Storage system for storage purposes and method for correcting the position of items

Abstract

The invention relates to a storage system (1) for storing items (S), comprising a rack-aisle unit (2), a transporting vehicle (3), a delivery unit (28) and an evaluation unit (27), which is designed to evaluate storage-profile data (5) and to establish an actual distance (6) between two items (S) arranged one beside the other, and to compare this distance with the desired distance and the minimum distance and to generate a first instruction or a second instruction for correcting the position of the items (S) in dependence on whether the actual distance (6) is smaller or greater than the minimum distance, wherein the first instruction is transmitted to the transporting vehicle (3) and the second instruction is transmitted to the delivery unit (28). The invention also relates to a corresponding method.

Description

[0001] STORAGE SYSTEM AND METHOD FOR POSITION CORRECTION OF PIECE GOODS

[0002] The invention relates to a storage system for storing piece goods and a method for correcting the position of piece goods in a storage rack of such a storage system.The storage system comprises a rack aisle unit which has a first storage rack extending in the longitudinal direction, a second storage rack arranged parallel to the first storage rack, and a rack aisle arranged between them, wherein the first and second storage racks each comprise a plurality of rack compartments arranged on top of one another for receiving piece goods, and a transport vehicle, in particular a storage and retrieval machine for storing and / or retrieving piece goods, which has a first detection unit for detecting free storage depths in a rack compartment as storage data and a second detection unit for detecting a position of the transport vehicle in the longitudinal direction as position data, wherein the free storage depths each correspond to a distance, measured at a measuring point by the first detection unit, in a depth direction of the rack compartment between the first detection unit and a reference element arranged in the rack compartment.

[0003] A problem with state-of-the-art storage systems is that vibrations introduced into the storage rack, for example, by passing transport vehicles, storage and retrieval machines, or the like, cause the unit loads stored in the storage rack to shift. While the unit loads often only shift by a few centimeters, this can result in the unit loads being too close together, resulting in the gap or spacing between them being too small, making automated retrieval impossible.

[0004] Various storage systems with storage racks and storage and retrieval machines for storing and retrieving piece goods are known from the state of the art, whereby a position correction of the piece goods is corrected.

[0005] For example, EP 3 418 222 B1 discloses a storage system wherein the actual position of only one piece of cargo closest to the rack aisle is determined and compared with a target position. The position of this single piece of cargo is corrected if the actual position deviates from the target position by more than a threshold value, in particular if it protrudes into the rack aisle and thus impedes movement of the transport vehicle. EP 2 753 992 B1 also discloses a storage system wherein an actual position of piece of cargo within the storage system is determined by means of a container mapper. The actual position is compared with a predetermined target position, and a correction instruction is generated if the actual position deviates from the target position.

[0006] The disadvantage of this approach is that the specific actual position must be determined in each case, which requires significant computing power and generates large amounts of data. Furthermore, a correction is initiated even if the recorded piece goods have no neighboring pieces, which sometimes results in unnecessary corrections. Furthermore, the actual position can only be determined for piece goods that are actually present, meaning that free parking spaces cannot be determined.

[0007] The object of the invention is therefore to provide an improved storage system and method of the type mentioned above. In particular, the invention is intended to enable reliable and efficient position correction of piece goods in the storage system and thus reliable automated handling of the piece goods.

[0008] The object of the invention is achieved by a storage system for storing piece goods and a method for correcting the position of piece goods in a storage rack of such a storage system. The storage system comprises a rack aisle unit, which has a first storage rack extending in the longitudinal direction, a second storage rack arranged parallel to the first storage rack, and a rack aisle arranged between them, wherein the first and second storage racks each comprise a plurality of shelf compartments arranged in stacked shelf levels for receiving piece goods, and a transport vehicle, in particular a storage and retrieval device for storing and / or retrieving piece goods, which has a first detection unit, preferably permanently connected to the transport vehicle, for detecting free storage depths in a shelf compartment as storage data and a second detection unit for detecting a position of the transport vehicle in the longitudinal direction as position data.wherein the free storage depths each correspond to a distance measured at a measuring point by the first detection unit in a depth direction of the shelf compartment between the first detection unit and a reference element arranged in the shelf compartment or to a defined reference threshold value, which further comprises an evaluation unit which is configured to receive the storage data and position data, to correlate them with one another and to generate storage profile data, in particular wherein each free storage depth is assigned a position of the transport vehicle, to specify a target distance and a minimum distance between two (in the longitudinal direction) adjacently arranged piece goods, wherein the target distance is greater than the minimum distance,to evaluate the warehouse profile data and to determine an actual distance between two (adjacent) piece goods and to compare this with the target distance and the minimum distance and to generate a first instruction with information for a position correction of the adjacent piece goods if the actual distance is between the minimum distance and the target distance, or to generate a second instruction with further information for a position correction of the adjacent piece goods if the actual distance is less than the minimum distance.

[0009] The problem is further solved by a method of the type mentioned above, which comprises the following steps:

[0010] Providing the storage system;

[0011] Moving the transport vehicle in the rack aisle in the longitudinal direction, whereby the transport vehicle passes several measuring points;

[0012] Acquiring storage data at the plurality of measuring points by means of the first acquisition unit and acquiring position data by means of the second acquisition unit, preferably while the transport vehicle is moving;

[0013] Transmitting the recorded storage data and position data to the evaluation unit;

[0014] Specifying a minimum distance and a target distance between two piece goods, whereby the target distance is greater than the minimum distance;

[0015] Receiving and correlating the storage data and position data and generating storage profile data by the evaluation unit, in particular wherein each free storage depth is assigned a position of the transport vehicle;

[0016] Evaluation of the storage profile data by the evaluation unit, whereby an actual distance between two piece goods arranged next to each other (in the longitudinal direction) is determined;

[0017] Comparing the actual distance with the target distance and the minimum distance; generating a first instruction with information for a position correction of the adjacently arranged piece goods if the actual distance is between the minimum distance and the target distance;

[0018] Generating a second instruction with further information for a position correction of the adjacently arranged piece goods if the actual distance is less than the minimum distance;

[0019] Correcting the position of at least one of the adjacently arranged piece goods according to the first or second instruction.

[0020] The object of the invention is further achieved by a storage system for storing piece goods comprising a rack aisle unit which has a first storage rack extending in the longitudinal direction, a second storage rack arranged parallel to the rack and a rack aisle arranged between them, wherein the first and second storage racks each comprise a plurality of shelf compartments arranged in shelf levels arranged one above the other for receiving piece goods, and a transport vehicle, in particular a storage and retrieval machine for depositing and / or retrieving piece goods (S), which has a first detection unit for detecting free storage depths in a shelf compartment as storage data and a second detection unit for detecting a position of the transport vehicle in the longitudinal direction as position data,wherein the free storage depths each correspond to a distance measured at a measuring point by the first detection unit in a depth direction of the shelf compartment between the first detection unit and a reference element arranged in the shelf compartment or storage rack or to a defined reference threshold value, which further comprises an evaluation unit, wherein the evaluation unit is configured to receive the storage data and position data and to specify a target distance and a minimum distance between two adjacently arranged piece goods, wherein the target distance is greater than the minimum distance, and to recognize an actual distance between two adjacently arranged piece goods based on the determined position data and storage data, to compare this actual distance with the target distance and the minimum distance, and to generate a first instruction with information for a position correction of the adjacently arranged piece goods,if the actual distance is between the minimum distance and the target distance, or to generate a second instruction with further information for a position correction of the adjacently arranged piece goods if the actual distance is less than the minimum distance.

[0021] The object is further achieved by a method for correcting the position of piece goods in a storage rack, comprising the following steps:

[0022] Providing a storage system, in particular a storage system according to the invention;

[0023] Moving the transport vehicle in the rack aisle in the longitudinal direction, whereby the transport vehicle passes several measuring points;

[0024] Acquiring storage data at the plurality of measuring points by means of the first acquisition unit and acquiring position data by means of the second acquisition unit, preferably while the transport vehicle is moving;

[0025] Transmitting the recorded warehouse data and position data to and receiving the warehouse data and position data, in particular by an evaluation unit;

[0026] Specifying, in particular by means of the evaluation unit, a minimum distance and a target distance between two piece goods, whereby the target distance is greater than the minimum distance;

[0027] Determining, in particular by means of the evaluation unit, an actual distance between two adjacently arranged piece goods based on the received position data and storage data;

[0028] Comparing the actual distance with the target distance and the minimum distance;

[0029] Generating a first instruction with information for a position correction of the adjacently arranged piece goods if the actual distance is between the minimum distance and the target distance;

[0030] Generating a second instruction with further information for a position correction of the adjacently arranged piece goods if the actual distance is less than the minimum distance;

[0031] Correcting the position of at least one of the adjacently arranged piece goods according to the first or second instruction.

[0032] The piece goods can be arranged next to one another in the longitudinal direction of the storage rack or can be arranged side by side. The transport vehicle can advantageously also be designed for storing and / or retrieving piece goods, for example as a storage and retrieval machine. One advantage achieved by the invention is in particular that the instructions regarding the position correction can be determined solely on the basis of the distance between two piece goods. Since a position correction is only necessary if the target distance is not met, an additional determination of the actual position of the individual piece goods in the storage rack can be dispensed with, which on the one hand shortens computing time and on the other hand reduces the amount of data generated. The invention thus also ensures that any failure to meet the target distance is detected in good time, thus enabling reliable operation of the storage system.The actual distance corresponds to a gap between the piece goods (in the longitudinal direction of the storage rack).

[0033] A further advantage achieved with the invention can be seen in particular in the fact that even with comparatively short travel distances of the transport vehicle, an incorrect position of the piece goods can be detected, for example, immediately after the storage of a piece goods, the method according to the invention can be carried out by moving the transport vehicle only a short distance, in particular only to the immediately adjacent storage location, forwards and / or backwards in the longitudinal direction of the storage rack, and in this way a position correction of the piece goods can be carried out if necessary.

[0034] The transport vehicle is moved longitudinally in the rack aisle so that the transport vehicle passes several measuring points; the measurement can be carried out during a stop (essentially standstill of the transport vehicle) for the measurement or, preferably, during the movement of the transport vehicle.

[0035] Preferably, the evaluation unit is configured to correlate the storage data and position data with each other and to generate storage profile data by assigning a position of the transport vehicle to one, preferably each, free storage depth.

[0036] Preferably, to determine the actual distance between two adjacently arranged piece goods for the determined position data, the associated storage data is compared with a reference threshold value.

[0037] It is useful if, in order to determine the actual distance, the actual distance is assigned to a range of the position data in which the bearing data exceeds the reference threshold.It is advantageous if the first instruction for a first and / or second piece of goods arranged next to one another specifies that this is to be automatically removed from the shelf compartment and repositioned and placed back into it, wherein the first and / or second piece of goods is removed from the shelf compartment and repositioned and placed into it when the position is corrected by means of the transport vehicle if the first instruction has been generated, and / or if the second instruction for a first and / or second piece of goods arranged next to one another specifies that this is to be manually removed from the shelf compartment and repositioned and placed back into it, wherein the first and / or second piece of goods is to be manually removed from the shelf compartment by a person when the position is corrected and repositioned and placed into it when the second instruction has been generated, wherein the second instruction is displayed on an output unit.

[0038] Preferably, the transport vehicle moves at a first speed during the acquisition of storage data at the multiple measuring points by means of the first acquisition unit, and the transport vehicle moves at a second speed, which is greater than the first speed, during the acquisition of position data by means of the second acquisition unit. It can also be provided that the transport vehicle travels according to a speed profile at alternating first and second speeds. The first speed can preferably be less than 0.5 m / s. This allows for greater accuracy of the position data and thus position resolution to be achieved.

[0039] However, it is particularly advantageous to record storage data at the multiple measuring points using the first recording unit and to record position data using the second recording unit in the area of ​​an expected gap between the piece goods. The area of ​​an expected gap can be estimated, for example, based on a known width of the piece goods and is preferably determined based on data from a database.

[0040] Preferably, the movement of the transport vehicle, in particular without recording storage data during this process, from a first expected gap between piece goods to a second expected gap between piece goods can take place at a speed that is higher than the speed of the transport vehicle during the recording of storage data at the multiple measuring points by means of the first recording unit and / or the recording of position data by means of the second recording unit. This allows a comparatively high accuracy of the position data and thus position resolution to be achieved with an overall rapid passage through the rack aisle (in the longitudinal direction).

[0041] Preferably, a respective area of ​​an expected gap can be determined based on width data of one or more piece goods, for example from data stored in a database, or is based on a defined grid width of the storage rack or the storage locations or shelf compartments.

[0042] The reference element can be an object arranged in the storage rack or in the rack compartment, for example a piece of goods, a disruptive structure arranged in the storage rack, for example a rack upright of the storage rack, or a rear limit, in particular a depth stop or a push-through protection, of the storage rack or the like.

[0043] In an advantageous embodiment, it is even possible to dispense with a depth stop or push-through protection, wherein in such a case in particular the rear boundary can also be formed by piece goods or interfering contours from adjacent storage locations (of an adjacent storage rack of an adjacent rack aisle unit), which can simply be arranged and detected at a depth exceeding a defined reference threshold value (seen in the depth direction TG) or in such a case only the defined reference threshold value (i.e. maximum distance value which serves as a reference or reference value) is used, i.e. the free storage depth can be set, in particular by means of the evaluation unit, to the value of a reference depth, for example the maximum storage depth (in the depth direction) of the storage rack or (respective) rack compartment or parking space for piece goods.

[0044] By means of the first detection unit, a distance can thus be determined between the first detection unit and a front edge of the reference element arranged in the region of the measuring point, for example a front side of the piece goods. This distance corresponds to the free storage depth, since, for example, another piece of goods can be stored at this distance if the distance is large enough or the additional piece of goods is small enough. If there is no piece of goods or other object in the storage rack in the region of the measuring point, a distance to a rear end of the storage rack or shelf compartment in the depth direction is recorded. In this case, the reference element can be formed by a rear limit or depth stop of the storage rack.The depth stop can be provided in particular by a (rear) longitudinal cross member or a push-through protection device extending along (in the longitudinal direction X) of the storage rack; alternatively, in such a case, the free storage depth can also be set to the (fixed) value of a reference depth.

[0045] It is advisable to set the minimum distance between two piece goods in such a way that automated retrieval is possible if the distance between two piece goods is greater than the minimum distance. If the target distance is greater than the minimum distance, a tolerance range is defined between the minimum and the target distance. While automated handling of the piece goods is still possible without problems, a position correction must be performed to automatically restore the target distance and avoid manual correction.

[0046] For example, the storage data can be continuously recorded by the first recording unit, so that the storage data includes the free storage depths at different time values. Similarly, the position data can be continuously recorded by the second recording unit, so that the position data includes the position at different time values. In this case, the storage data and the position data can be correlated via the time values ​​to generate the storage profile data, which includes the free storage depths at the corresponding positions.

[0047] General cargo can, for example, be items that are stored in the warehouse rack with or without loading aids. The loading aids can include containers or trays that hold the items.

[0048] The shelf levels each extend in the lengthwise and depthwise direction of the storage rack and preferably each form a horizontal plane. The shelf compartments also extend in the lengthwise and depthwise direction and are preferably aligned horizontally. The shelf compartments can, for example, be arranged on rack uprights of the storage rack and form storage areas arranged between the rack uprights. In the storage areas, several storage spaces for general cargo can be arranged next to one another and / or one behind the other. If general cargo is parked in a storage space, it is referred to as an occupied storage space. However, if no general cargo is parked in a storage space, it is a free storage space. The storage spaces can be predetermined, in particular in a predetermined grid, for example by a warehouse management system.One of many alternative possibilities for arranging parking spaces is described, for example, in WO 2022 / 159999 A1.

[0049] The transport vehicle is in particular a storage and retrieval machine, particularly preferably a single-level or multi-level storage and retrieval machine.

[0050] Particularly preferably, the transport vehicle is intended and designed for storing and / or retrieving piece goods.

[0051] The transport vehicle preferably comprises a base frame, a plurality of running wheels rotatably mounted on the base frame, a travel drive coupled to at least one of the running wheels and control electronics for controlling the travel drive.

[0052] It is advantageous if the first instruction for a first and / or second piece of the adjacently arranged piece goods specifies that these should be automatically removed by the transport vehicle from the shelf compartment of the respective storage rack and repositioned and placed back into it. The transport vehicle is configured to receive and execute the first instruction from the evaluation unit. Thus, a position correction can already be performed automatically if the distance and therefore a gap width are within the previously described tolerance range.

[0053] The evaluation unit is particularly designed to generate the first and second instructions.

[0054] If the transport vehicle is intended and configured as a storage and retrieval machine or for storing and / or retrieving piece goods, the storage data and position data can preferably be received and correlated with storage profile data while the transport vehicle is traveling to and / or from a storage location for storing and / or retrieving piece goods. The evaluation unit can advantageously also be configured, in particular, to generate the first and second instructions at a time after the completion of a storage and / or retrieval process for a piece goods item.

[0055] Advantageously, the first instruction and / or the second instruction for a first and / or second piece of cargo arranged adjacently takes place at a planned or next possible time. The transport vehicle can advantageously be configured to receive the first instruction from the evaluation unit and to execute it depending on an operating state, in particular at a specific operating state, preferably in idle mode, of the transport vehicle.

[0056] When the first instruction has been generated, it is therefore advisable for the first and / or second piece goods to be removed from the shelf compartment and repositioned into it when the position is corrected by means of the transport vehicle.

[0057] Furthermore, it is advantageous if the second instruction for a first and / or second piece of the adjacently arranged piece goods indicates that these are to be manually removed from the shelf compartment of the respective storage rack and repositioned and placed back into it, wherein the storage system further comprises an output unit, in particular a portable one, which is configured to receive and display the second instruction.

[0058] The second instruction is preferably generated when an automated position correction is not possible, for example because a distance between adjacently arranged piece goods is too small for automated handling.

[0059] When the second instruction has been generated, it is therefore advisable for the first and / or second piece goods to be manually removed from the shelf compartment by a person when correcting the position and then repositioned into the shelf compartment.

[0060] With both automated and manual position correction, it is possible to adjust the position of just one of the adjacent items or both items. With multiple items arranged one behind the other, the positions of the items arranged one behind the other and the adjacent items can be adjusted, for example, by removing items arranged one behind the other from the storage rack together and repositioning them back into the rack.

[0061] The dispensing unit can, for example, be a handheld device with a display unit on which the second instruction is displayed as a description and / or as an explanatory graphic. For example, the removal and subsequent placement of the item on the storage shelf can be represented as an animation (particularly computer-aided and computer-generated).

[0062] It is also advantageous if the evaluation unit is configured to determine an error position within the storage rack based on the position data, and the output unit is configured to display the error position. The error position can be determined, for example, from the position data and information about the rack level on which the error occurred and, if there are multiple rack aisle units, the rack aisle unit in which the error occurred. This allows the person tasked with correcting the position of the piece goods to go directly to the affected piece goods. In this context, an error is understood to mean a failure to meet the target distance, in particular the minimum distance, so that a first or second instruction is generated.

[0063] Advantageously, it is provided that the second instruction and / or the error position is displayed on the previously described, in particular portable, output unit.

[0064] Furthermore, it is advantageous if the evaluation unit is configured to evaluate the warehouse profile data and identify free and / or occupied storage locations in the storage rack. A free storage location can be defined as a free storage depth determined from the warehouse profile data across a width in the longitudinal direction of a piece of goods and / or a storage location; if this depth is equal to or greater than the length of the piece of goods and / or the storage location, this corresponds to at least one free storage location.

[0065] The free and / or occupied storage locations can be identified, for example, when the evaluation unit evaluates the warehouse profile data.

[0066] For example, if the storage rack has a depth at which two storage spaces are arranged one behind the other, and a free storage depth is determined in an area across the entire width of a storage space that corresponds to the depth of the storage rack, then there are two free storage spaces and no occupied storage spaces at this location. If the free storage depth is determined that corresponds, for example, to half the depth of the storage rack, then there is one free storage space and one occupied storage space at this location. If the storage depth is determined to be less than half the depth, for example, there are no free storage spaces and two occupied storage spaces.

[0067] Once free and / or occupied storage spaces have been determined, it may be advantageous for the evaluation unit to be configured to determine the fill level of the first and / or second storage rack based on the free and / or occupied storage spaces. This essentially allows for an inventory to be carried out.

[0068] For this purpose, it is appropriate if the procedure also includes the following step:

[0069] Determining the fill level of the respective storage rack by evaluating the storage profile data using the evaluation unit and determining free and / or occupied storage spaces for piece goods in the storage rack.

[0070] It is advantageous if the evaluation unit is also configured to determine the orientation of the item in the shelf compartment based on the storage profile data. This allows, for example, a rotation of the item to be calculated from the storage profile data in the area of ​​a piece of item.

[0071] It is therefore advantageous if, during the specification, a target orientation is also specified by the evaluation unit, an orientation of the piece goods is also determined during the evaluation of the storage profile data by the evaluation unit, and the determined orientation is compared with the target orientation during the comparison, wherein the method further comprises the following steps:

[0072] Generating a third instruction with information for a position correction for a piece of goods to be corrected if the orientation of this piece of goods deviates from the target orientation;

[0073] Correct the position of the piece goods to be corrected according to the third instruction. For removing piece goods from the storage rack and placing the piece goods into the storage rack, i.e. for the so-called loading and unloading of the piece goods, the transport vehicle can be provided with a transport device with a receiving platform for receiving piece goods and two opposing piece goods displacement means that can be extended relative to the receiving platform in an extension direction for displacing piece goods between the receiving platform and the shelf compartment.

[0074] By extending the piece goods transfer device, these can be positioned on opposite sides of a piece of goods so that the piece of goods is picked up between them.

[0075] The extension direction preferably runs parallel to the depth direction of the storage rack.

[0076] In this case, it is preferably provided that the minimum distance between two piece goods corresponds to at least the width of one of the piece goods transfer devices. This ensures that the piece goods transfer devices can be inserted into a gap between the piece goods.

[0077] Particularly preferably, the piece goods transfer means are arranged opposite one another at a variable distance. Thus, the distance between the piece goods transfer means can be adjusted to the width of the piece goods to be picked up.

[0078] Furthermore, the transport device can be provided with transport elements that are mounted in pairs opposite one another in a pivoting plane, each mounted around a pivot axis on one of the piece goods transfer means. The transport elements can be pivoted out of the respective piece goods transfer means in order to engage behind a piece of goods received between the piece goods transfer means and to push it positively from the shelf compartment onto the receiving platform or vice versa when the piece goods transfer means is moved in or out.

[0079] It is advantageous if the transport vehicle(s) can be moved longitudinally along the storage racks, particularly in the rack aisle.

[0080] It is expedient if the first detection unit comprises a transmitting unit for emitting a measuring beam, in particular in the depth direction, and a receiving unit for receiving a reflected measuring beam. In this case, it is particularly provided that the transmitting unit for emitting the measuring beam is designed orthogonally to the longitudinal direction, in particular in the depth direction and / or in the extension direction of the piece goods transfer means. In the case of a transport vehicle that can be moved along the longitudinal direction, it is thus expedient if the transmitting unit for emitting the measuring beam is designed orthogonally to a direction of travel of the transport vehicle, in particular parallel to a rotational axis of the running wheels.

[0081] Advantageously, several first detection units are provided on the transport vehicle, which are arranged (preferably fixed) at a distance from one another, particularly in the longitudinal direction. This is particularly advantageous for detecting the free (and / or occupied) storage depths in the outermost shelf locations (at the ends of the shelf aisle).

[0082] It is advantageous if the piece goods relocation means each comprise a telescopic frame and a first telescopic carriage extendable relative to the telescopic frame and preferably a second telescopic carriage extendable relative to the first telescopic carriage, wherein the base frame and the first telescopic carriage and / or the first telescopic carriage and the second telescopic carriage are each movably connected via a guide arrangement. Advantageously, the piece goods relocation means comprise the or a respective first detection unit. Advantageously, a respective first detection unit is arranged such that the respective transmitting unit is enabled to transmit the measuring beam in the extension direction of the piece goods relocation means (essentially in alignment with the respective telescopic carriages).

[0083] Particularly preferably, the or each first detection unit comprises a runtime sensor for detecting the free storage depth.

[0084] The evaluation unit is advantageously configured to identify an interfering structure if, as a result of a measuring beam emitted by the transmitting unit, no reflected measuring beam is received by the receiving unit. An interfering structure could, for example, be a piece of goods that is significantly twisted, particularly relative to the desired orientation.

[0085] To detect the position of the transport vehicle, it can be read directly from the transport vehicle's drive control system by the second detection unit, for example. Alternatively, the second detection unit can comprise a rotary encoder coupled to a drive and / or to the transport vehicle's wheels. Thus, the position of the transport vehicle can be determined during the process, in particular during the longitudinal movement of the transport vehicle in the rack aisle, such that the transport vehicle passes several measuring points.

[0086] It is advantageous if the storage system comprises several, preferably identically designed, transport vehicles. The transport vehicles can each be designed as described above.

[0087] Furthermore, it is advantageous if several guide rails are arranged one above the other in pairs on opposite sides of the rack aisle, wherein the guide rails form a travel plane in pairs, and each rack level is assigned a travel plane. This enables simpler and improved detection of free storage depths, since no vertical positioning of the first detection unit for detecting free storage depths is required. The first detection unit, which is preferably permanently connected to the transport vehicle, is arranged with the transport vehicle essentially in a fixed (constant) vertical relationship while traveling on the travel plane or in relation to the respective rack level.

[0088] Each transport vehicle can be assigned a travel level on which the transport vehicle travels. Preferably, a transport vehicle is arranged on each travel level.

[0089] In order to utilize the previously described advantages and effects in the same way for the second storage rack of the rack aisle unit, it can be provided that the first detection unit is designed for, in particular simultaneously or alternately, detecting free storage depths in a shelf compartment of the first storage rack (of the rack aisle unit) and a shelf compartment of the second storage rack (of the rack aisle unit) opposite this.

[0090] In particular, the evaluation unit, acquisition unit, transmitting unit, receiving unit, output unit, display unit, and / or control electronics can be implemented as microprocessor-based hardware, with the functions of these units being implemented as software. A common microprocessor-based hardware can also be used for multiple functions. Such a unit can also be implemented on hardware in the form of a so-called field programmable gate array (FPGA), programmable logic device (PLD), an application-specific integrated circuit (ASIC), or other integrated circuit. Here, too, multiple units can be integrated on such hardware. A unit can also be implemented as an analog circuit or analog computer. Furthermore, any mixtures or combinations of these designs are also possible.

[0091] For a better understanding of the invention, it is explained in more detail using the following figures.

[0092] They show in a highly simplified, schematic representation:

[0093] Fig. 1 a rack aisle unit in plan view;

[0094] Fig. 2 the rack aisle unit in front view;

[0095] Fig. 3 Bearing profile data;

[0096] Fig. 4 shows a section of the rack aisle unit in plan view;

[0097] Fig. 5 a transport vehicle;

[0098] Fig. 6 shows a method for correcting the position of piece goods;

[0099] Fig. 7 optional further steps of the process.

[0100] By way of introduction, it should be noted that in the variously described embodiments, identical parts are provided with identical reference symbols or component designations. The disclosures contained throughout the description can be applied mutatis mutandis to identical parts with identical reference symbols or component designations. Furthermore, the positional information chosen in the description, such as top, bottom, side, etc., refers to the directly described and illustrated figure and, in the event of a change in position, is to be applied mutatis mutandis to the new position.

[0101] Fig. 1 shows a section of a storage system 1 for storing piece goods S. As can be seen, the storage system 1 comprises at least one rack aisle unit 2 and at least one transport vehicle 3, which is shown in Fig. 1 with a solid line in a first position and with a dashed line in a second position. In addition to the rack aisle unit 2 shown in Fig. 1, the storage system 1 can have a plurality of rack aisle units 2.

[0102] The rack aisle unit 2 comprises a first storage rack 21a and a second storage rack 21b, which are arranged parallel to each other and extend in the longitudinal direction X. Between the storage racks 21a, 21b there is a rack aisle 22, in which transport vehicles 3 can be moved along the storage racks 21a, 21b.

[0103] The storage racks 21a, 21b comprise shelf compartments 23, which form storage areas arranged between shelf uprights 24. In the shelf compartments 23, several storage spaces SP, SP' are provided, arranged next to one another and / or one behind the other, on which, as shown in Fig.

[0104] 1 shows that general cargo S can be parked.

[0105] The shelf compartments 23 each extend along the depth direction Z from a front side facing the shelf aisle 22 to a rear side facing away from the shelf aisle 22. A limiting element, for example a longitudinal cross member 25, can be provided on the rear side of the shelf compartments 23, which limits the shelf compartment 23 at the rear side facing away from the shelf aisle 22.

[0106] Furthermore, it can be provided that a guide rail 26 runs along the front side of each of the shelf compartments 23, which are arranged in pairs opposite one another. Here, one guide rail 26 of a guide rail pair is mounted on the first storage rack 21a, and the other guide rail 26 of the guide rail pair is mounted on the second storage rack 21b. The transport vehicle 3 can be arranged so that it can move along the guide rails 26.

[0107] Fig. 2 shows a front view of the rack aisle unit 2, with the first storage rack 21a on the left and the second storage rack 21b on the right. As can be seen, the storage racks 21a, 21b can comprise a plurality of rack compartments 23 arranged in stacked rack levels, particularly in the vertical direction Y.

[0108] Furthermore, it can be provided that each rack level is assigned a pair of guide rails, which form a travel level in which a transport vehicle 3 can be moved. Thus, as shown in Fig. 2, a transport vehicle 3 can be arranged in each travel level, which is assigned to the respective rack level. The storage system 1 can therefore comprise several transport vehicles 3.

[0109] The transport vehicle 3 is designed, on the one hand, to retrieve and / or store piece goods S from one of the storage racks 21a, 21b, in particular from the rack compartment 23. On the other hand, the transport vehicle 3 is designed to detect a free storage depth in the rack compartment 23 by means of a first detection unit 31a, preferably permanently connected to the transport vehicle 3, and to detect its own position along the storage racks 21a, 21b by means of a second detection unit 31b.

[0110] To detect the free storage depth, the first detection unit 31a can, for example, be configured to emit a measuring beam 4 and receive a reflected measuring beam 4'. For this purpose, the first detection unit 31a can, for example, have a transmitting unit and / or a receiving unit.

[0111] The recorded storage depths and the transport vehicle's own position can be transmitted from the transport vehicle 3 to an evaluation unit 27 of the storage system 1. As shown, the evaluation unit 27 can be a central evaluation unit 27 of the storage system 1, for example a computer, or an evaluation unit 27 arranged on the respective transport vehicle 3.

[0112] The evaluation unit 27 can receive the storage data and position data, and from this an actual distance 6 between two adjacently arranged piece goods S can be recognized on the basis of the determined position data and storage data.

[0113] By means of the evaluation unit 27, the storage depths and the position of the transport vehicle 3 can also be correlated in order to generate storage profile data 5 shown in Fig. 3 as an example for the first storage rack 21a.

[0114] The storage profile data 5 includes, on the one hand, the storage depths measured at the various measuring points in the depth direction Z as well as the position of the individual measuring points in the longitudinal direction X of the storage racks 21a, 21b. From the storage profile data 5, a distance between two adjacently arranged piece goods S can be determined, as shown in Fig. 3.

[0115] The evaluation unit 27 can detect the actual distance 6 between two adjacent piece goods S by comparing the determined position data with the corresponding storage data and a reference threshold. Furthermore, the actual distance 6 can be assigned to a range of the position data in which the storage data exceeds the reference threshold.

[0116] From the storage profile data 5, free storage spaces SP and / or occupied storage spaces SP' can also be determined and from their number, in particular, a filling level of the first or second storage rack 21a, 21b can be determined.

[0117] Based on the distance, the evaluation unit 27 can generate a first or second instruction with information for a position correction of the adjacently arranged piece goods S and, if necessary, transmit it to the transport vehicle 3 and / or to an output unit 28. The output unit 28 can, for example, be designed as a handheld device, as shown schematically (disproportionately large) in Fig. 1.

[0118] If an interfering structure is arranged in one of the storage racks 21a, 21b, for example, as shown in Fig. 4, a piece of goods S whose orientation deviates from a target orientation, it can happen that the reflected measuring beam 4' is not reflected back to the transport vehicle 3 and thus also not to the first detection unit 31a, in particular not to the receiving unit. In this case, the first detection unit 31a would emit a measuring beam 4 but would not receive a signal, so that the storage profile data 5 essentially has a gap at the corresponding position. This case can be identified by the evaluation unit 27 as an interfering structure in the respective storage rack 21a, 21b. It is advantageous in this case if, for example, the evaluation unit 27 generates a third instruction with information for a position correction for a piece of goods S to be corrected, in particular by the evaluation unit 27.

[0119] Fig. 5 shows a perspective view of an embodiment of a transport vehicle 3 which is designed as a single-level storage and retrieval machine.

[0120] The transport vehicle 3 preferably comprises a base frame 32, a plurality of running wheels 33 rotatably mounted on the base frame 32, a drive (not visible in Fig. 5) for driving at least one running wheel 33, a transport device 34 for receiving piece goods S, and / or control electronics (not shown) for controlling the drive. Furthermore, the transport vehicle 3 can comprise a housing 35, wherein the drive and the control electronics are or can be arranged within the housing 35.

[0121] To receive piece goods S, the transport device 34 can comprise a receiving platform 36, in particular defining a receiving plane. As shown in Fig. 5, the receiving platform 36 can be formed, for example, by several, in particular two, piece goods supports.

[0122] In order to transfer the piece goods S between one of the storage racks 21a, 21b, in particular the rack compartment 23, and the receiving platform 36, the transport device 34 can comprise one or more piece goods transfer means 37, which are in particular mounted extendably parallel to one another on the base frame 32.

[0123] The piece goods relocation means 37 preferably each comprise a telescopic frame 371 and telescopic carriages that can be extended horizontally relative to the telescopic frame 371. A first telescopic carriage 372 is displaceably mounted on the telescopic frame 371 via a guide arrangement. Furthermore, the second telescopic carriage 373 is displaceably mounted on the first carriage via a guide arrangement. The first carriage can be moved relative to the telescopic frame 371 by means of a drive device (not shown). In the example shown, the piece goods relocation means 37 are thus essentially designed as a telescopic unit or telescopic arm.

[0124] To transport piece goods S, the transport devices 34 can each comprise at least one transport element 38, which is arranged in particular on the second telescopic carriage 373. Preferably, each transport element 38 is coupled to an electric drive motor and can be moved between an initial position and an actuating position via the motor. In the example shown, outer transport elements 38 arranged in the end regions of the second carriage are in the actuating position, and inner transport elements 38 arranged between them are in the initial position.

[0125] Fig. 6 shows a method 100 for correcting the position of piece goods S in such a storage system 1. First, the storage system 1 is prepared 101 as described above, including the transport vehicle(s) 3 with the piece goods S located therein. During ongoing operation of the storage system 1, the transport vehicle 3 is moved 102, traveling along the storage racks 21a, 21b. During the movement 102, the previously described storage data and position data can be recorded 103 at several measuring points along the respective storage rack 21a, 21b by means of the respective recording units 31a, 31b, in particular without stopping the movement of the transport vehicle 3. The recorded storage data and position data can then be transmitted 104 from the respective recording unit 31a, 31b to the evaluation unit 27.

[0126] The recording 103 of the storage data and position data at the respective measuring points along the respective storage rack 21a, 21b by means of the respective recording units 31a, 31b can take place while the transport vehicle 3 is in motion or while the transport vehicle 3 is stationary.

[0127] It is also possible for storage data and position data to be recorded 103 at measuring points while the transport vehicle 3 is in motion, and for storage data and position data to be recorded 103 at measuring points while the transport vehicle 3 is stationary. This means that the recording 103 of some of the storage data and position data takes place at measuring points while the transport vehicle 3 is in motion, and the recording of some of the storage data and position data takes place at measuring points while the transport vehicle 3 is stationary.

[0128] The evaluation unit 27 can specify 105 a minimum distance and a target distance. This can occur at any time during the method 100 before a subsequently described evaluation 107 of data, for example, already during the provision 101 of the storage system 1. The minimum distance is specified in particular such that it corresponds at least to the width of one of the piece goods relocation means 37, so that the piece goods relocation means 37 can be inserted into a space between the piece goods S if the distance is greater than the minimum distance. The target distance is a distance with which an automated storage and / or retrieval of the piece goods S can be carried out reliably.

[0129] The transmitted storage and position data can be received by the evaluation unit 27 in a next step and correlated with each other 106, whereby, for example, the storage profile shown in Fig. 3 or the storage profile data 5 shown are generated. The storage profile data 5 can be evaluated 107 by the evaluation unit 27 to determine an actual distance 6 between adjacently arranged piece goods S. The actual distance 6 determined in this way can then be compared 108 with the target and minimum distance.

[0130] If the actual distance 6 is greater than or equal to the target distance, no further action is required. Reliable operation of storage system 1 is guaranteed.

[0131] If the actual distance 6 is smaller than the target distance, but greater than the minimum distance, a first instruction is generated 109'. The first instruction contains information for a position correction of the adjacent piece goods S. This information can include, for example, that one of the adjacent piece goods S is to be retrieved by the transport vehicle 3 (from the shelf compartment or from the respective storage location SP) and repositioned and stored therein. This can be done in particular for the piece goods S on one side of the gap and for the piece goods S on the other side of the gap between the piece goods S.

[0132] If the actual distance 6 is smaller than the minimum distance, a second instruction is generated 109". The second instruction contains further information for a position correction of the piece goods S arranged next to one another. This information can, for example, include that one of the piece goods S arranged next to one another is to be manually retrieved by a person (from the shelf compartment or from the respective storage location SP) and repositioned and stored there again. This can be done in particular for the piece goods S on one side of the gap and for the piece goods S on the other side of the gap between the piece goods S.

[0133] Finally, a manual or automated correction 110', 110" of the position of the piece goods S is carried out according to the respective instruction, either by a person or by the transport vehicle 3, depending on whether the first or second instruction was generated. If no instruction was generated, no correction is required.

[0134] Furthermore, it can be provided that, based on the warehouse profile data 5, a fill level is determined 111 by the evaluation unit 27 by identifying free storage locations SP and / or occupied storage locations SP'. Optionally, it can be provided that, when specifying 105 the minimum and target distance, a target orientation is also specified for each of the piece goods S. In this case, an orientation can be determined when evaluating 107 the warehouse profile data 5, if necessary, and this orientation can then be compared with the target orientation when comparing 108 the data.

[0135] Here, as shown in Fig. 7, it can optionally be provided that a third instruction is generated 109 if the orientation deviates from the target orientation. Analogous to the first and second instructions, the third instruction contains information for a position correction of the piece goods S. This information can include, for example, that the piece goods S should be removed manually by a person or automatically by the transport vehicle 3 and repositioned and stored again. This can be done during a subsequent correction 110" according to the third instruction.

[0136] Finally, it should be noted that the scope of protection is determined by the patent claims. However, the description and drawings should be considered for the interpretation of the claims. Individual features or combinations of features from the various embodiments shown and described may represent independent inventive solutions in their own right.

[0137] In particular, it is also noted that the devices depicted may in reality comprise more or fewer components than shown. In some cases, the depicted devices or their components may also be shown not to scale and / or enlarged and / or reduced in size.

[0138] Reference symbol list

[0139] 1 storage system 100 processes

[0140] 2 Racking unit 101 Provision of the storage system

[0141] 21a, 21b storage rack tems

[0142] 22 Rack aisle 102 Moving the transport

[0143] 23 shelf compartments of the vehicle

[0144] 24 Shelf Supporters 103 Data Collection

[0145] 25 Longitudinal traverse 104 Transmitting the data

[0146] 26 Guide rail 105 Specifying minimum

[0147] 27 Evaluation unit and target distance

[0148] 28 Output unit 106 Receiving and correlating data

[0149] 3 Transport vehicle 107 Data evaluation

[0150] 31a, 31b Detection unit 108 Comparing distances

[0151] 32 Basic frame 109 ' .109 ' “ Generating instructions

[0152] 33 wheel gen

[0153] 34 Transport device 110'..110'“ Correcting a position

[0154] 35 Housing 111 Determining a filling level

[0155] 36 Recording platform

[0156] 37 S tuck goods relocation smittel

[0157] 371 telescopic frame

[0158] 372, 373 Telescopic slide

[0159] 38 Transport organ

[0160] 4.4' measuring beam

[0161] 5 Warehouse profile data

[0162] 6 Actual distance

[0163] S general cargo

[0164] SP, SP' parking space

[0165] X Longitudinal direction

[0166] Y elevation direction

[0167] Z Depth direction

Claims

P a t e n t a n s p r ü c h e 1. A storage system (1) for storing piece goods (S), comprising a rack aisle unit (2) which has a first storage rack (21a) extending in the longitudinal direction (X), a second storage rack (21b) arranged parallel to the first storage rack, and a rack aisle (22) arranged between them, wherein the first and second storage racks (21b) each comprise a plurality of shelf compartments (23) arranged in stacked shelf levels for receiving piece goods (S), and a transport vehicle (3), in particular a storage and retrieval device for storing and / or retrieving piece goods (S), which has a first detection unit (31a) for detecting free storage depths in a shelf compartment (23) as storage data and a second detection unit (31b) for detecting a position of the transport vehicle (3) in the longitudinal direction (X) as position data,wherein the free storage depths each correspond to a distance, measured at a measuring point by the first detection unit (31a), in a depth direction (Z) of the shelf compartment (23) between the first detection unit (31a) and a reference element arranged in the shelf compartment (23), characterized in that the storage system (1) further comprises an evaluation unit (27) which is configured to receive the storage data and position data, to correlate them with one another and to generate storage profile data (5), to specify a target distance and a minimum distance between two adjacently arranged piece goods (S), wherein the target distance is greater than the minimum distance, to evaluate the storage profile data (5) and to determine an actual distance (6) between two adjacently arranged piece goods (S) and to compare this with the target distance and the minimum distance,and to generate a first instruction with information for a position correction of the adjacently arranged piece goods (S) if the actual distance (6) is between the minimum distance and the target distance, or to generate a second instruction with further information for a position correction of the adjacently arranged piece goods (S) if the actual distance (6) is less than the minimum distance.

2. Storage system (1) according to claim 1, characterized in that the first instruction for a first and / or second piece goods (S) of the adjacently arranged piece goods (S) indicates that these are to be removed automatically from the shelf compartment (23) by the transport vehicle (3) and to be repositioned and placed back into it, wherein the transport vehicle (3) is set up to receive and carry out the first instruction from the evaluation unit (27).

3. Storage system (1) according to claim 1 or 2, characterized in that the second instruction for a first and / or second piece goods (S) of the piece goods (S) arranged next to one another indicates that these are to be manually removed from the shelf compartment (23) and repositioned and placed back into it, wherein the storage system (1) further comprises an output unit (28), in particular a portable one, which is designed to receive and display the second instruction.

4. Storage system (1) according to claim 3, characterized in that the evaluation unit (27) is configured to determine an error position within the storage rack on the basis of the position data and the output unit (28) is configured to display the error position.

5. Storage system (1) according to one of claims 1 to 4, characterized in that the evaluation unit (27) is designed to evaluate the storage profile data (5) and to identify free storage locations (SP) and / or occupied storage locations (SP') in the storage rack.

6. Storage system (1) according to claim 5, characterized in that the evaluation unit (27) is designed to determine a filling level of the first and / or second storage rack (21a, 21b) based on the free storage spaces (SP) and / or occupied storage spaces (SP').

7. Storage system (1) according to one of claims 1 to 6, characterized in that the evaluation unit (27) is designed to determine an orientation of the piece goods (S) in the shelf compartment (23) based on the storage profile data (5).

8. Storage system (1) according to one of claims 1 to 7, characterized in that the transport vehicle (3) has a transport device (34) with a receiving platform (36) for Receiving piece goods (S) and two piece goods displacement means (37) which are opposite one another and can be extended in an extension direction relative to the receiving platform (36) for displacing piece goods (S) between the receiving platform (36) and the shelf compartment (23), wherein the minimum distance between two piece goods (S) corresponds to at least one width of one of the piece goods displacement means (37).

9. Storage system (1) according to one of claims 1 to 8, characterized in that the first detection unit (31a) comprises a transmitting unit for emitting a measuring beam (4), in particular in the depth direction (Z), and a receiving unit for receiving a reflected measuring beam (4').

10. Storage system (1) according to claim 9, characterized in that the transmitting unit for emitting the measuring beam (4) is designed orthogonal to the longitudinal direction (X), in particular in the depth direction (Z).

11. Storage system (1) according to claim 9 or 10, characterized in that the evaluation unit (27) is designed to identify an interfering structure if, as a result of a measuring beam (4) emitted by the transmitting unit, no reflected measuring beam (4') is received by the receiving unit.

12. Storage system (1) according to one of claims 1 to 11, characterized in that the second detection unit (31b) comprises a rotary encoder coupled to a travel drive and / or to running wheels (33) of the transport vehicle (33).

13. Storage system (1) according to one of claims 1 to 12, characterized in that it comprises several, preferably identically designed, transport vehicles (3).

14. Storage system (1) according to one of claims 1 to 13, characterized in that in the rack aisle (22) a plurality of guide rails (26) are arranged one above the other in pairs on opposite sides of the rack aisle (22), wherein the guide rails (26) each form a travel level in pairs and a travel level is assigned to each rack level.

15. Storage system (1) according to one of claims 1 to 14, characterized in that the first detection unit (31a) is designed for, in particular simultaneously or alternately, detecting free storage depths in a shelf compartment (23) of the first storage rack (21a) and a shelf compartment (23) of the second storage rack (21b) opposite thereto.

16. Method (100) for correcting the position of piece goods (S) in a storage rack (21a, 21b) comprising the following steps: Providing (101) a storage system (1) according to one of claims 1 to 15; Moving (102) the transport vehicle (3) in the rack aisle (22) in the longitudinal direction (X), wherein the transport vehicle (3) passes several measuring points; Acquiring (103) storage data at the plurality of measuring points by means of the first acquisition unit (31a) and acquiring position data by means of the second acquisition unit (31b), preferably while the transport vehicle (3) is moving; Transmitting (104) the recorded storage data and position data to the evaluation unit (27); Specifying (105) a minimum distance and a target distance between two piece goods (S), wherein the target distance is greater than the minimum distance; Receiving and correlating (106) the bearing data and position data and generating bearing profile data (5) by the evaluation unit (27); Evaluation (107) of the storage profile data (5) by the evaluation unit (27), whereby an actual distance (6) between two adjacently arranged piece goods (S) is determined; Comparing (108) the actual distance (6) with the target distance and the minimum distance; generating (109') a first instruction with information for a position correction of the adjacently arranged piece goods (S) if the actual distance (6) lies between the minimum distance and the target distance; Generating (109") a second instruction with further information for a position correction of the adjacently arranged piece goods (S) if the actual distance (6) is less than the minimum distance; Correcting (110', 110") the position of at least one of the adjacently arranged piece goods (S) according to the first or second instruction.

17. The method (100) according to claim 16, wherein the first instruction for a first and / or second piece goods (S) of the adjacently arranged piece goods (S) indicates that said piece goods are to be automatically removed from the shelf compartment (23) and repositioned and delivered therein, wherein the first and / or second piece goods (S) are removed from the shelf compartment (23) and repositioned and delivered therein when the position is corrected by means of the transport vehicle (3) when the first instruction was generated.

18. The method (100) according to claim 16 or 17, wherein the second instruction for a first and / or second piece goods (S) of the adjacently arranged piece goods (S) indicates that said first and / or second piece goods (S) are to be manually removed from the shelf compartment (23) and repositioned and delivered therein, wherein the first and / or second piece goods (S) are manually removed from the shelf compartment (23) by a person when the position is corrected and repositioned and delivered therein when the second instruction was generated.

19. The method (100) according to any one of claims 16 to 18, further comprising the step: Determining (111) a filling level of the first and / or second storage rack (21a, 21b) by evaluating the storage profile data (5) by the evaluation unit (27) and determining free and / or occupied storage spaces (SP') for piece goods (S) in the respective storage rack (21a, 21b).

20. Method (100) according to one of claims 16 to 18, characterized in that during the specification (105) a target orientation is further specified by the evaluation unit (27), during the evaluation (107) of the storage profile data (5) by the evaluation unit (27) an orientation of the piece goods (S) is further determined and the determined orientation is compared with the target orientation during the comparison (108), wherein the method (100) further comprises the following steps: generating (109) a third instruction with information for a position correction for a piece of goods (S) to be corrected if the orientation of this piece of goods (S) deviates from the target orientation; Correct (110") the position of the piece goods (S) to be corrected according to the third instruction.

21. The method (100) according to any one of claims 16 to 20, wherein the acquisition of storage data at the plurality of measuring points and the acquisition of position data takes place in the region of an expected gap between the piece goods. 22 Method (100) according to claim 21, wherein a movement of the transport vehicle (3) from a first expected gap between piece goods to a second expected gap between piece goods takes place at a speed which is higher than the speed of the transport vehicle during the acquisition of storage data in the region of the first and / or second expected gap between piece goods.

23. The method (100) according to claim 11 or 22, wherein the speed of movement of the transport vehicle (3) from a first expected gap between piece goods to the second expected gap between piece goods is higher than the speed of the transport vehicle during the acquisition of storage data in the region of the first and / or second expected gap.

24. The method (100) according to any one of claims 21 to 23, wherein no storage data are recorded during the movement of the transport vehicle (3) from a first expected gap between piece goods to the second expected gap between piece goods.

25. The method (100) according to any one of claims 16 to 24, wherein a movement of the transport vehicle (3) during the acquisition of storage data at the plurality of measuring points takes place at a first speed, and wherein a movement of the transport vehicle during the acquisition of position data takes place at a second speed which is greater than the first speed.

26. Storage system (1) for storing piece goods (S) comprising a rack aisle unit (2) which has a first storage rack (21a) extending in the longitudinal direction (X), a second storage rack (21b) arranged parallel to the first storage rack and a rack aisle (22) arranged between them, wherein the first and second storage racks (21b) each comprise a plurality of rack compartments (23) arranged in stacked rack levels for receiving piece goods (S), and a transport vehicle (3), in particular a storage and retrieval machine, for storing and / or retrieving piece goods (S), which has a first detection unit (31a) for detecting free storage depths in a shelf compartment (23) as storage data and a second detection unit (31b) for detecting a position of the transport vehicle (3) in the longitudinal direction (X) as position data, wherein the free storage depths each correspond to a distance measured at a measuring point by the first detection unit (31a) in a depth direction (Z) of the shelf compartment (23) between the first detection unit (31a) and a reference element arranged in the shelf compartment (23) or to a defined reference threshold value, characterized in that the storage system (1) further comprises an evaluation unit (27) which is configured to receive the storage data and position data and to specify a target distance and a minimum distance between two adjacently arranged piece goods (S),wherein the target distance is greater than the minimum distance, and to detect an actual distance (6) between two adjacent piece goods (S) based on the determined position data and storage data, to compare this actual distance (6) with the target distance and the minimum distance, and to generate a first instruction with information for a position correction of the adjacent piece goods (S) if the actual distance (6) is between the minimum distance and the target distance, or to generate a second instruction with further information for a position correction of the adjacent piece goods (S) if the actual distance (6) is less than the minimum distance.

27. Storage system (1) according to claim 26, characterized in that the evaluation unit (27) is designed to detect the actual distance (6) between two adjacently arranged piece goods (S) by comparing the associated storage data with a reference threshold value for the determined position data.

28. Storage system (1) according to claim 26, characterized in that the evaluation unit (27) is additionally designed to detect the actual distance (6) between two adjacently arranged piece goods (S) by assigning the actual distance (6) to a range of the position data in which the storage data exceed the reference threshold value.

29. Method (100) for correcting the position of piece goods (S) in a storage rack (21a, 21b) comprising the following steps: Providing (101) a storage system (1), in particular according to one of claims 21 to 23; Moving (102) the transport vehicle (3) in the rack aisle (22) in the longitudinal direction (X), wherein the transport vehicle (3) passes several measuring points; Acquiring (103) storage data at the plurality of measuring points by means of the first acquisition unit (31a) and acquiring position data by means of the second acquisition unit (31b), preferably while the transport vehicle (3) is moving; Transmitting (104) the recorded storage data and position data to and receiving the storage data and position data by the evaluation unit (27); Specifying (105), by means of the evaluation unit (27), a minimum distance and a target distance between two piece goods (S), wherein the target distance is greater than the minimum distance; Determining, by means of the evaluation unit (27), an actual distance (6) between two adjacently arranged piece goods (S) on the basis of the received position data and storage data; Comparing (108) the actual distance (6) with the target distance and the minimum distance; generating (109') a first instruction with information for a position correction of the adjacently arranged piece goods (S) if the actual distance (6) lies between the minimum distance and the target distance; Generating (109") a second instruction with further information for a position correction of the adjacently arranged piece goods (S) if the actual distance (6) is less than the minimum distance; Correcting (110', 110") the position of at least one of the adjacently arranged piece goods (S) according to the first or second instruction.

30. Method (100) according to claim 29, wherein for determining the actual distance (6) between two adjacently arranged piece goods (S) for the determined position data, the associated storage data are compared with a reference threshold value.

31. Method (100) according to claim 30, wherein for determining the actual distance (6), the actual distance (6) is assigned to a range of the position data in which the bearing data exceeds the reference threshold value.

32. Method (100) according to one of claims 29 to 31, wherein the first instruction for a first and / or second piece of goods (S) of the adjacently arranged piece goods (S) specifies that it is to be automatically removed from the shelf compartment (23) and repositioned and delivered therein, wherein the first and / or second piece of goods (S) is removed from the shelf compartment (23) and repositioned and delivered therein when the first instruction has been generated, when the first instruction has been generated, and / or wherein the second instruction for a first and / or second piece of goods (S) of the adjacently arranged piece of goods (S) specifies that it is to be manually removed from the shelf compartment (23) and repositioned and delivered therein, wherein the first and / or second piece of goods (S) is to be manually removed from the shelf compartment (23) and repositioned and delivered therein when the second instruction has been generated, when the position has been generated,wherein the second instruction is displayed on an output unit (28).

33. Method (100) according to one of claims 29 to 32, wherein the acquisition of storage data at the plurality of measuring points and acquisition of position data takes place in the region of an expected gap between the piece goods.

34. The method (100) according to claim 33, wherein a movement of the transport vehicle (3) from a first expected gap between piece goods to a second expected gap between piece goods takes place at a speed which is higher than the speed of the transport vehicle during the acquisition of storage data in the region of the first and / or second expected gap between piece goods.

35. Method (100) according to claim 33 or 34, wherein the speed of movement of the transport vehicle (3) from a first expected gap between piece goods to the second expected gap between piece goods is higher than the speed of the transport vehicle during the acquisition of storage data in the region of the first and / or second expected gap.

36. Method (100) according to one of claims 33 to 35, wherein no storage data are recorded during the movement of the transport vehicle (3) from a first expected gap between piece goods to the second expected gap between piece goods.

37. The method (100) according to any one of claims 29 to 36, wherein a movement of the transport vehicle (3) during the acquisition of storage data at the plurality of measuring points takes place at a first speed, and wherein a movement of the transport vehicle during the acquisition of position data takes place at a second speed which is greater than the first speed.

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