Beacon-supported orientation during turning manoeuvres in a hanging-bag warehouse provided with at least partially autonomously moving hanging bags

Abstract

In order to safely and easily control driving manoeuvres of a self-driven roller adapter (61) for transporting a hanging bag (5) on a branch (707) of a rail network (49), a driving movement along the rail network (49) is carried out by means of a longitudinal dynamic control of the roller adapter (61), the method according to the invention comprising the steps of: driving into the entrance of the branch; carrying out and / or controlling the driving manoeuvre by means of a transverse dynamic control of the roller adapter (61), wherein the driving manoeuvre comprises a selection from the at least two exits of the branch and an exiting of the roller adapter (61) from the selected exit; detecting a pattern (715) on the rail network (49) by means of a sensor device (701) of the roller adapter (61) during the driving manoeuvre and / or after the driving manoeuvre; using the detected pattern (715) to determine the driving manoeuvre which was carried out; and evaluating, by means of an analysis unit (717), the driving manoeuvre which was carried out.

Description

[0001] Beacon-supported orientation during bending operations in a hanging bag warehouse equipped with at least semi-autonomous hanging bags

[0002] The present invention relates to a method for detecting an autonomously performed driving maneuver of a self-propelled rolling adapter at a junction of a rail network, wherein the rolling adapter serves to transport a hanging bag, wherein the junction has an entrance and at least two exits connected to the entrance, comprising the steps:

[0003] Carrying out a travel movement along the rail network by means of a longitudinal dynamic control of the rolling adapter,

[0004] Enter the entrance of the junction,

[0005] Carrying out and / or controlling the driving maneuver by means of a lateral dynamics control of the rolling adapter, wherein the driving maneuver comprises a selection from the at least two exits of the junction and an extension of the rolling adapter from the selected exit.

[0006] Furthermore, the present invention relates to a rolling adapter for transporting a hanging bag on a rail network, in particular for carrying out a method described herein, comprising a longitudinal dynamics control for carrying out a travel movement of the rolling adapter along the rail network, a lateral dynamics control for carrying out and / or controlling a travel maneuver of the rolling adapter at a junction of the rail network, wherein the travel maneuver comprises a selection from at least two exits of the junction and an exit from the selected exit.

[0007] In addition, the present invention relates to a suspended conveyor device comprising a rail network,

[0008] Hanging bags for storing goods, and

[0009] Rolling adapter for transporting the hanging bags along the rail network.

[0010] The present invention also relates to a storage system for picking stored goods, comprising a loading station for loading hanging bags with stored goods, a storage area for storing hanging bags with stored goods, a packing station for unloading the hanging bags and packing the load goods into shipping packages, and an overhead conveyor device described herein which connects the loading station, the storage area and the packing station, and / or an overhead conveyor device described herein which is arranged in the storage area.

[0011] The invention also relates to a rolling adapter for the autonomous or at least semi-autonomous movement of hanging bags, by means of which stored goods can be transported, a hanging bag storage interacting therewith, as well as a crossing of the hanging bag storage and a method according to the device.

[0012] In automated warehouses, production facilities and during goods transport, such as in mail order, it is necessary to load stored goods into and unload them from conveyor containers as automatically as possible. The goods can be stored in these conveyor containers before being delivered and are then transported to a packing station where they are packaged for onward transport to the customer. Transport within the warehouse system is usually carried out via overhead conveyors. The conveyor containers are usually hanging bags that are made like fabric bags and are suspended from a rail system at the top with a type of wire hanger. A conveyor container of this type is known, for example, from WO 2014 / 012965 A1. Its side wall elements are controlled by a rod system 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 conveyor containers are also transferred into a horizontal or inclined position.

[0013] Comparable conveyor containers and associated overhead conveyor devices are known, for example, from DE 102004018 569 A1, EP 2 130 968 A1 or EP 2 196 415 A. The hanging pockets described therein consist of flexible materials in the form of a loop in which the stored goods are held. For loading, these hanging pockets are opened from above in order to be able to insert the conveyed goods into the loop. Unloading takes place by either removing the stored goods from the side of the loop or ejecting them, or, for example, according to EP 2 130 968 A1, by opening the loop downwards. Furthermore, DE 103 54419 A1 discloses a conveyor container which has a relatively rigid and flat plastic wall with a cutout for loading and unloading with stored goods.

[0014] REVISED SHEET (RULE 91) ISA / EP Other material containers are constructed as hanging flat trays made of plastic, which are covered on one side with elastic materials, which clamp the material to be conveyed.

[0015] It is known to load such containers mechanically and unload them manually. A transport cycle is based on the slowest process, which also depends on the quantity of transported goods. In particular, a large number of individual items of storage can slow down loading and / or unloading. For example, the unloading and / or reassembly of disassembled containers can determine the maximum possible transport cycle. EP 2 686 258 B1 relates to an overhead conveyor device with a hanging pocket for the automatic unloading of loaded goods and with an unloading station.

[0016] DE 102018 128 417 A1 describes a method for transporting and sorting a hanging bag suspended from a rolling adapter rolling on a rail network of a sorting system for transporting a stored item, comprising providing the rail network of the sorting system, providing the rolling adapter of the hanging bag rolling on the rail network, providing an electrical drive energy for the rolling adapter and converting the provided electrical drive energy by means of the

[0017] The rolling adapter itself converts kinetic energy for transporting the hanging bag. The rolling adapters are used to suspend and move the hanging bags. For this purpose, the rolling adapters each have two coaxially rotating wheels, a suspension arranged between and supported by the wheels, from which the hanging bag 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 path selected from a plurality of paths.

[0018] 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).

[0019] It is therefore an object of the present invention to safely and easily control driving maneuvers of a self-propelled rolling adapter for transporting a hanging bag or a unit comprising a rolling adapter with an attached hanging bag at a junction of a rail network.

[0020] This object is achieved by a method for detecting an autonomously performed driving maneuver of a self-propelled rolling adapter at a junction of a rail network, wherein the rolling adapter serves to transport a hanging bag, wherein the junction has an entrance and at least two exits connected to the entrance, comprising the steps:

[0021] Carrying out a travel movement along the rail network by means of a longitudinal dynamic control of the rolling adapter (and transporting the hanging bag),

[0022] Enter the entrance of the junction,

[0023] Carrying out and / or controlling the driving maneuver by means of a lateral dynamics control of the rolling adapter, wherein the driving maneuver comprises a selection from the at least two exits of the junction and an extension of the rolling adapter from the selected exit, comprising the further steps:

[0024] Detecting a pattern on the rail network by means of a sensor device of the rolling adapter during the driving maneuver and / or after the driving maneuver,

[0025] Using the detected pattern to determine the driving maneuver performed, and

[0026] Evaluation of the performed driving maneuver using an evaluation unit.

[0027] Using the recognized pattern to determine the driving maneuver performed, and evaluating the driving maneuver performed using an evaluation unit.

[0028] Alternatively or additionally, the driving maneuver performed is determined using the recognized pattern (preferably using an evaluation unit), and / or the driving maneuver performed is evaluated using an evaluation unit.

[0029] The object is also achieved by a rolling adapter for transporting a hanging bag on a rail network, in particular for carrying out a method described herein, comprising a longitudinal dynamics control for carrying out a travel movement of the rolling adapter along the rail network, a lateral dynamics control for carrying out and / or controlling a travel maneuver of the rolling adapter at a junction of the rail network after entering an entrance of the junction, wherein the travel maneuver comprises a selection from at least two exits of the junction and an exit from the selected exit, wherein the rolling adapter further comprises: a sensor device which is designed to recognize a pattern on the rail network during the travel maneuver and / or after the travel maneuver, an evaluation unit which is designed to process the recognized pattern,to determine the driving maneuver performed and further designed to evaluate the driving maneuver performed.,

[0030] The evaluation unit can be mounted on the rolling adapter or on the overhead conveyor. This means that the driving maneuver can be determined and evaluated on the rolling adapter and / or on the overhead conveyor.

[0031] In addition, the object is achieved by a suspended conveyor device, in particular for carrying out a method described herein, comprising a rail network,

[0032] Hanging bags for storing goods, and

[0033] Rolling adapter for transporting the hanging bags along the rail network, wherein the rolling adapter is designed as described herein.

[0034] The rolling adapter is used to transport the hanging bag, even during maneuvers. The hanging bag can be empty or used to transport stored goods. The rolling adapter can be connected to a hanging bag, or it can be a unit consisting of a rolling adapter and an attached hanging bag.

[0035] By recognizing and processing the pattern on the rail network, it is possible to determine which driving maneuver was performed. By evaluating the driving maneuvers, parameters dependent on the driving maneuver, such as one-sided wear, etc., can be determined. It is conceivable that the lateral dynamics control system has moving parts that can be brought into engagement with the branch to induce a steering force. This can lead to wear, such as abrasion, on the rail network and / or the lateral dynamics control system. By determining the driving maneuver or a large number of such driving maneuvers, a count of the driving maneuvers can be carried out, which allows conclusions to be drawn about the wear. The counting can, in particular, take place in each of the rolling adapters themselves, whereby above a predefined threshold, an indication can be given for the inspection or replacement of components. In this way, even one-sided wear can be detected.For example, if the same maneuvers are repeatedly performed on certain rolling adapters, these can be detected and serviced in a timely manner, even if wear is only seen on one side. Evenly worn or less frequently used rolling adapters can be detected and serviced later. Complex wear measurements and / or routine maintenance can be eliminated. The method can preferably be carried out with an autonomously moving storage unit that has a previously described rolling adapter and a hanging bag attached to it, either with or without stored goods inside, ready for storage of stored goods.

[0036] The driving maneuver can be a turn in any direction, i.e., passing the junction with a change in the direction of the rolling adapter. However, the driving maneuver can also be a straight-ahead drive, i.e., passing through the junction without changing the direction of the rolling adapter. In principle, the driving maneuver can comprise a combination of a driving movement, which can be controlled in particular by means of the longitudinal dynamics control, and a lateral movement, which can be controlled in particular by means of the lateral dynamics control. A driving maneuver can also be understood as straight-ahead drive, i.e., only the driving movement without a change in direction.Depending on the arrangement of the pattern on the rail network and the design of the junction, it is possible to detect the pattern using the sensor device during or after the driving maneuver and to use this to determine and evaluate the driving maneuver performed.

[0037] “On the rail network” can be understood to mean that the pattern is attached to a rail of the rail network, or the pattern is arranged along the rail of the rail network.

[0038] The pattern can be a specific arrangement of a signal or signals in the area, i.e., at and / or after the junction. The signals are preferably passive. Preferably, the signals are binary. This represents a particularly simple provision of detectable signals.

[0039] Magnets or tactile cams, or sections with different capacitive and / or conductive properties, for example, can be used as signals. If magnets are used, commercially available magnets, such as neodymium magnets, can be used.

[0040] Since the driving maneuver comprises a selection from at least two exits of the junction and an extension of the rolling adapter from the selected exit, and the pattern on the rail network is recognized by a sensor device of the rolling adapter during the driving maneuver and / or after the driving maneuver, it is optionally possible for the pattern to be recognized on the rail network to be assigned to the respective exit of the junction. By recognizing the pattern, it is thus possible to directly determine which exit was taken, which in turn can be used to determine which driving maneuver was carried out. Direct can be understood to mean that the pattern immediately follows and / or the information can be derived as to which driving maneuver was carried out. Alternatively or additionally, however, it is also conceivable for the recognized pattern to first be evaluated in order to determine which driving maneuver was carried out.Furthermore, it is conceivable that the driving maneuver can be determined or is determined depending on the recognized pattern. The recognition of the pattern, or the recognized pattern, can, in a further alternative, particularly as an input variable, trigger further data-based steps to determine the driving maneuver.

[0041] Preferably, a starting pattern, detectable, for example, by the sensor array, is arranged at the entrance to the intersection on the rail network. If the starting pattern is detected, this can be interpreted as an indication that the vehicle is entering the entrance to the junction, which subsequently initiates the step of recognizing the pattern at the exit taken from the rail network. Thus, by recognizing the starting pattern, the process steps of recognizing the pattern and determining and evaluating the driving maneuver performed can be triggered.

[0042] Preferably, a pattern sequence on the rail network is detected by means of the sensor device of the rolling adapter during the driving maneuver and / or after the driving maneuver, the detected pattern sequence is used to determine the driving maneuver performed, and the driving maneuver performed is evaluated by means of an evaluation unit.

[0043] Accordingly, the rolling adapter may comprise a sensor device configured to detect a pattern sequence on the rail network during the driving maneuver and / or after the driving maneuver, wherein the rolling adapter further comprises an evaluation unit configured to process the detected pattern in order to determine the driving maneuver performed and further configured to evaluate the driving maneuver performed.

[0044] Depending on the design, a pattern sequence can be used instead of the pattern or the pattern and additional patterns on the rail network can be detected during the driving maneuver and / or after the driving maneuver.

[0045] An end pattern and / or a start pattern can be used as an additional pattern, as described below. An end pattern, detectable, for example, by the sensor array, can be arranged at the exit of the crossing on the rail network. If the end pattern is detected, this can indicate the completion of the maneuver. Thus, the process step of pattern recognition can be terminated by detecting the end pattern. If an end pattern is detected, it can also be concluded that no pattern was previously detected.

[0046] During pattern sequence detection, for example, while the rolling adapter is passing by, a serially obtainable and interpretable frame can optionally be read out, which contains three pieces of information: the entry marked by the start pattern, the driving maneuver marked by the (actual) pattern, and the exit marked by the end pattern.

[0047] It is not necessary to provide a start pattern and / or end pattern. However, it is advantageous if the evaluation unit is informed in another way when the driving maneuver begins and / or ends, or at least when the pattern is to be detected. Using only a pattern but no end pattern or start pattern allows for a simpler solution, while still ensuring reliable detection of the driving maneuver.

[0048] Preferably, the sensor device and / or the evaluation unit is signaled, for example by the lateral dynamics control, when the driving maneuver is started and / or ended.

[0049] The pattern can be obtained by providing binary signals in parallel and / or serially. The sensor device can be configured to read the binary signals in parallel and / or serially. For parallel reading, it is advantageous if the sensor device comprises a plurality of sensors arranged offset and / or spaced from one another. The evaluation of the performed driving maneuver preferably comprises the following steps: specifying a fixed pattern associated with a planned driving maneuver,

[0050] Comparison of the recognized pattern with the defined pattern,

[0051] Verification of the driving maneuver performed if the recognized pattern matches the defined pattern, and

[0052] Falsification of the performed driving maneuver if the recognized pattern deviates from the defined pattern and triggering an action.

[0053] The evaluation unit can be designed accordingly to evaluate the driving maneuver carried out by comparing the recognized pattern with a predetermined pattern, verifying the driving maneuver if the recognized pattern matches the predetermined pattern, and falsifying the driving maneuver if the recognized pattern deviates from the predetermined pattern, and executing an action if falsification has occurred.

[0054] If a specific maneuver is planned at a junction with one entrance and multiple exits, such as driving straight ahead, turning right, or turning left, a predefined pattern corresponding to the planned maneuver is specified. After the maneuver is executed or initiated and the pattern is recognized, the recognized pattern is compared with the predefined pattern, and the performed maneuver is verified if the recognized pattern matches the predefined pattern. However, if the recognized pattern deviates from the predefined pattern, the performed maneuver is falsified, and an action is triggered.

[0055] This allows for verification of whether a control instruction from the lateral dynamics control system actually resulted in the desired maneuver. Better orientation of the rolling adapters within the rail network is possible, since for each maneuver through a junction, it is immediately possible to determine, by recognizing the pattern, whether a corresponding control instruction actually resulted in the desired maneuver. This allows for faster responses to undesired maneuvers. Ideally, the pattern recognition and verification / falsification of the maneuver occur in real time, i.e., immediately while passing the junction.

[0056] The longitudinal dynamics control can, in particular, have its own drive, such as an electric motor, and can set at least one driving state from the group: "forward driving, reverse driving, stop, accelerated forward driving, accelerated reverse driving, braked (decelerated) forward driving, braked (decelerated) reverse driving." The lateral dynamics control can, in particular, have electrically controllable steering elements and can set at least one driving state from the group: straight-ahead driving, left turn, or right turn. The longitudinal dynamics control and / or the lateral dynamics control is / are preferably a moving part of the vehicle, in particular as part of the roll adapter.

[0057] Preferably, the overhead conveyor device comprises an output unit which is connected to the evaluation unit and is designed to output a message, preferably optical and / or acoustic, as an action.

[0058] A message, preferably optical and / or acoustic, can be output to an output unit as an action.

[0059] By issuing a message, a subsequent response to a falsified maneuver can be made and, for example, a defect in the rolling adapter or the rail network can be rectified. The output unit can be located on the rolling adapter itself or on the overhead conveyor.

[0060] The sensor device can, for example, be configured to detect magnetic patterns and / or electromagnetic, particularly optical, patterns on the rail network. The sensor device can, for example, comprise Hall sensors configured to detect magnetic patterns. Hall sensors have a high, almost 100% detection rate and can be easily integrated into electrical circuits in a miniaturized form. Furthermore, the sensor device can comprise a proximity sensor, proximity switch, reed switch, position switch, Hall sensor, induction sensor, electromagnetic receiver, or the like.

[0061] The procedure may also include the following steps:

[0062] Specifying a route along the rail network for the rolling adapter by a control device, wherein the rail network has further branches and wherein further driving maneuvers are specified on the further branches according to the route, specifying a corrected route for the rolling adapter as an action by the control device.

[0063] If the rail network comprises further branches, it is advantageous if the overhead conveyor device comprises a control device which is designed to specify a route with further driving maneuvers on the further branches along the rail network to the rolling adapter and to specify a corrected route to the rolling adapter as an action.

[0064] The route includes the junction at which a driving maneuver is currently being performed, as well as further junctions in the direction of travel. Thus, in addition to the driving maneuver currently being processed, further driving maneuvers are specified at the respective further junctions. The control device can therefore specify a corrected route for the rolling adapter as an action. If a driving maneuver is falsified, i.e. if an incorrect driving maneuver was performed, the specified route is no longer correct because the rolling adapter is located at a different point on the rail network than intended. Accordingly, if an incorrectly performed driving maneuver is detected, a reaction can be made based on the falsification of the driving maneuver and a corrected route (for example with the same destination) can be specified.

[0065] The corrected route can be specified by transmitting control commands to a signal processing unit of the rolling adapter for carrying out the driving maneuvers at the subsequent junctions via the control device. The corrected route (and / or the original route) can be specified in full, in part, or maneuver by maneuver by the central control device. Preferably, the control commands are transmitted in the area of ​​the junction of the respective driving maneuver. If the control device is located on the rolling adapter, the corrected route can be specified locally on the rolling adapter.

[0066] If an incorrectly executed maneuver is detected, the rolling adapter can reverse back to the entrance of the junction and begin the maneuver again, which can also be considered a corrected route. In this case, it is advantageous to send a stop signal to subsequent rolling adapters beforehand, causing them to stop or proceed at a reduced speed.

[0067] The control device can be configured to specify the corrected route for executing the driving maneuver according to the corrected route to a signal processing unit of the rolling adapter, preferably in the area of ​​the junction of the respective driving maneuver, by transmitting control commands, for example, to the lateral dynamics control system. However, the corrected route can also be specified internally by recalculating the route, for example, using a graph-based approach.

[0068] The object is also achieved by a storage system for picking stored goods, comprising a loading station for loading hanging bags with stored goods, a storage area for storing hanging bags with stored goods, a packing station for unloading the hanging bags and packing the load goods into shipping packages, and an overhead conveyor device as described herein, which connects the loading station, the storage area and the packing station, and / or an overhead conveyor device as described herein, which is arranged in the storage area.

[0069] This allows for automated processing of stored goods, especially sorting and assembly, thereby achieving the aforementioned advantages. The loading station can also be referred to as the transfer point. The packing station can also be referred to as the unloading station. The storage area can also be referred to as the level.

[0070] Based on the prior art, the present invention is further based on the object of creating a possibility to control driving maneuvers, in particular turning maneuvers at intersections, as safely and easily as possible in a hanging bag warehouse having, in particular, a large number of autonomously or at least partially autonomously movable hanging bags, and in particular to improve orientation on a route through the hanging bag warehouse.

[0071] The object is achieved in a rolling adapter for the autonomous or at least semi-autonomous driving of hanging bags, by means of which stored goods can be transported, which interacts with a hanging bag warehouse and / or with at least one intersection after one of the hanging bag warehouse, by a longitudinal dynamics control for setting a driving state of the rolling adapter, a lateral dynamics control by means of which a travel path branched at the at least one intersection in a network of the hanging bag warehouse can be selectively driven along and a sensor device which interacts with a beacon arrangement of the branched travel path and by means of which a pattern of the beacon arrangement can be recognized by simply driving past beacons of the beacon arrangement, by means of which a driving maneuver carried out by the rolling adapter at one of the intersections can be detected.The driving maneuver can, in particular, be a turn in any direction, i.e., passing through the intersection with a change of direction, or driving straight ahead, i.e., passing through the intersection without changing direction. The recognizable pattern can be converted into data that characterizes the driving maneuver. It is therefore possible to recognize the pattern using the sensor device while driving past the beacon arrangement and to use the data obtained to confirm the driving maneuver, in particular to check whether a control instruction from the lateral dynamics control system led to the desired driving maneuver. This allows the driving maneuver to be controlled safely and easily.The rolling adapters can be better oriented within the hanging bag storage network because, for every maneuver through an intersection, information can be generated by recognizing the pattern, indicating whether a corresponding control instruction will result in the desired maneuver. Detection can therefore be understood as the recording and / or recognition of data, particularly for verifying the maneuver. It is possible to react more quickly to potentially undesired maneuvers. The pattern is preferably recognized and the maneuver verified in real time, i.e. immediately while passing the intersection. The pattern can be a special arrangement of beacons at and / or within the intersection. For this purpose, they can preferably be designed to be passive, and the pattern is determined as the vehicle passes by. Magnets or tactile cams are conceivable, for example.The hanging pocket bearing or the intersection work together advantageously with the roller adapter and are described in more detail below, thus resulting in the advantages mentioned there, to which reference is made here.

[0072] It is also conceivable for the beacon arrangement to have scanning points, for example the end pattern and the start pattern. This makes it possible to detect that either an entrance or an exit has been used. Between these, the beacon arrangement can have a further scanning point, which can, for example, contain the actual pattern that indicates or clearly identifies the driving maneuver. As the vehicle passes, a serially obtainable and interpretable frame can optionally be read out, which contains three pieces of information: entry, identification of the driving maneuver, and exit. However, it is also conceivable to implement the beacon arrangement with only the further scanning point, i.e. without the start and end patterns. This makes it possible to design the beacon arrangement even simpler, while still ensuring reliable detection of the driving maneuver.The longitudinal dynamics control can, in particular, have its own drive, such as an electric motor, and can set at least one driving state from the group: "forward driving, reverse driving, stop, accelerated forward driving, accelerated reverse driving, braked forward driving, braked reverse 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. The longitudinal dynamics control and / or the lateral dynamics control is / are preferably a moving part of the vehicle, in particular as part of the roll adapter.

[0073] A preferred embodiment of the rolling adapter is characterized in that an evaluation unit is connected downstream of the sensor device, by means of which one or more individual sensors of the sensor device can be read in parallel and / or serially to recognize the pattern of the beacons. This enables serial, parallel, or combined binary coding, i.e., conversion of the pattern into information. Preferably, the beacons can be read as the vehicle passes by, and the result of the reading can be converted into binary signals, which can then be processed by the evaluation unit to recognize the pattern.

[0074] It should be noted at this point that, according to the invention, the roller adapters are designed for transporting hanging bags. However, this is by no means limiting. Rather, the roller adapters are equally designed for transporting hanging garments hung on a coat hanger. For example, the hanging garment could be a suit, a business suit, a jacket, or a blazer.

[0075] The problem is also solved at an intersection for a hanging bag warehouse for sorting and / or picking hanging bags that can be suspended from rolling adapters and moved autonomously or at least semi-autonomously on a network comprising the intersection, for picking up stored goods, by means of a beacon arrangement that interacts with the rolling adapters as they pass by and has beacons, wherein the beacons of the beacon arrangement have a pattern by means of which a driving maneuver performed by the rolling adapter at the intersection can be detected. Using the pattern, the driving maneuver can be recognized and, as a result of data thus obtained, validated, preferably in real time, i.e. while the driving maneuver is still being performed. Should a deviation occur during control of the driving maneuver between a desired and the actually performed driving maneuver, for example a turn in an undetermined / undesired direction, a correction can advantageously be made immediately.This correction can be carried out directly by the rolling adapter itself, particularly at the lowest communication level (a communication structure constructed in particular according to a layered architecture). Global communication, for example with a central monitoring authority or control device, is not required. The beacons are preferably designed to be radio-free, but are nevertheless suitable for transmitting information to the passing rolling adapter. This can be done, for example, mechanically using cams or using a magnetic field. The beacons can have magnets for this purpose. The intersection can have different partial arrangement patterns that are characteristic of different routes so that they can be distinguished or recognized when driving past. The rolling adapters can be designed as described above. In this respect, the advantages described above, to which reference is hereby made, also arise.The hanging pocket storage system can be designed as described below. This also results in the advantages described below, to which reference is hereby made.

[0076] A preferred embodiment of the intersection is characterized in that the intersection has curved crossing paths for changes of direction and intersecting straight-ahead paths for straight-ahead travel, wherein the crossing paths each have a first partial arrangement pattern of the beacons, for example exactly one of the beacons, and the straight-ahead paths each have a second partial arrangement pattern, for example exactly two of the beacons at an entrance and exit. When passing an entrance and, with a time delay after passing the switch at the exit, identical signals can be triggered by each of the two beacons. At the entrances and exits, the switches can be connected to the rest of the network, for example another crossing or a section of track at a connection point. This means that identical signals, for example a first signal, are produced at each of the connection points.This can therefore clearly signal entry into and exit from the intersection. The beacons can be mounted at the connection points or entrances / exits of the intersection in such a way that the first signal can be generated omnidirectionally, i.e. regardless of the direction in which the vehicle is entering and exiting the intersection. Together with direction of travel information available to the rolling adapter, this or the evaluation unit can determine whether an intersection is currently being passed. The direction of travel information can be fed to the evaluation unit of the rolling adapter for security purposes. Between the connection points or entrances / exits of the intersection, one beacon V can trigger a second signal in the intersection travel paths and a third signal - in this case a zero signal, since no beacon V is present - in the straight-ahead travel paths.This allows the straight and curved routes to be clearly distinguished from one another, regardless of the direction or entrance to the intersection. Another special feature is that the second signal can be generated in a direction-dependent manner. This also makes it possible to distinguish the direction of a turning maneuver. For this purpose, the beacons can be installed on both sides of the connecting points, thus making them independent of the direction of travel, and on one side of the curved crossing routes, thus making them independent of the direction of travel. This allows three routes to be distinguished from one another—for example, turning right, turning left, and going straight ahead—preferably regardless of the connecting point used to enter and exit the intersection.This minimal coding with two beacons each and two individual sensors for detecting the beacons during a pass, i.e., a two-bit code of the set (no beacon, one beacon on each side, one beacon on the left in the direction of travel, one beacon on the right in the direction of travel), is sufficient to detect the maneuver through the intersection. The intersection and / or network are preferably carrier-free, drag-chain-free, and / or actuator-free. This reduces the complexity of the network and / or intersection, particularly allowing for simple construction, installation, and maintenance.

[0077] A further alternative design of the intersection is characterized in that the intersection is constructed to be essentially rotationally symmetrical with regard to installation options in the network and / or with regard to detectability of the first and second partial arrangement patterns, in particular rotationally symmetrical. Rotationally symmetrical can be understood to mean that an installation position rotated by 90 degrees results in identical function of the travel paths within the intersection as well as of the pattern or partial arrangement patterns. Small differences that have no influence on the detection of the partial arrangement patterns and / or the installation of the intersection in the network and / or the resulting travel paths, for example labeling, manufacturing features, stiffeners, embossing, etc., can be disregarded and do not necessarily have to be understood as rotationally symmetrical.

[0078] Finally, the intersection can be characterized by the fact that the beacons, particularly those attached and / or embedded in the traffic lanes of the intersection, have magnets by means of which the sensor device of the rolling adapter can be switched / triggered. The magnets can be commercially available magnets, for example, neodymium magnets. Magnets can be read or detected very easily and reliably using sensors such as reed switches, Hall sensors, etc. Typically, a binary signal can be generated from this.

[0079] The object is further achieved in a hanging bag storage system with a network that interacts with a previously described rolling adapter, wherein the rolling adapter and hanging bags suspended therefrom can be moved autonomously or at least semi-autonomously on the network and / or with at least one intersection by a first partial arrangement pattern of the beacons or two of the beacons in each case at connection points of the intersection at which the intersection can be connected to the network, and a second partial arrangement pattern of the beacons or one of the beacons in each case in the curved intersection travel paths. Preferably, the straight-ahead travel paths that lead straight through the intersection do not have any of the beacons between the connection points, as a third partial arrangement pattern.It is also conceivable to implement the third partial arrangement pattern with existing beacons, in this case with a third partial arrangement pattern that differs from the first and second, for example with a number of beacons that differs from the number one or two. As an alternative to providing zero beacons, serial coding using beacons arranged one after the other or arranged at a third position, for example centrally and readable by a third sensor, would also be conceivable. The beacons enable direct communication between the rolling adapters and the network, in particular with the network intersections. This enables immediate feedback to the rolling adapters as to whether a taken actual route corresponds to a set target route. To set the actual route, the rolling adapters can have steering elements, with the intersections being designed to be passive.However, communication is also possible with active or semi-active crossings or set points. The suspended pocket bearing interacts with a previously described rolling adapter and / or has a previously described crossing. This results in the advantages described above, to which reference is also made.

[0080] Finally, the object is a method for the autonomous or at least semi-autonomous driving of a rolling adapter by means of a traveling longitudinal and lateral dynamics control, in particular a previously described rolling adapter, for hanging bags, by means of which eager goods can be transported, which interacts with another hanging bag warehouse having at least semi-autonomously or autonomously movable hanging bags, in particular a previously described hanging bag warehouse, by: Randomly driving along a route having intersections in a network of the hanging bag warehouse by means of the longitudinal and lateral dynamics control of the rolling adapter, Recognition of a pattern of a beacon arrangement while driving along the route, in particular a route of the intersection of the network, Determination of information characterizing a driving maneuver of the rolling adapter of the current travel, such as turning right, left or driving straight ahead, preferably in real time, of the junction depending on the pattern.Direct feedback on the currently traveled route can be generated. This can increase robustness against undesired driving maneuvers. A pattern can be understood as any design, coding and / or transmission by means of which information can be generated, in particular when the rolling adapter passes the beacon arrangement, preferably in real time. Preferably, it can also be understood as a spatial arrangement of individual beacons in the beacon arrangement. One embodiment of the method is carried out with serial readout of the beacons or parallel readout of several of the beacons by means of or parallel and serial readout of several of the beacons. The arrangement of the beacons, i.e. the pattern, can be varied, whereby the desired information characterizing the route through the intersection can be obtained through appropriate serial and / or parallel interpretation. This can be done using the evaluation unit.

[0081] According to alternatives to the method, the following interpretation processes for generating the information are possible, in particular immediately when driving past the beacons, whereby the rolling adapter can recognize the following patterns and assign them to the driving maneuver: temporally offset double detection of two of the beacons for driving straight ahead, temporally offset double detection of two of the beacons, single detection, in particular on one side of the rolling adapter / intersection travel path, of one of the beacons at a first position and repeated double detection of two of the beacons for turning in a first direction and temporally offset double detection of two of the beacons and single detection, preferably on the other side of the rolling adapter / intersection travel path, of one of the beacons at a second position deviating from the first position and repeated double detection of two of the beacons for turning in a second direction.This makes it extremely easy to detect the respective path through the intersection. In a simple design, only two to three readouts, a maximum of two beacons per readout, and only two sensors are required to make the evaluation unit distinguishable between the paths.

[0082] The rolling adapter, the intersection, and / or the hanging pocket storage system are preferably configured, designed, constructed, and / or programmed to carry out the method described above. In this respect, the advantages described above also arise.

[0083] Further advantages emerge from the subclaims and the following description of a preferred embodiment.

[0084] The invention is explained in more detail below using an exemplary embodiment illustrated in the figures. They show:

[0085] Figure 1 is a schematic three-dimensional view from the side at the front and top of a hanging pocket storage system;

[0086] Figure 2 is a schematic side view of a hanging pocket for the hanging pocket storage shown in Figure 1;

[0087] Figure 3 is a schematic three-dimensional view obliquely from above of several of the hanging pockets shown in Figure 2 on a rail network;

[0088] Figure 4 is a schematic plan view of an intersection / junction of a

[0089] Roll adapters of the network / rail network of the hanging bag storage; and

[0090] Figure 5 is a flow chart of a method for operating a hanging bag warehouse equipped with at least partially autonomous or autonomously movable hanging bags.

[0091] Before the invention is described in detail, it should be pointed out 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 solely to describe particular embodiments and are not used in a restrictive manner. Furthermore, when the singular or indefinite article is used in the description or claims, this also refers to the plural of these elements, unless the overall context clearly indicates otherwise. Figure 1 shows a storage system 1 (which may also be referred to as a hanging pocket storage system) in a schematic three-dimensional view obliquely from the side, front and top.

[0092] The storage system 1 serves for picking stored goods 3 and comprises a storage area 9, 13 (can also be referred to as a level) for storing hanging bags 5 with stored goods 3. A plurality of storage areas 9, 13 arranged vertically one above the other can also be provided. In Figure 1, a total of four storage areas 9, 13 are provided by way of example, whereby, for reasons of clarity, only a first storage area 9 and a second storage area 13 are provided with reference numerals.

[0093] If a plurality of storage areas 9, 13 is provided in the storage system 1, the plurality of storage areas 9, 13 preferably each have a transfer buffer 7, 11, as shown in Figure 1, wherein, for reasons of clarity, only a first transfer buffer 7 and a second transfer buffer 11 are provided with reference numerals. The transfer buffers 7, 11 are preferably arranged vertically one above the other, which is symbolized by a dash-dotted line 27. However, it is also conceivable to arrange only 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.

[0094] If transfer buffers 7, 11 are provided, a vertical conveyor 23, for example a ring conveyor system, can preferably be provided along the imaginary line 27 along which the transfer buffers 7, 11 are arranged. The transfer buffers 7, 11 are advantageously arranged adjacent to the vertical conveyor 23 such that the stored goods 3 can be transferred from the transfer buffers 7, 11 to the vertical conveyor 23 and / or stored from the vertical conveyor 23 into the storage areas 9, 13 or into the transfer buffers 7, 11 of the storage areas 9, 13. The stored goods 3 can be transferred directly to the vertical conveyor 23 or, located in a hanging pocket 5, into the vertical conveyor system 23.

[0095] The storage system 1 further comprises a loading station 53 (can also be referred to as a transfer point) for loading hanging pockets 5 with storage goods 3. Preferably, each hanging pocket 5 is loaded with only one of the storage goods 3. However, loading a hanging pocket 5 with multiple storage goods 3 is also conceivable, provided that they fit in the corresponding hanging pocket 5.

[0096] Optionally, the storage goods 3 are buffered in the loading station 53. Hanging pockets 5 move to the loading station 53, whereupon the hanging pockets 5 are loaded with the (buffered) storage goods 3. Preferably, the hanging pockets move autonomously to a storage location of the storage system 1.

[0097] In addition, the storage system 1 comprises a packing station 55 (can also be referred to as an unloading station) for unloading the hanging pockets 5 and packing the load into shipping packages.

[0098] At the unloading station 55 of the storage system 1, the stored goods 3 can be removed from a vertical conveyor 23 and are available there, preferably in a predetermined or predeterminable sequence 15. It is conceivable for a column of hanging pockets 5 to move from the vertical conveyor 23 into the unloading station 55 in the desired sequence 15, or to be transferred from the vertical conveyor 23 to the unloading station, unloaded there, and then return for further loading. The unloading station 55 can be located inside or outside one of the storage areas 9, 13, preferably in a lowest storage area.

[0099] At least one overhead conveyor device 10 is provided in the storage system 1, which is only roughly indicated in Figures 1 and 3. The overhead conveyor device 10 can be used for receiving, storing, sorting, and / or retrieving stored goods 3 and can be configured either as a pure storage or sorting device. The overhead conveyor device 10 can, for example, connect the loading station 53 and / or the storage area 9, 13 and / or the packing station 55. An overhead conveyor device 10 can also be arranged in the storage area 9, 13.

[0100] Furthermore, roller adapters 61 are provided in the overhead conveyor device 10 for transporting the hanging pockets 5 in a direction of travel along the overhead conveyor device 10. Figure 2 shows a schematic side view of a roller adapter 61 with a hanging pocket 5 for the storage system 1 shown in Figure 1.

[0101] Figure 2 shows a front view of a hanging pocket 5 with stored goods 3 accommodated in the hanging pocket 5. The stored goods 3 are located within a U-shaped, preferably flexible and / or foldable pocket material of the hanging pocket 5. Loading and / or unloading of the stored goods 3 can occur, in particular, from above and / or from the side. The roller adapters 61 and associated hanging pockets 5 can each be integrated into one another or constructed in two parts, preferably with a non-destructive detachable design. - l -

[0102] The rolling adapter 61 preferably comprises a signal processing unit 720, which communicates with a control device 25. The control device 25 can be used to monitor and control the overhead conveyor device 1. Communication between the control device 25 and the signal processing unit 720 is preferably wireless.

[0103] The signal processing unit 720 and / or the control device 25 can each have one or more modules, be designed individually or as an integrated component, and preferably use different radio frequencies and / or transmission protocols.

[0104] It is also conceivable that the hanging pockets 5 are conveyed by means of the vertical conveyor system 23 and unloaded at the unloading station 55 in the desired order and immediately transported back empty to the storage system 1 by means of the vertical 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 travel on to the loading station 53 or to be transported on after unloading.

[0105] The rolling adapter 61 comprises a longitudinal dynamics control system connected to a driven wheel 57 to drive it and perform a travel movement along the rail network 49. The drive energy provided by an energy supply system for the driven wheel 57 is merely indicated in Fig. 2 by the reference numeral 59. The longitudinal dynamics control system can, for example, communicate with the signal processing unit 720, is designed to set travel states, and can, for example, comprise an electric motor. The travel states can, for example, represent stopping and moving forward, preferably: reversing, stopping, and moving forward. Particularly preferably, different speeds and / or transient travel states can be set and / or regulated by the longitudinal dynamics control system.It is advantageous if the following driving states can be set and / or regulated: forward driving, reverse driving, stop, accelerated forward driving, accelerated reverse driving, braked forward driving, braked reverse driving.

[0106] The roll adapter 61 further comprises a lateral dynamics control 709, configured to perform an autonomous or semi-autonomous driving maneuver on a junction 707. A driving maneuver comprises selecting from at least two exits of the junction 707 and exiting the selected exit. By selecting the exit, driving straight ahead, turning left, or turning right can be performed. To perform a driving maneuver, control commands can be transmitted from the control device 25 to the signal processing unit 720, wherein the lateral dynamics control 709 can, for example, act on electrically controllable steering elements of the roll adapter 61 (not shown in detail).

[0107] Figure 3 shows a rough schematic side view of a section of an overhead conveyor device 10. It shows a plurality of the roller adapters 61 shown in Figure 2, including the overhead pockets 5, on a rail network 49 of the overhead conveyor device 10. In Figure 3, possible directions of travel of the overhead pockets 5 in the rail network 49 are indicated by a double arrow 51. The rail network 49 is only roughly schematic and shown in sections in Figure 3. The drive energy provided by an energy supply system for the driven wheel 57 is merely indicated in Figure 3 by reference numeral 59.

[0108] Insofar as the terms X-direction, Y-direction and Z-direction are used in this application, this can be understood as a Cartesian coordinate system traveling with the hanging pockets 5 or rolling adapter 61, in particular their drive, wherein the X-direction can characterize a direction of travel, the Y-direction a direction transverse to the direction of travel and, in the case of a planar travel movement, horizontal, and the Z-direction a vertical direction perpendicular to the other axes or vertical axis of the rolling adapter 61 or the hanging pocket 5.

[0109] The rolling adapter 61 also has a sensor device 701. The sensor device 701 is designed to detect a pattern 715 on the rail network 49 during the driving maneuver and / or after the driving maneuver. The sensor device 701 can, for example, be designed to detect magnetic and / or optical patterns 715 on the rail network 49. "On the rail network 49" can be understood to mean that the pattern 715 is attached to a rail of the rail network 49, or that the pattern 715 is arranged along the rail of the rail network 49.

[0110] The recognized pattern 715 can be processed by an evaluation unit 717 to determine the driving maneuver performed and evaluate the driving maneuver performed. The evaluation unit 717 can be arranged, as shown, on the rolling adapter 61, but also (centrally) on the overhead conveyor device 10. This means that the driving maneuver can be determined and evaluated on the rolling adapter 61 and / or on the overhead conveyor device 10.

[0111] Sensor device 701 preferably comprises a Hall sensor configured to detect a magnetic pattern. Hall sensors have a high, nearly 100% detection rate and can be easily integrated into electrical circuits in a miniaturized form. Furthermore, sensor device 701 can comprise a proximity sensor, proximity switch, reed switch, position switch, Hall sensor, or the like.

[0112] The illustrated sensor device 701 comprises, by way of example, a first sensor 703 and a second sensor 705. These are preferably arranged at a distance from one another, for example one above the other in a Z direction or next to one another in the Y direction - wherein an X direction can mean a direction of travel of the rolling adapter 61, a Y direction can mean a direction transverse and horizontal to this direction and the Z direction can mean a direction vertical to the direction of travel, in particular as is customary for identifying driving dynamics processes.

[0113] A sensor device 701, in particular comprising a first sensor 703 and a second sensor 705, enables recognition of binary patterns 715. The activation of the respective sensors 703, 705 occurs by patterns 715, preferably by magnetic and / or optical ones.

[0114] A pattern 715 can be composed of a signal V or of signals V. The signals V can, for example, be arranged next to one another in the Z direction or Y direction and can be recorded simultaneously, i.e. in parallel.

[0115] Patterns 715, formed by signals V arranged one after the other in the X direction, can also be acquired one after the other, i.e., serially. Furthermore, a combination of serial and parallel acquisition is possible.

[0116] A binary pattern 715 can result from a signal V. If a two-digit binary pattern 715 is provided, this can result from two parallel signals V. Thus, the sensor device 701 can recognize the pattern '01' when only the first sensor 703 is activated by a corresponding signal V, the pattern '10' when only the second sensor 705 is activated by a corresponding signal V, and the pattern '11' when both the first sensor 703 and the second sensor 705 are activated by corresponding signals V. If neither the first sensor 703 nor the second sensor 705 are activated (since no signal V is present or detected), no pattern 715 is recognized. In this case, no pattern 715 can also be interpreted as pattern '00'.

[0117] Preferably, sensors 703 and 705 are arranged at a distance in the X direction on the rolling adapter 61, whereby any resulting time offset when reading the signals V or patterns 715 can be compensated. It can be seen that the arrangement of the signals V on the rail network 49 of the hanging bag storage 10 forms patterns 715, which can be detected by the sensor device 701, in particular the sensors 703, 705, as they pass in the X direction.

[0118] Figure 4 shows a schematic plan view of a junction 707 of a rail network 49 of the storage system 1, wherein the rail network 49 can be traveled with self-propelled rolling adapters 61 for transporting a hanging bag 5. The junction 707 shown is, by way of example, constructed rotationally symmetrically and has four curved crossing travel paths 719 and two straight-ahead travel paths 721 intersecting in the middle of the junction 707 designed as an intersection. The travel paths 719 and 721 in the present example can each be connected to the rail network 49 at four connection points 727 (indicated only at one connection point) and are fundamentally bidirectional, but do not allow oncoming traffic.

[0119] Junction 707 is designed such that two of the curved intersection routes 719 with different turning directions and one of the straight-ahead routes 721 share a connecting point 727. Thus, after entering junction 707, a rolling adapter 61 can optionally take one of three exits at one of the connecting points 727, which leads to one of the following maneuvers: turning right, turning left, or driving straight ahead. The four connecting points 727 thus represent entrances or exits of junction 707, depending on the selected direction of travel along routes 719 and 721.

[0120] Furthermore, one of the V signals is arranged in each of the curved crossing paths 719, resulting in a pattern of '01' or '10' depending on the direction of travel. Two V signals are arranged at the connecting points 727, resulting in a pattern of '11'. The arrangement of the patterns 715 is rotationally symmetrical, matching the structure of the junction 707.

[0121] To describe the present method, it is assumed that the rail network 49 (in the page plane of the illustrated figure) is accessed from the left, which is symbolized by a first arrow 729. Thus, the left connection point 727 represents an entrance, whereas the connection points 727 (in the page plane of the illustrated figure) above, below, and right each represent an exit. However, a junction 707 fundamentally has an entrance and at least two exits connected to the entrance.

[0122] As mentioned, the sensor device 701 can detect the pattern '01' when only the first sensor 703 is activated, the pattern '10' when only the second sensor 705 is activated, and the pattern '11' when both the first sensor 703 and the second sensor 705 are activated. If neither the first sensor 703 nor the second sensor 705 are activated, no pattern is detected, or alternatively, the pattern '00' is detected. The respective sensors 703, 705 are activated by signals V, preferably magnetic and / or optical.

[0123] If a self-propelled rolling adapter 61 enters the entrance of the junction 707 on the left (see Figure 4), the rolling adapter can, as mentioned, autonomously perform three driving maneuvers by means of its lateral dynamics control 709: turning right, turning left, or driving straight ahead.

[0124] It is assumed that the route 711 represents a right turn, as shown in Fig. 4. This is symbolized by a second arrow 731.

[0125] At a scanning point a along the route 711a, the entrance already exhibits a pattern '11', which is composed of signals V on both sides. This pattern '11' can be regarded, for example, as a starting pattern for the method according to the invention. If the starting pattern is recognized, this can be regarded as an indication of entering the entrance of the junction 707. This initiates the step of recognizing the pattern 715 at the exit taken from the junction 707, and the method steps described below for recognizing the pattern 715 and determining and evaluating the driving maneuver performed can subsequently be triggered.

[0126] During or after performing a driving maneuver, according to the invention, a pattern 715 is recognized on the rail network 49 by means of the sensor device 701 of the rolling adapter 61.

[0127] In the junction 707 shown in Fig. 4, the selected route 711 has, for example, a turn / curve to the right as seen in the direction of travel and leads via one of the curved intersection routes 719 to a scanning point b of the corresponding curved intersection route 719, which has the signal V arranged laterally to the left of the route 711 as seen in the direction of travel, which results in the pattern '10'.

[0128] An alternative route, for example, has a turn / curve to the left, as seen in the direction of travel. This alternative route leads via one of the curved intersection routes 719 to a scanning point b of the corresponding curved intersection route 719, which has a signal V arranged to the left, as seen in the direction of travel, resulting in the pattern '01'.

[0129] Another alternative route 711, for example, has a straight-ahead route which leads along a straight-ahead route 721 and has no signal V at a scanning point d, which means that no pattern 715 or the pattern '00' results. In the junction 707 shown, all routes 711, after passing through the junction 707, have a signal V arranged to the left and right in the direction of travel at scanning point a (when traveling straight ahead) or scanning point c (when turning right or left), which results in the pattern '11'. This pattern '11' can be regarded, for example, as the end pattern for the method according to the invention. If the end pattern is recognized, this can provide an indication of the completion of the driving maneuver. If no pattern 715 was detected until the end pattern was detected (apart from a possible start pattern) (in Fig. 4, this is when driving straight ahead), the end pattern can serve as pattern 715.

[0130] The recognized pattern 715 can now be used to determine the driving maneuver performed, for example, because the evaluation unit 717 is informed as to which recognized pattern 715 corresponds to which driving maneuver. After determining the driving maneuver performed, the driving maneuver performed can be evaluated. For example, parameters dependent on the driving maneuver, such as one-sided wear, can be determined.

[0131] The evaluation of the performed driving maneuver can also be carried out by specifying a fixed pattern that is assigned to a planned driving maneuver.

[0132] For example, a right turn may be intended. Accordingly, '10' is specified as the fixed pattern, whereby upon entering junction 707, the starting pattern '11' is only recognized to trigger the procedure. Upon passing through junction 707, pattern 715 is recognized and the recognized pattern 715 is compared with the defined (predetermined) pattern. If the recognized pattern 715 matches the specified pattern, the driving maneuver performed is verified. For a right turn, pattern '10' is therefore specified. If pattern '10' is also recognized during intended straight-ahead driving, the recognized pattern 715 corresponds to the specified pattern, and the driving maneuver is verified.

[0133] However, if the recognized pattern 715 deviates from the defined pattern, the driving maneuver performed is falsified and an action A is triggered.

[0134] For example, the intended maneuver may be a right turn, but due to an error, the actual maneuver is a left turn. In this case, the specified pattern is '10', whereas the pattern '01' is detected due to the executed left turn. In this case, the executed maneuver is falsified, and action A is triggered. Of course, the starting pattern '11' can also be detected in advance to trigger the procedure.

[0135] If the vehicle travels straight ahead instead of turning right, the specified pattern is again '10'. However, due to the straight ahead movement, no pattern is initially detected, or the pattern is '00'. In this case, the maneuver performed is falsified, and action A is triggered. Again, the starting pattern '11' can also be detected in advance to trigger the procedure.

[0136] The end pattern '11' can also be taken into account as an indication of the completion of the driving maneuver. This is particularly helpful in the illustrated junction 707 when driving straight ahead, since in this case no pattern 715, or the pattern '00', is recognized, and only after the detection of the end pattern '11' is it determined that no pattern 715 was recognized. When driving straight ahead, however, the end pattern '11' can also serve as pattern 715. At the junction 707 in Fig. 4, however, when driving right or left, it can be taken into account that after the detection of the pattern '10' or '11', respectively, the end pattern '11' is also recognized.

[0137] As action A, for example, a message, preferably optical and / or acoustic, can be output to an output unit 56, schematically shown in Figure 2, which is communicatively connected to the evaluation unit 717. The output unit 56 can be arranged on the overhead conveyor device 10 or on the roller adapter 61. Of course, the start pattern '11' can also be recognized in advance to trigger the process.

[0138] A control device 25 can predetermine a route for the rolling adapter 61 that includes the currently processed maneuver, but also additional branches. Thus, in addition to the currently processed maneuver, further maneuvers are also predetermine on the respective additional branches. In this case, a corrected route for the rolling adapter 61 can be predetermined by the control device 25 as action A. If an incorrect maneuver is performed, the predetermine route is no longer correct because the rolling adapter 61 is located at a different location on the rail network than assumed. Accordingly, upon detection of an incorrectly performed maneuver, a response can be made based on the falsification of the maneuver, and a corrected route can be predetermine.

[0139] The corrected route can be specified, for example, by transmitting control commands from the control device 25 to the signal processing unit 720 of the rolling adapter 61, wherein the control commands specify the driving maneuvers to be carried out on the further junctions.

[0140] Alternatively, if an incorrectly executed maneuver is detected, the rolling adapter 61 can reverse back to the entrance to junction 707 and restart the maneuver, possibly after first sending a stop signal to subsequent rolling adapters 61, causing them to stop or perform the maneuver at a reduced speed. Reversing and restarting the maneuver can also be considered a corrected route.

[0141] In particular, the control device 25 can be part of a suspended conveyor device 10, wherein the suspended conveyor device 10 comprises a rail network 49, suspended pockets 5 for receiving stored goods 5, and rolling adapters 61 for transporting the suspended pockets 5 along the rail network 49.

[0142] The control device 25 is configured to specify a route with further driving maneuvers at further junctions along the rail network 49 for the rolling adapter 61, and to specify a corrected route for the rolling adapter 61 as action A. The corrected route includes the driving maneuvers at the further junctions. This can be done by transmitting control commands from the control device 25 to a signal processing unit 720 of the rolling adapter 61. The control commands are preferably transmitted in the area of ​​the junction of the respective driving maneuver.

[0143] Basically, it is sufficient for the present method if a pattern 715 that can be recognized by means of a sensor device for determining a driving maneuver of the rolling adapter 61 is provided on the rail network 49 during the driving maneuver and / or after the driving maneuver, for example '01' for turning left, '10' for turning right and '11' for driving straight ahead.

[0144] According to the arrangement of the signals V in the intersection 707 shown in Eig. 4, the pattern sequences 715 resulting from the start pattern and end pattern are the following.

[0145] Straight ahead: '11 ' (start pattern at sampling point a), '00' (sampling point d), '11 ' (end pattern at sampling point a) - the pattern '00 ' can also be regarded as no pattern 715;

[0146] Left-hand drive: ' 11 ' (start pattern at sampling point a), '01 ' (sampling point b), ' 11 ' (end pattern at sampling point a): Right-hand drive: '11' (start pattern at sampling point a), '10' (sampling point b), '11' (end pattern at sampling point a)

[0147] This pattern sequence comprising start patterns and / or end patterns can be implemented in the evaluation unit 717. The use of a pattern sequence can be viewed as a serial pattern, with the individual patterns comprising parallel signals V.

[0148] The rotationally symmetrical design of the branch 707 shown in Fig. 4 enables a particularly simple construction and a particularly simple integration into the rail network 49.

[0149] It is not necessary to provide start patterns and / or end patterns. In the example of Fig. 4, the start patterns ' 11 ' and end patterns ' 11 ' can thus be omitted. For straight-ahead travel, a pattern ' 11 ' can be assigned at sampling point d, for example, which can be used to differentiate between turning right, turning left and driving straight ahead. It is also possible to dispense with a pattern at sampling point d. However, it is then advantageous if the evaluation unit 715 is informed in another way when the driving maneuver is started and / or ended or at least when the pattern 715 is to be detected, so that "no pattern", ie the pattern '00', can also be recognized.

[0150] Figure 5 shows a flow diagram of a method for operating a hanging bag device 10 of a storage system 1 equipped with at least partially autonomous or autonomously movable rolling adapters 61.

[0151] In a first step 735, a travel movement along the rail network 49 is carried out by means of a longitudinal dynamic control of the rolling adapter 61 and a driving into the entrance of the junction 707. Furthermore, the driving maneuver is carried out by means of a lateral dynamic control of the rolling adapter 61, wherein the driving maneuver comprises a selection from the at least two exits of the junction 707 and an extension of the rolling adapter 61 from the selected exit.

[0152] As a second step 737, a pattern 715 is detected at the taken exit of the rail network 49 by means of a sensor device 701 of the rolling adapter 61 during the driving maneuver and / or after the driving maneuver.

[0153] In a third step 739, the recognized pattern 715 is used to determine the driving maneuver performed, and the driving maneuver performed is evaluated by an evaluation unit 717. Figure 1 shows a schematic three-dimensional view obliquely from the side, front and top, of a hanging pocket storage system 1.

[0154] The hanging pocket storage system 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.

[0155] Each of the levels 9, 13 of the hanging pocket storage 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.

[0156] The hanging pocket storage system 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, as 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 at an angle to a vertical spatial direction along the line 27.

[0157] 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.

[0158] According to one exemplary embodiment, the stored goods 3 are transferred directly to the ring conveyor system 23. Preferably, the stored goods 3 are 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 movement is preferably carried out 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.

[0159] For this purpose, the hanging pocket storage system 1 comprises a network 49, for example, a rail network, preferably with connecting sections and branches such as crossings and / or switches. This is preferably a grid with straight rails connected to one another by crossings and / or switches. For example, with rectangular meshes.

[0160] In order to store the stored goods 3 in the hanging bag warehouse, this preferably has a transfer point 53, via which the individual stored goods are transferred into individual hanging bags 5. Preferably, only one of the stored goods 3 is transferred per hanging bag 5. However, a transfer of several stored goods 3 into a hanging bag 5 is also conceivable, provided that 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, which for this purpose approach the transfer point 53 and then preferably travel autonomously to a storage location in the hanging bag warehouse 1.

[0161] At an optional unloading station 55 of the hanging bag storage system 1, the stored goods 3 can be 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 it, unloaded there, and then return for further loading. The unloading station 55 can be arranged inside or outside one of the levels 9, 13, preferably on a lowest level.

[0162] 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 or being available there, for example in order to continue to travel or be transported further to the transfer point 53 after unloading.

[0163] Particularly preferably, the hanging pockets 5 are designed so that they travel autonomously through 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 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 such a hanging pocket 5 for the hanging pocket warehouse 1 shown in Figure 1 and

[0164] Figure 3 shows a three-dimensional view of several of the hanging pockets 5 shown in Figure 2, suspended in the net 49 designed, for example, as a rail network.

[0165] For this purpose, wheels 57 are provided on a rolling adapter 61, which can preferably be driven by means of a drive energy, merely indicated by the reference numeral 59, and a drive utilizing this energy. The energy layer 807 is preferably an electrical conductor track for providing electrical energy to the rolling adapter 61, wherein the rolling adapter 61 has a, preferably spring-loaded, current collector for receiving electrical energy via an electrical contact from the electrical conductor track. The hanging pockets 5 can be designed in two parts and comprise a rolling adapter 61 and a pocket material suspended or suspendable therefrom, in particular detachable without destruction, in particular a sagging and / or foldable material in which a stored item 3 can be accommodated. In Figure 3, a possible direction of movement of the hanging pockets 5 in the net 49 is indicated by means of a double arrow 51.The hanging pockets 5, in particular their rolling adapters 61, are configured, programmed, and / or designed for autonomous or semi-autonomous travel on the network 49. For this purpose, these pockets, in particular the rolling adapters 61, can have their own drive, preferably an electric drive, and their own longitudinal and lateral dynamics control.

[0166] By means of the longitudinal dynamics 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. Particular preference is given to setting different speeds and / or transient driving states, in particular in combination with a longitudinal acceleration control / regulation. In a particular 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: “driving forward, reversing, stopping, accelerated forward, accelerated reversing, braked forward, braked reversing”. The lateral dynamics control can in particular have electrically controllable steering elements and can set at least one driving state from the group: driving straight ahead, turning left, turning right.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.

[0167] Particularly preferably, the net 49 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 preferably being 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.

[0168] Figure 2 shows the hanging pocket 5 with the stored goods 3 held therein. The stored goods 3 are located within a U-shaped suspended material, particularly a flexible material. Loading and unloading can occur, in particular, from above and / or from the side.

[0169] In addition to a drive (not shown in detail) and a corresponding control system, the rolling adapter 61 has means for communicating with the central control device 25. These can be designed in different ways, in particular, optionally comprising one or more modules, designed individually or as an integrated component, and preferably having at least different radio frequencies and / or transmission protocols. Furthermore, the rolling adapter 61 of the hanging pocket 5 has a sensor device 701.

[0170] The sensor device 701 preferably has at least one proximity sensor, proximity switch, reed switch, position switch, Hall sensor, or the like. The sensor device is designed to detect the presence of a beacon V of the network 49, explained in more detail in Figure 4, and to output a signal based thereon, preferably a Boolean or binary signal. In particular, the sensor device 701 has a first sensor 703 and a second sensor 705, each of which may have a Hall sensor. These are preferably arranged at a distance from one another. For example, one above the other in a Z direction or next to one another in the Y direction, wherein an X direction may represent a direction of travel of the rolling adapter 61, a Y direction a direction transverse to this direction, and the Z direction a direction perpendicular to the direction of travel, in particular as is customary for identifying driving dynamics processes.

[0171] Then, as the rolling adapter 61 passes by in the Z or Y direction, beacons V arranged next to each other can be detected simultaneously, i.e., in parallel. Beacons V arranged one after the other in the X direction can be detected one after the other, i.e., serially. Furthermore, a combination of serial and parallel detection is possible.

[0172] In addition, the individual sensors 703 and 705 can also be arranged at a distance in the X direction on the rolling adapter 61, whereby any resulting time offset when reading the beacons V can be compensated.

[0173] It can be seen that due to the arrangement of the beacons V on the network 49 of the hanging pocket storage 1 and the sensor device 701, in particular the sensors 703, 705, a pattern of the beacons V can be recognized or detected when passing in the X direction. The pattern can be recorded and interpreted as a serially and / or parallel coded sequence of individual binary signals.

[0174] For this purpose, any computing unit and / or storage unit can be connected downstream of the sensor device 701, here an evaluation unit 717. The evaluation unit 717 interprets an output signal of the sensor device to recognize the pattern of the beacons V.

[0175] As shown in Figure 2, the roll adapter 61 has a lateral dynamics control 709.

[0176] This acts on steering elements of the rolling adapter (not shown in detail) for setting driving maneuvers in intersections 707. One such is shown in Figure 4.

[0177] The lateral dynamics control 709 is assigned to the evaluation unit 717 and, in particular, has this. By means of the evaluation unit, the recognized pattern can be assigned to a driving maneuver. As a result, the lateral dynamics control 709 receives information about a currently performed driving maneuver while driving past the beacons V, preferably in real time. Based on this, a possible correction of a driving maneuver that was not executed as originally intended can be carried out. In particular, directly by means of the rolling adapter 61 itself, which can advantageously carry out both the lateral dynamics control and / or any possible corrections thereof independently or autonomously. It is also conceivable that the sensors 703 and 705 are designed differently and are configured to detect different beacons V. These are preferably designed as Hall sensors, and the beacons V have magnets that can be detected by these.Hall sensors have a high, almost 100% detection rate and can be easily integrated into miniaturized electrical circuits. For this purpose, a circuit board (not shown in detail) can contain two Hall sensors mounted at a distance from each other. This makes it possible to distinguish between possible cases of double triggering by two of the V beacons, single triggering by only one of the V beacons, and no triggering when the network magnets are not present.

[0178] Figure 4 shows a schematic plan view of an intersection 707 of a network 49 of the hanging pocket storage 1 that can be navigated by rolling adapters 61 or hanging pockets 5 connected to the rolling adapters 61.

[0179] Intersection 707 is essentially rotationally symmetrical and features four curved crossing lanes 719 and two straight lanes 721 that intersect in the middle of intersection 707. Routes 719 and 721 can each be connected to network 49 at four connection points 727 and are bidirectional, but generally do not allow oncoming traffic.

[0180] The four connection points 727, which form entrances or exits from the intersection 707 depending on the selected direction of travel on the routes 719 and 721, each have two beacons V of the beacon arrangement 713.

[0181] The intersection 707 is designed such that two of the curved intersection routes 719 with different turning directions and one of the straight-ahead routes 721 share a connecting point 727. From each of the connecting points 727 or after passing by means of one of the rolling adapters 61, a branch can thus be made either to the right, left, or straight ahead.

[0182] Furthermore, exactly one of the beacons V is installed in each of the curved crossing paths 719.

[0183] The attachment of the beacons V at the connection points 727 on the curved intersection travelways forms a pattern 715, which in this case is rotationally symmetrical, in particular with regard to a reading of the beacons V, in particular essentially rotationally symmetrical. The structure of the intersection 707 is similar. At the connection points 727, two of the beacons V are attached as the first partial arrangement pattern 723 on both sides of each possible travelway 711 leading through the intersection 707, exactly one of the beacons V is attached on one side in the curved intersection travelways 719 as the second partial arrangement pattern 725 of the pattern 715, and none of the beacons V are attached in the straight-ahead travelways 721 as the third partial arrangement pattern 733.

[0184] The pattern 715 enables a clear detection of a driving maneuver of one of the rolling adapters 61 leading through the intersection 707. This is explained below using a possible route 711 leading through the intersection 707.

[0185] A first arrow 729 symbolizes the route 711 coming from the rest of the network 49 in the direction of one of the connection points 727 of the intersection 707. The connection point 727 has two of the beacons V at a scanning point a on both sides of the route 711.

[0186] In the continuation of the track 711, this has, for example, a turn / curve to the right as seen in the direction of travel and leads via one of the curved intersection tracks 719 to a scanning point b of the corresponding curved intersection track 719. The scanning point b of the curved intersection track 719 has exactly one of the beacons V on the left side as seen in the direction of travel.

[0187] This is the case for all curved crossing routes 719, whereby when passing through scanning point b in a left-turning direction, this is arranged or scannable on the right as seen in the direction of travel.

[0188] This is the case because the beacons V of all scanning points b are arranged radially inside the curved intersection travel paths 719, as seen from a center point of the intersection 707. An arrangement radially outside would enable the same functionality.

[0189] From scanning point b, the track 711 leads to a scanning point c located at the other end of the curved crossing track 719 of the track 711 being traveled, which is also located at one of the connection points 727 and also has exactly two of the beacons V, thus having the same structure as scanning point a. The differentiation at this point serves to provide clarity in describing the track 711, which at scanning point c flows back into the remaining network 49 of the hanging pocket storage area 1 via the corresponding connection point 727 of the intersection 707 located at the end of the described crossing track 719. This is symbolized by a second arrow 731.

[0190] The straight-ahead routes 721 do not have any of the beacons V at a scanning point d. This results in the following scanning patterns, which, due to the rotationally symmetrical structure, are the same for any passage through the intersection 707 and can be summarized in the following coding table:

[0191] (a, both sides) : (b, one-sided left) : (c, both sides) for a right turn;

[0192] (c, both sides) : (b, one-way right) : (a, both sides) for a left turn; (a, both sides) : (d, no scanning) : (a, both sides) for a straight-ahead drive.

[0193] This coding can be implemented in the evaluation unit. It is clear that different numbers and subarray patterns can also be provided at scanning points a to d for the same functionality. In total, the following two-bit coding is detected and interpreted three times per passage: (No beacon V, one beacon V on each side, one beacon V on the left in the direction of travel, one beacon V on the right in the direction of travel).

[0194] However, the rotationally symmetrical design enables a particularly simple construction and integration into the network 49 as well as assembly of the crossing 707.

[0195] In this possible version, the coding is carried out in a combined serial and parallel manner.

[0196] Figure 5 shows a flowchart of a method for operating a hanging bag warehouse 1 equipped with at least partially autonomous or autonomously movable hanging bags 5. The method is preferably carried out using a previously described hanging bag warehouse 1. Reference is also made to the preceding figures and their description.

[0197] In a first step 735, the intersection 707 is randomly navigated on the track 711 and the remaining network 49 of the hanging bag warehouse 1 by means of the rolling adapter 61, to which one of the hanging bags 5 for transporting one of the stored goods 3 can be attached. In a second step 737, the pattern 715 of the beacon arrangement 713 is recognized while traveling on the track 711. This can be done via the sensor device 701 and the evaluation unit 717 connected to it. In a third step 739, information characterizing a driving maneuver of the rolling adapter 61 during the current travel, such as turning right, left, or driving straight ahead, is then determined, preferably in real time, depending on the recognized pattern 715. Based on this, it is possible to check a control command of the lateral dynamics control of the rolling adapter and, if necessary, to initiate corrective action.

[0198] It should be noted at this point that, according to the invention, the roller adapters are particularly preferably designed for transporting hanging bags and / or as a unit with them. However, this is by no means to be understood as a limitation. Rather, the roller adapters can equally well be designed for transporting hanging garments hung on a clothes hanger. For example, the hanging garment could be a suit, a business suit, a jacket, or a blazer.

[0199] Reference symbol list

[0200] 1 hanging pocket storage (storage system)

[0201] 3 Storage goods

[0202] 5 hanging pockets

[0203] 7 first transfer buffer

[0204] 9 first level

[0205] 11 second transfer buffer

[0206] 13 second level

[0207] 15 Order

[0208] 23 Ring conveyor system (vertical conveyor)

[0209] 25 Control device

[0210] 27 Line

[0211] 49 Network (rail network)

[0212] 51 Double arrow

[0213] 53 Transfer point (loading station)

[0214] 55 unloading station

[0215] 56 Output unit

[0216] 57 wheels

[0217] 59 Drive energy

[0218] 61 rolling adapter

[0219] V Beacon / Signal

[0220] 701 Sensor device

[0221] 703 first sensor

[0222] 705 second sensor

[0223] 707 Intersection / Junction

[0224] 709 Lateral dynamics control

[0225] 711 Track

[0226] 713 Beacon arrangement

[0227] 715 samples

[0228] 717 Evaluation unit

[0229] 719 curved crossing road

[0230] 720 signal processing unit

[0231] 721 Straight-ahead travel path 723 first partial arrangement pattern

[0232] 725 second partial arrangement pattern

[0233] 727 connection point

[0234] 729 first arrow

[0235] 731 second arrow

[0236] 733 third subarrangement pattern

[0237] 735 first step

[0238] 737 second step

[0239] 739 third step a sampling point b sampling point c sampling point d sampling point

Claims

Patent claims 1. A method for detecting an autonomously performed driving maneuver of a self-propelled rolling adapter (61) at a junction of a rail network (49), wherein the rolling adapter (61) serves to transport a hanging bag (5), wherein the junction has an entrance and at least two exits connected to the entrance, comprising the steps: Carrying out a travel movement along the rail network (49) by means of a longitudinal dynamic control of the rolling adapter (61), Enter the entrance of the junction, Carrying out the driving maneuver by means of a lateral dynamics control of the rolling adapter (61), wherein the driving maneuver comprises a selection from the at least two exits of the junction and an extension of the rolling adapter (61) from the selected exit, characterized by the further steps: Detecting a pattern (715) on the rail network (49) by means of a sensor device (701) of the rolling adapter (61) during the driving maneuver and / or after the driving maneuver, Using the recognized pattern (715) to determine the driving maneuver performed, and Evaluation of the performed driving maneuver by means of an evaluation unit (717).

2. Method according to claim 1, characterized in that the evaluation of the driving maneuver carried out comprises the following steps: Specifying a fixed pattern that is assigned to a planned driving maneuver, Comparison of the recognized pattern (715) with the specified pattern, verification of the driving maneuver performed if the recognized pattern (715) matches the specified pattern, and Falsification of the performed driving maneuver if the recognized pattern (715) deviates from the defined pattern and triggering an action (A).

3. Method according to claim 2, characterized by Predetermining a route along the rail network (49) for the rolling adapter (61) by a control device (25), wherein the rail network (49) has further branches and wherein further driving maneuvers on the further branches are specified in accordance with the route, Specifying a corrected route for the rolling adapter (61) as action (A) by the control device (25).

4. Method according to claim 3, characterized by Presetting the corrected route by transmitting control commands to a signal processing unit (720) of the rolling adapter (61) for carrying out the driving maneuvers on the further branches by the control device (25), wherein the control commands are preferably transmitted in the region of the branch of the driving maneuver in question.

5. Method according to one of claims 2 to 4, characterized by Outputting a preferably optical and / or acoustic message to an output unit (56) as action (A).

6. A rolling adapter (61) for transporting a hanging bag (5) on a rail network (49), in particular for carrying out a method according to one of claims 1 to 5, comprising a longitudinal dynamics control for carrying out a travel movement of the rolling adapter (61) along the rail network (49), a lateral dynamics control for carrying out a travel maneuver of the rolling adapter (61) at a junction of the rail network (49) after entering an entrance of the junction, wherein the travel maneuver comprises a selection from at least two exits of the junction and an exit from the selected exit, characterized in that the rolling adapter (61) further comprises: a sensor device (701) which is designed to recognize a pattern (715) on the rail network (49) during the travel maneuver and / or after the travel maneuver, an evaluation unit (717) which is designed to process the recognized pattern (715) in order to determine the driving maneuver carried out and is further designed to evaluate the driving maneuver carried out.

7. Roll adapter according to claim 6, characterized in that the evaluation unit (717) is designed to evaluate the driving maneuver carried out by comparing the recognized pattern (715) with a predetermined pattern, if the recognized pattern (715) matches the predetermined pattern, the driving maneuver is verified, and if the recognized pattern (715) deviates from the predetermined pattern, the driving maneuver is falsified, and if falsification has taken place, an action (A) is carried out.

8. Rolling adapter according to claim 6 or 7, characterized in that the sensor device (701) is designed to detect magnetic patterns (715) on the rail network (49).

9. Rolling adapter according to one of claims 6 to 8, characterized in that the sensor device (701) is designed to detect optical patterns (715) on the rail network (49).

10. Overhead conveyor device (10), in particular for carrying out a method according to one of claims 1 to 5, comprising a rail network (49), Hanging pockets (5) for holding stored goods (3), and Rolling adapter (61) for transporting the hanging bags (5) along the rail network (49), characterized in that the rolling adapter (61) is designed according to one of claims 6 to 9.

11. Overhead conveyor device (10) according to claim 10, characterized in that the rail network (49) comprises further branches, and in that the overhead conveyor device (10) comprises a control device (25) which is designed to assign a route with further driving maneuvers to the rolling adapter (61) on the to specify further branches along the rail network (49) and to specify a corrected route to the rolling adapter (61) as action (A).

12. Overhead conveyor device (10) according to claim 11, characterized in that the control device (25) is designed to specify the corrected route for carrying out the driving maneuvers in accordance with the corrected route to a signal processing unit (720) of the rolling adapter (61), preferably in each case in the region of the branching off of the relevant driving maneuver, by transmitting control commands to the lateral dynamics control.

13. Overhead conveyor device (10) according to one of claims 10 to 12, characterized in that the overhead conveyor device (10) comprises an output unit (56) which is connected to the evaluation unit (717) and is designed to output a preferably optical and / or acoustic message as an action (A).

14. Storage system (1) for picking stored goods (3), comprising a loading station (53) for loading hanging bags (5) with stored goods (3), a storage area (9, 13) for storing hanging bags (5) with stored goods (3), a packing station (55) for unloading the hanging bags (5) and packing the load goods (5) into shipping packages, and an overhead conveyor device according to one of claims 10 to 13, which connects the loading station (53), the storage area (9, 13) and the packing station (55), and / or an overhead conveyor device according to one of claims 10 to 13, which is arranged in the storage area (9, 13).

15. Roll adapter (61) for autonomous or at least semi-autonomous driving of hanging bags (5), by means of which stored goods (3) can be transported in a network (49) of a hanging bag warehouse (1), characterized by: a longitudinal dynamics control for setting a driving state of the roll adapter, a transverse dynamics control (709), by means of which a travel path (711) of the network (49) of the hanging bag warehouse (1) branched at at least one intersection (707) can be selectively driven on, a sensor device (701) which interacts with a beacon arrangement (713) of the branched travel path (711), by means of which a pattern (715) of the beacon arrangement can be recognized by simply driving past beacons (V) of the beacon arrangement (713), by means of which a driving maneuver of the rolling adapter (61) carried out in the at least one intersection (707) can be detected.

16. Roll adapter according to claim 15, characterized in that the sensor device (701) is followed by an evaluation unit (717), by means of which one or more individual sensors (703, 705) of the sensor device (701) can be read out in parallel and / or serially in order to recognize a pattern (715) of the beacons (V).

17. Intersection (707) for a hanging bag warehouse (1) for storing, sorting and / or picking hanging bags (5) for receiving stored goods (3), which can be suspended from rolling adapters (61) according to claim 15 or 16 and can be moved autonomously or at least semi-autonomously on a network (49) having the intersection (707), characterized by: a beacon arrangement (713) which interacts with the rolling adapters (61) when driving past and has beacons (V), wherein the beacons (V) of the beacon arrangement (713) have a pattern (715) by means of which a driving maneuver of the rolling adapter (61) carried out in the intersection (707) can be detected.

18. Intersection according to claim 17, characterized in that the intersection (707) has curved intersection travel paths (719) for a change of direction and intersecting straight-ahead travel paths (721) for straight-ahead travel, wherein the intersection travel paths each have a first partial arrangement pattern (723) of the beacons (V) and the straight-ahead travel paths each have a second partial arrangement pattern (725).

19. Intersection according to claim 18, characterized in that the intersection (707) is designed with respect to a mounting possibility in the network (49) and / or with respect to a detectability the first partial arrangement pattern (723) and second partial arrangement pattern (725) are constructed substantially rotationally symmetrically.

20. Intersection according to one of claims 17 to 19, characterized in that the beacons (V) have magnets by means of which the sensor device of the rolling adapter can be switched / triggered.

21. Hanging bag storage system with a net (49) which interacts with a rolling adapter (61) according to claim 15 or 16, wherein the rolling adapter (61) with the hanging bag (5) suspended thereon can be moved autonomously or at least semi-autonomously on the net (49), and with at least one intersection (707) according to one of claims 17 to 20, characterized in that a first partial arrangement pattern (723) of the beacons (V) or two of the beacons (V) are arranged at connection points (727) of the intersection (707) at which the intersection (707) can be connected to the net (49), and a second partial arrangement pattern (725) of the beacons (V) or one of the beacons (V) is arranged in the curved intersection travel paths (719).

22. Method for autonomously or at least partially autonomously driving a rolling adapter (61) by means of a traveling longitudinal and transverse dynamic control system for hanging bags (5) by means of which stored goods (3) can be transported, which interacts with another hanging bag storage (1) having at least partially autonomously or autonomously movable hanging bags (5) or interacts with a hanging bag storage (1) according to claim 21, characterized by: Optionally driving along a track (711) having intersections (707) in a network (49) of the hanging pocket storage (1) by means of the longitudinal and transverse dynamics control of the rolling adapter (61), detecting a pattern (715) of a beacon arrangement (713) while driving along the track (711), and Determining information characterizing a driving maneuver of the rolling adapter (61) of the current travel along the travel path (711) as a function of the pattern (715).

23. Method according to claim 22, characterized by: serial reading of the beacons (V), or parallel reading of several of the beacons (V), or parallel and serial reading of several of the beacons (V).

24. Method according to claim 22 or 23, characterized in that the rolling adapter (61) recognizes the following patterns and assigns them to the driving manoeuvre: Time-delayed double detection of two of the beacons V for driving straight ahead, time-delayed double detection of two of the beacons V, single detection of one of the beacons V at a first position and repeated double detection of two of the beacons V for turning in a first direction and time-delayed double detection of two of the beacons V, single detection of one of the beacons V at a second position different from the first position and repeated double detection of two of the beacons V for turning in a second direction.

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