directional distance value (115) by, - Emitting and receiving a reflection of a light beam (121).

16. A method according to any one of claims 14 or 15, comprising: - Determining the direction-dependent distance value (115) in a direction of travel (137) of the goods carrier (5) on the travel path (105) or - Determining the direction-dependent distance value (115) in the direction of travel (137) and against the direction of travel (137) of the goods carrier (5) on the travel path (105).

17. A method according to any one of claims 11 to 16, comprising: - controlling the speed (111) of the goods carrier (5) on straight and / or intersection-free sections (123) depending on the directional proximity sensor device (109), and / or - controlling the speed (111) of the goods carrier (5) in and / or before intersections (125) as a function of the directional proximity sensor device (109) and / or the omnidirectional proximity sensor device (107), and / or - Controlling the speed (111) of the goods carrier (5) as a function of the directional proximity sensor device (109) for electronically coupling the goods carrier (5) with at least one further goods carrier (5) for a convoy journey.

18. Method according to one of claims 11 to 17, comprising: - moving a first goods carrier (5) on a first travel path (105) of the network (49) and moving a second goods carrier (5) on a second travel path of the network (49), wherein the first and second travel paths (105) intersect at an intersection (125), - Making a priority decision into the intersection (125) in favor of the first or second goods carrier (5) based on a specified or ascertainable parameter.

19. Method according to claim 18, characterized in that all goods carriers (5) of the hanging goods warehouse (1) are assigned, preferably randomly, a unique priority code as a parameter, preferably in the form of an ordinally scalable variable, and that the priority decision is made in favor of the goods carrier (5) which has the priority code with the higher priority.

20. Method according to claim 18, characterized in that the parameters used are distances of the first goods carrier (5) and the second goods carrier (5) from the intersection (125). are averaged, preferably in each case by the directional proximity sensor device (109), and / or speeds of the first goods carrier (5) and the second goods carrier (5) are determined and that the right-of-way decision is made in favor of the goods carrier (5) which has the smaller distance and / or the higher speed.

21. Method according to one of claims 11 to 20, characterized by - simultaneous execution of the method steps for a plurality of goods carriers (5) located in the hanging bag warehouse (1).

22. Method according to one of claims 11 to 21, characterized in that the travel path (105) leads along at least a section of a storage road (62, 64) of a storage area (401) of the network (49) and / or along at least a section of a shunting road (66) of the network (49) into which the storage road (62, 64) opens, and / or leads along an expressway (72) of the network (49) arranged parallel to the shunting road (66).

23. Method for controlling a hanging goods warehouse (1), in particular a hanging bag warehouse (1), preferably with goods carriers (5), in particular hanging bags (5), which move autonomously or at least semi-autonomously on a net (49) by means of a respective longitudinal and transverse dynamic control, for the hanging storage and / or sorting of stored goods (3), preferably according to one of claims 1 to 22, characterized by: - storing a plurality of the goods carriers (5) in a storage area (401) of the hanging goods warehouse (1), - selecting an addressee (303, 403) from the goods carriers (5) located in the storage area (301, 401) for displaying a storage item (3) held in the goods carrier (5) of the addressee (303, 403), - transmitting a first message (305, 405) to the addressee (303, 403), - transmitting a second message (307, 407) to the other goods carriers (5) located in the storage area (301, 401), - clearing a removal path (70) leading out of the storage area (301, 401) for the addressee (303, 403) in response to the second message (307, 407), - Starting a removal process of the addressee (303, 403) and the stored goods (3) contained therein along the cleared removal path (70) depending on the first message (305, 405).

24. Method according to claim 23, characterized by: - sending the first message (405) via a first radio link (409), - Receiving the first message (405) by means of the addressee (403), - initiating the second message (407) by means of the addressee (403) in dependence on the receipt of the first message (405).

25. Method according to claim 24, characterized by: - Check whether there are one or more goods carriers (5) in the removal path (70), - initiating the second message (407) only if one or more goods carriers (5) are located in the removal path (70), - following a travel instruction (417) by means of the addressee (403) if the retrieval path (70) is already free immediately after receiving and processing the first message (405), or, if the retrieval path (70) is not free immediately after receiving and processing the first message (405), following the travel instruction (417) only after the retrieval path (70) has been cleared.

26. Method according to claim 25, characterized by: - transmitting the driving instruction (417) to the addressee (403) by means of the first message (405) and / or transmitting an instruction to clear a retrieval path (70) by means of the second message (407).

27. Method according to one of claims 23 to 26, characterized by: - generating the second message (407) by means of the addressee (403), - transmitting the second message (407) via at least one forwarding chain (421) to the goods carriers (5) blocking the removal path (70), - establishing the forwarding chain (421) via second radio links (411) running between the goods carriers (5) blocking the removal path (70), - storing and processing the second message (407) in each goods carrier (5) and forwarding the processed second message (407) to the adjacent goods carrier (5) to establish the forwarding chain (421).

28. Method according to claim 27, characterized by: - Multiple establishment of the forwarding chain (421) in the reverse direction between the addressee (403) and a goods carrier (5) acting as an end user (423), wherein the end user (423) is preferably arranged at one end of a storage line (62) of the storage area (401) of the hanging goods warehouse (1).

29. Method according to claim 27 or 28, characterized in that the second message (407) respectively processed and forwarded by the goods carriers (5) blocking the removal path (70) contains additional information compared to the second message (407) sent by the addressee (403) and that the end user (423) uses the last second message (407) received to clear the removal path (70).

30. Method according to claim 29, characterized in that the processed second messages (497) each contain a sum of a length of the respective goods carrier (5) and a length of the goods carriers (5) in front of it, and in that the end user (423) determines a distance or position required for the retrieval process of the addressee (403) on the basis of the last second message (407) received.

31. Method according to one of claims 27 to 29, characterized by: - Generating a multitude of follow-up instructions for the goods carriers blocking the retrieval path (5), - Following the subsequent travel instructions by the blocking goods carriers (5) to clear the retrieval path.

32. Method according to one of claims 27 to 31, characterized by: - Assigning an individual storage location (413) in the storage area (401) for each goods carrier (5), - providing a storage space (415) in the goods carriers (5), - Saving the individual storage location (413) in the storage location (415) of the respective goods carrier (5), - Storing the goods carriers (5) at the respective stored individual storage location (413), - Changing the individual storage locations (413) when passing through the forwarding chains (421), - Relocating the goods carriers (5) blocking the retrieval path (70) depending on the changed individual storage locations (413) in order to free the retrieval path (70).

33. Method according to one of claims 23 to 32, characterized by: - combining the first message (305) and the second message (405) into a single message (309), - Transmitting the overall message (309) to the goods carriers (5) of the storage area (301).

34. Method according to claim 33, characterized in that the overall message (309) contains a driving instruction for carrying out a circular movement between adjacent storage lines (62, 64) of the storage area (401), preferably a 180 degree circular movement.

35. Method according to claim 33 or 34, characterized by: - Providing a group identification feature (311), - Assigning the group identification feature (311) to the goods carriers (5) of the storage area (301), - Receiving and storing the overall message (309) in the respective goods carrier (5) depending on the group identification feature (311).

36. Method according to one of claims 23 to 35, characterized by: - Assigning an individual storage location (313) in the storage area (301) for each goods carrier (5), - providing a storage space (315) in the goods carriers (5), - Saving the individual storage location (313) in the storage location (315) of the respective goods carrier (5), - Storing the respective goods carriers (5) at the respective stored individual storage location (313).

37. Method according to claim 36, characterized by: - Storing the group identification feature (311) in the storage location (315) of the respective goods carriers (5).

38. Method according to claim 37, characterized by: - transmitting a driving instruction (317) to the addressee (303) by means of the first message (305), - transmitting the group identification feature (311) and the storage location (313) by means of the second message (307), - receiving and / or storing the messages (305, 307) combined to form the overall message (309) from the respective goods carrier (5) if the sent group identification feature (311) of the messages (305, 307) matches the stored group identification feature (311) of the respective goods carrier (5), - carrying out the retrieval process by means of the addressee (303) if the received individual storage location (313) corresponds to the stored storage location (313) of the addressee (303), - clearing the removal path (70) for the addressee (303) by means of the remaining goods carriers (5) of the storage area (301) if the received group identification feature (311) of the second message (307) matches the respectively stored group identification feature (311) and the received individual storage location (313) does not match the stored storage location (313).

39. Method according to one of claims 23 to 38, characterized by: - Central sending of the entire message (309), - simultaneous reception of the overall message (309) by means of the goods carriers (5) of the storage area (301).

40. Method according to one of claims 23 to 39, characterized by: - calculating a new storage location (313) within the storage area (301) after receiving the overall message (309) according to a predetermined rule by means of the respective goods carriers (5) themselves and in parallel for each remaining goods carrier (5) in a central control device (25), - Moving the remaining goods carriers (5) to the new storage location (313) within the storage area (301), - Saving the new storage location (313) in the storage location (315) of the respective remaining goods carriers (5).

41. Goods carrier (5), in particular hanging bag (5), for hanging storage and / or sorting of stored goods (3) in a hanging goods warehouse (1), in particular hanging bag warehouse (1), wherein at least one of the stored goods (3) can be received on the goods carrier (5), characterized by: - A rolling adapter (61) for autonomous and self-propelled movement of the goods carrier (5) along the travel path (105), wherein the goods carrier (5), in particular the rolling adapter (51) of the goods carrier (5) - A computing unit (127) for storing, processing and / or controlling a travel path (105) of the goods carrier (5), - an omnidirectional proximity sensor device (107) traveling with the goods carrier (5), in particular the rolling adapter (61), and - a direction-dependent proximity sensor device (109) traveling with the goods carrier (5), in particular with the rolling adapter (61), wherein the computing unit (127) is designed to control a speed (111) of the goods carrier (5) on the travel path (105) as a function of the two proximity sensor devices (107, 109).

42. Goods carrier (5) according to claim 41, characterized in that the computing unit (127) is designed to receive a starting point (101) and / or destination point (103) of the travel path (105), to process it and, preferably in a storage unit (415), to store it, to autonomously determine a travel path (105) lying between the starting point (101) and destination point (103) and to control the goods carrier (5) collision-free along the travel path (105).

43. Goods carrier (5) according to claim 41 or 42, characterized in that the computing unit (127) is designed to receive a predetermined travel path (105) from a central control device (25) of the hanging goods warehouse (1) and to control the goods carrier (5) collision-free along the predetermined travel path (105).

44. Goods carrier (5) according to one of claims 41 to 43, characterized in that the goods carrier (5) comprises a receiving unit for receiving the stored goods (3), which is detachably connected to the roller adapter (61) by means of a hanger, in particular suspended, wherein the receiving unit preferably comprises a flexible bag material or a substantially rigid transport container or a liquid container.

45. Suspended goods warehouse (1), in particular a suspended bag warehouse (1), with a network (49), in particular a rail network, on which goods carriers (5), in particular suspended bags (5), having longitudinal dynamics and transverse dynamics control, can be moved autonomously or at least semi-autonomously for storing and transporting stored goods (3), with: - at least one storage area (401) of the network (49) for storing the goods carriers (5), - a controller (25, 601) which is designed to select an addressee (403) from the goods carriers (5) located in the storage area (401) for retrieving a storage item (3) held in the goods carrier (5) of the addressee (403), and is further designed to block at least one section (603, 605, 607) of the network (49) depending on the selection of the addressee (403), so that the at least one blocked section (603, 605, 607) is available for a duration of a display the storage process of the goods (3) held in the goods carrier (5) of the addressee (403) is exclusively usable, -wherein the bearing area (401) of the net (49) is drag chain-free and carrier-free.

46. ​​Hanging goods warehouse according to claim 45, characterized in that the control (25, 601) has a central control device (25) for selecting the addressee (403) and a plurality of referee controls (601) arranged decentrally within the hanging goods warehouse (1) for blocking the at least one section of the route (603, 605, 607).

47. Hanging goods storage (1), in particular hanging bag storage, for storing and sorting goods (3) that can be accommodated in goods carriers (5), in particular hanging bags (5), preferably according to one of claims 45 to 46, characterized by: - at least one storage area (401) for storing the hanging pockets (5), - a central control device (25) which is designed to select an addressee (303, 403) from the goods carriers (5) located in the storage area (301, 401) for retrieving a storage item (3) received in the addressee (303, 403), - a notification network (319, 419) which is designed to transmit a first message (305, 405) to the addressee (303, 403) and a second message (307, 407) to a plurality of the goods carriers (5) (5), in particular the remaining ones, located in the storage area (301, 401), wherein the central control device (25) is further designed to clear a retrieval path (70) leading out of the storage area (301, 401) for the addressee (303, 403) as a function of the second message (307, 407) and to start a retrieval process of the addressee (303, 403) and the stored goods (3) received therein along the cleared retrieval path (70) as a function of the first message (305, 405).

48. Suspended goods warehouse (1) according to one of claims 45 to 47, characterized in that the storage area (401) comprises a number of parallel storage lines (62, 64), that the network (49) comprises at least one shunting line (66), preferably arranged orthogonally to the number of parallel storage lines (62, 64), into which the number of parallel storage lines (62, 64) open, and that the network (49) comprises at least one Expressway (72) arranged on a side of the shunting road (66) adjacent to the storage area (401) and running parallel thereto.

49. Suspended goods warehouse (1) according to claim 48, characterized in that a shunting lane (66) and a fast lane (72) are provided on both sides of the storage lanes (62, 64) of the storage area (401).

50. Suspended goods warehouse (1) according to claim 49, characterized in that two shunting lanes (66) and an intermediate express lane (72) are provided between each two storage areas (401) arranged adjacent to each other in the longitudinal direction of the storage lanes (62, 64).

51. Suspended goods warehouse (1) according to claim 50, characterized in that three adjacent, preferably directly adjacent, crossing modules are provided, wherein the middle crossing module forms at least part of the expressway (72) and the outer crossing modules each form at least part of the respective shunting road (66).

52. Hanging warehouse (1) according to claim 51, characterized in that each of the crossing modules has four entrances, each entrance being connected to the other three entrances, the crossing modules preferably being rotationally symmetrical.

53. Hanging goods storage (1), in particular hanging bag storage, for storing and sorting goods (3) which can be accommodated in goods carriers (5), in particular hanging bags, preferably according to one of claims 45 to 52, characterized by: - A plurality of levels (9, 13), each of the levels (9, 13) comprising a network (49), in particular a rail network, on which the goods carriers (5) can be moved autonomously or at least partially autonomously, - at least one storage area (401) per network (49) with a plurality of storage lines (62, 64) arranged parallel to one another for storing the goods carriers (5) and the stored goods (3) accommodated therein, - at least one shunting road (66) per network (49) into which the storage roads (62) flow, - at least one expressway (72) per network (49) which is connected downstream of the at least one shunting road (66) and is arranged parallel thereto, - for each level (9, 13) a transfer buffer (7, 11) downstream of the network (49), in particular the expressway (72) of the network (49), for pre-sorting the goods carriers (5) with the stored goods (3) accommodated therein, - a conveyor system (23) preferably conveying vertically and arranged downstream of the transfer buffers (7, 11) of the levels (9, 13) for the final sorting of the goods carriers (5) and the stored goods (3) received therein in a predetermined or predeterminable sequence, - preferably at least one blockable section of track per network (49).

54. Suspended goods warehouse (1) according to claim 53, characterized in that several shunting lines (66) are provided which surround the storage lines (62) of the storage area (401) in a ring-shaped or rectangular manner and / or that several express lines (72) are provided which surround the storage lines (62) of the storage area (401) and preferably several shunting lines (66) in a ring-shaped or rectangular manner.

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