Hanging-bag warehouse system intended for storing, picking, sorting and retrieving storage goods and having an interval-buffer carousel

Abstract

A method for operating a hanging-bag warehouse system which is intended for storing, picking, sorting and retrieving storage goods (3) and has a multiplicity of rolling adapters (61) and hanging bags (5), which can be hung or are hung on the rolling adapters (61), wherein, for autonomous travel on a network (49), the rolling adapters (61) each have an accompanying longitudinal-dynamics controller with a distance monitor (40), an accompanying transverse-dynamics controller and an accompanying communications device, and wherein in each case at least one of the storage goods (3) can be stored in the hanging bags (5) and retrieved again, the method involving: - autonomous travel of the rolling adapter (61) on the network (49), - activation of a speed of the rolling adapter (61) by way of the distance monitor (40) of the longitudinal-dynamics controller, - autonomous travel of the rolling adapter (61) into the closed path (56) by means of the accompanying longitudinal-dynamics and transverse-dynamics controllers, - transmission of an endless-travel instruction (44) to the rolling adapter (61), the instruction indicating that endless travel should take place on the closed path (56), - autonomous endless travel of the rolling adapter (61) along the closed path (56) by means of the accompanying longitudinal-dynamics and transverse-dynamics controllers in dependence on the endless-travel instruction (44), - scheduling of the endlessly travelling rolling adapter (61) for retrieval by means of a control device (25), - transmission of a retrieval-travel instruction (48), relating to a retrieval destination, to the scheduled rolling adapter (61) for retrieval purposes, - travel of the scheduled rolling adapter (61) out of the closed path (56) and onward travel of the scheduled rolling adapter (61) to the retrieval destination in accordance with the retrieval-travel instruction (48) for retrieval of the rolling adapter (61) by means of the accompanying longitudinal-dynamics and transverse-dynamics controllers.

Description

[0001] Hanging bag storage system for storage, picking, sorting

[0002] RENTING AND REMOVING STORAGE GOODS WITH INTERVAL BUFFER CARTRIDGE

[0003] Description

[0004] Field of the invention

[0005] The invention relates to a method for operating a hanging bag storage system for storing, picking, sorting and displaying stored goods, a hanging bag storage system according to the method and a rolling adapter for the hanging bag storage system which interacts with components of the hanging bag storage system.

[0006] State of the art

[0007] In automated warehouses, production facilities and during goods transport, such as in mail order, it is necessary to pick up and unload goods from containers as automatically as possible. The goods can be stored in these containers before being delivered and are then transported to the station where they are packaged for onward transport to the customer. Transport within the warehouse is usually carried out using overhead conveyors. The containers are usually made like fabric bags and are suspended from a rail system at the top with a type of wire hanger. A container of this type is known, for example, from WO 2014 / 012965 A1. Its side wall elements are controlled by a rod 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 containers are also transferred into a horizontal or inclined position.

[0008] Comparable conveyor containers and associated overhead conveyor systems are known, for example, from DE 10 2004018 569 A1, EP 2 130 968 A1 or EP 2 196 415 A2. The transport pockets described therein consist of flexible materials in the form of a loop in which the conveyor item is held. For loading, these transport pockets are opened from above in order to be able to insert the conveyor item into the loop. Unloading takes place by either removing the conveyor item from the side or ejecting it, or, for example, according to EP 2 130 968 A1, by opening the loop downwards. Furthermore, DE 103 54419 A1 discloses a conveyor item carrier which has a relatively rigid and flat plastic wall with a cutout for loading and unloading with conveyor item.

[0009] Other material containers are made like hanging, flat plastic trays that are covered on one side with elastic materials, which clamps the material in place.

[0010] It is known to load such containers mechanically and unload them manually. The transport cycle is determined by the slowest process, which also depends on the quantity of transported goods. In particular, a large number of individual items can slow down loading and / or unloading. For example, the unloading and / or reassembly of disassembled transport containers can determine the maximum possible transport cycle. EP 2 686 258 B1 relates to an overhead conveyor system with a transport pocket for the automatic unloading of a loaded piece of goods and with an unloading station. The transport pocket has a horizontal base on which the piece of goods can be stored for transport purposes.The base interacts with a lifting device which is designed to raise the base of the transport bag loaded with at least one piece of goods, when the transport bag is in an unloading position, in a vertical direction in such a way that the at least one piece of goods can be pushed out centrally through an end face of a base body of the transport bag by means of a pushing device, wherein the pushing device has a slide which engages through another end face of the base body into an interior of the base body where the at least one piece of goods is located when the base is raised. For unloading, the two opposite open end faces, the base which can be lifted in the vertical direction and the slider of the pushing device which extends through one of the end faces are therefore required.DE 20 2017 100206 U1 discloses a material container for an overhead conveyor system for transporting material, which container is adjustable between an open position and a closed position. The material container has a base that is mechanically associated with an ejection device. By means of the ejection device, the base can be adjusted between a transport position, in which the material can be stored within the material container, and an ejection position, in which the material can be ejected from the material container.

[0011] DE 10 2018 105 795 A1 discloses a method for loading or unloading a conveyed material held on a flexible material of a conveyed material container by means of a station such as an unloading station and / or a loading station of an overhead conveyor system, as well as a conveyed material container, unloading station, and overhead conveyor system according to the method. The conveyed material container is brought close to the station, where an attractive force is then exerted between the station and the conveyed material container to couple the flexible material of the conveyed material container. The thus coupled conveyed material container is tilted, and the conveyed material is ejected from the conveyed material container in a sliding motion.

[0012] DE 102018 128 417 A1 describes a method for transporting and sorting a sorting pocket suspended from a rolling adapter rolling on a rail network of a sorting system for transporting a piece of goods. The method comprises: providing the rail network of the sorting system, providing the rolling adapter of the sorting pocket rolling on the rail network, providing electrical drive energy for the rolling adapter, converting the provided electrical drive energy by means of the rolling adapter itself into kinetic energy for transporting the sorting pocket, and providing devices according to the method. The rolling adapters serve to suspend and move the sorting pockets.For this purpose, they each have a chassis with two coaxially rotating wheels, a suspension arranged between the wheels and carried by them, on which the sorting pocket is suspended, an electric drive for driving the wheels and a control device or partial control device for autonomously or at least semi-autonomously controlling the rolling adapter along a travel path selected from a plurality of travel paths.

[0013] Furthermore, it is 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). DE 10 2013 001 107 A1, for example, describes a method for establishing a data connection between one or more gateways designed as fixed stations and at least one transport robot, wherein the transport robots establish their data connection to the gateways in the driving environment of the extensive rail network only via channels in the WLAN band not used by the WLAN standard, wherein the data connection is established in channel 1 and / or channel 9 and / or channels 14 and / or 15. This should enable faster channel establishment and faster, uninterrupted data exchange between the transport robots and the gateways arranged in the driving environment. However, it is not possible to reduce the overall radio power density in this way.Summary of the invention.

[0014] Based on this prior art, the present invention is based on the object of enabling storage, retrieval, storage and sorting by means of autonomously moving hanging bags in a hanging bag warehouse with a minimal radio power density and / or minimal communication effort and / or minimal control effort, in particular minimal with regard to global communication between a central control device and the autonomously moving hanging bags.

[0015] The object is to provide a method for operating a hanging bag storage system, designed for storing, picking, sorting and retrieving stored goods, with a plurality of rolling adapters and hanging bags that can be suspended or are suspended from the rolling adapters, wherein the rolling adapters each have a traveling longitudinal dynamics control with a distance control, a traveling transverse dynamics control (and in particular a traveling communication device for establishing at least one data link between a control device and the rolling adapter) for autonomous travel on a network, and wherein at least one of the stored goods can be picked up and retrieved from the hanging bags by autonomous travel of the rolling adapter on the network, controlling a speed of the rolling adapter by means of the distance control of the longitudinal dynamics control,(preferably controlling the speed using the longitudinal dynamics control for autonomous driving and, if necessary, overriding the controlled speed using the distance control if a front rolling adapter is located in front of the rolling adapter), autonomously moving the rolling adapter into the closed route using the moving longitudinal and lateral dynamics control, transmitting a continuous driving instruction to the rolling adapter stating that the closed route is to be traveled continuously, autonomously driving the rolling adapter continuously along the closed route using the moving longitudinal and lateral dynamics control depending on the continuous driving instruction, scheduling the continuously moving rolling adapter for retrieval using a control device, transmitting a retrieval driving instruction to a retrieval destination to the scheduled rolling adapter (in particular to the rolling adapter's communication device) for retrieval,(in particular, storing the retrieval instruction in the rolling adapter and / or the hanging pocket and / or the communication device and / or receiving it via the communication device), extending the scheduled rolling adapter from the closed route and continuing the scheduled rolling adapter to the retrieval destination according to the retrieval instruction for retrieving the rolling adapter by means of the accompanying longitudinal and lateral dynamics control. A plurality of rolling adapters can be located in the closed route.which travel alternately along these routes without further contact with the control device and stop if necessary. This saves the effort required for centrally controlling these travel movements. Thus, despite the numerous travel maneuvers within the closed route, a significantly lower radio power density is sufficient to control the hanging bag storage system. A retrieval destination can be understood as any location within the hanging bag storage system outside the closed route, e.g., to a vertical conveyor such as a paternoster, a packing station, etc. A route to this location can be cleared beforehand if necessary. The term route can be used in this application to mean a route such as the closed route or a data route such as a radio link and / or cable connection. The difference in each case arises from the context. Endless, in particular endless travel,In this application, "endless travel" can be understood as a state that the rolling adapters can assume, which, theoretically without further influences, would be endless, but can actually be terminated by circumstances such as a control command to stop or, for example, the stopping of the front rolling adapter. Endless travel can also be understood, in particular, as a normal entry into the closed track, whereby the position of a flag of a query-dynamic control system of the rolling adapter always remains the same, in particular, controlling the same direction at every junction, so that any exits from the closed track are always passed, resulting in circling. A flag can be understood as an actuating element that influences the lateral dynamics and can be brought into contact with the network to transmit a steering force. Furthermore, autonomous driving takes place with distance control,The distance control can, in principle, always be active, meaning it can also be used outside of the closed track, or alternatively, it can be switched off and used specifically for continuous travel. Using the distance control, the speed of the rolling adapter can be reduced to zero. Alternatively, in a very simple version of the distance control, simply driving up and then, for example, switching off the drive could be sufficient to achieve this effect. Preferably, however, a distance measurement and, based on this, the speed control, in particular,if the front rolling adapter has a speed of zero and / or the actual distance between the rolling adapter and the front rolling adapter falls below a predeterminable or predetermined minimum distance. It is also conceivable and possible to control the distance or speed of the rolling adapter to a front rolling adapter and / or an object using the distance control. This can be done depending on the object in front of the rolling adapter and / or depending on an intervention in the network, such as a pivoting switch flag, barrier, electromagnetic / acoustic energy, in particular a flash of light. The network in this application can be any supporting structure, in particular suitable for load transfer and / or providing traction and / or transmitting a driving force between the rolling adapter and the network, in particular for a traction drive and / or any possibility for guiding a travel path of the rolling adapter.for example, by mechanical and / or optical guidance and / or in the sense of a support structure with a guide, mechanical or optical. Different designs of a network and rolling adapter are published and described, for example, in WO 2023 / 147619 A1 dated August 10, 2023. Preferably, the network can have special mechanical and / or optical devices for guiding the path of the rolling adapters. However, it is also conceivable that the network, while having means for guiding the path, is combined with elements, in particular branches and / or intersections, that can be traversed randomly, in particular autonomously by the rolling adapters. Thus, the advantages of a guided movement can be combined with a traversal of the network, in particular autonomous route finding. Unless the context clearly indicates otherwise and this application refers to controlling or driving,This can be understood in the sense of an open-loop control, i.e., an open-loop control, particularly also to describe a part of a closed-loop control. Control can be understood as a closed-loop control or the underlying technical processes. Autonomous driving, in particular, can be based on closed control loops. "On-board" can be understood as structurally arranged and / or, for example, that the rolling adapters themselves have corresponding means and / or have them on board. In particular, it can be expressed that, in contrast to external and / or remote control, corresponding means for autonomous driving are carried as part of the rolling adapters. This can be distinguished from pure information transmission, for example, a message to retrieve a stored item, which may only meanthat, for example, autonomous driving can be initiated. Through scheduling, particularly in the sense of notification, the hanging bag storage system and the rolling adapter know which of the stored goods is to be moved next. The network is preferably designed passively, whereby a control element of the rolling adapter can be present at junctions and / or intersections for selectively controlling a desired route. Alternatively, it is possible for the network to have control elements, but these can be controlled via corresponding communication links by means of the rolling adapter for autonomously selecting the route. In principle, active elements provided on the network, preferably setting a travel direction of the rolling adapter, are also conceivable and can be combined with the method, particularly at other locations.For example, outside the closed path. However, in a particularly advantageous embodiment of the method, such a requirement can be dispensed with entirely. A plurality can be understood as a set of at least two units.

[0016] One embodiment of the method is characterized by interrupting the autonomous continuous travel before leaving the closed route by stopping the rolling adapter or by stopping the rolling adapter at a predetermined or predeterminable stopping point. This stopping can save energy. It is also possible to shorten the time required to exit the closed route if the rolling adapter is provided stopped at the stopping point. In particular, the route can be cleared and / or the stopping point can be arranged near an exit from the closed route. The stopping point can be an actual, physically existing location on the network, in particular in the form of a device on or at the network.However, it is also conceivable that this is only virtually defined or definable. A stopping point can therefore be understood as any point on the closed track at which the rolling adapter comes to a stop, possibly repeatable as often as desired for one or more of the rolling adapters. In contrast, a stopping of one of the rolling adapters can also be caused by a leading rolling adapter that has been previously removed, for example, by being ready at the stopping point or by being brought to a stop in some other way. In this case, the distance control takes over the control of the stopping without intervention from the central control system.

[0017] In a further embodiment of the method, free autonomous travel of the scheduled rolling adapter is provided on a free stretch of road between the stopping point and an exit of the closed route to leave the closed route after interrupting the endless travel or after stopping at the stopping point. This allows the rolling adapter to leave the closed route particularly easily and quickly. Since travel occurs autonomously, no central control command is required other than a target specification. Alternatively or additionally, stopping the rolling adapter at the stopping point by autonomously executing a control command to stop at the stopping point is also conceivable. If the rolling adapter has received the control command, this can be carried out without further contact, in particular radio contact. The control command can, if necessary, be generated once by the control device and transmitted to the rolling adapter.As soon as the route is clear and / or other criteria, such as sorting criteria, are met, the control command to stop can be canceled and driving can continue.

[0018] Alternatively, the method can also be carried out with a mechanical intervention in the closed section at the stopping point, detection of the mechanical intervention by means of the rolling adapter or by means of the distance control of the rolling adapter and conversion of the detected mechanical intervention into the stopping of the rolling adapter. The closed section can be part of the network, wherein the mechanical intervention can be controllable by means of the control device. This can be done by means of a device, in particular a displaceable object into a travel path and back again between a stopping position and the driving position. In the stopping position, the object acts like a stopped front rolling adapter and can be detected accordingly by the distance control of the rolling adapter, whereby the stopping in front of the object can be controlled.The distance control is used to regulate the speed and / or distance to an obstacle, i.e. the object in the stopping position. This can be done entirely without radio contact with the rolling adapter. The device can be controlled via any data link using the control unit. This can also be wired if necessary and without increasing the radio power density. Alternatively, the stopping point can be part of the network, e.g. in the form of the device that gives a hanging bag or an approaching rolling adapter with a hanging bag attached the command to stop, in particular controlled by the control unit. This can be done, for example, by a mechanical and / or data-based intervention that can be detected by the rolling adapter and converted into a stop.

[0019] According to a further alternative, data intervention in the closed route, detection of the data intervention by the rolling adapter, and implementation of the detected data intervention by stopping the rolling adapter at the stopping point are conceivable. The closed route is part of the network of the hanging pocket storage system accessible to the rolling adapter. The device, which can be arranged at the edge of the network or the closed route, can perform the data intervention, in particular by sending a stop command to the rolling adapter. This can be done locally and directly from the device to the rolling adapter. This allows the data link to be established over a short distance, which can reduce effort, open up different transmission paths, and in particular, reduce the radio power density.

[0020] According to an alternative, a command to stop the approaching rolling adapter can be issued via the device that is part of the network of the hanging pocket system comprising the closed path. This allows intervention into the closed path. The device performs the intervention, thus relieving the load on the central control device. The intervention can be arranged locally in the immediate vicinity of the stopping point.

[0021] The control of the command can be done via the control device of the hanging bag system. Thus, centralized control is possible, while still achieving savings in radio power density and the data paths required for the intervention. Furthermore, it is conceivable for the control device to have decentralized sub-control devices that control one or more of the closed paths.

[0022] Alternatively or additionally, it is also possible to interrupt the continuous travel if the leading rolling adapter is in front of the rolling adapter and has a speed of zero, and to resume the continuous travel if the leading rolling adapter has a speed greater than zero again. This allows the speed to be controlled without any communication effort. This can be achieved using the on-board distance control, which operates individually and autonomously or locally in each of the rolling adapters. This can reduce the load on the radio room and the central control system.

[0023] It is also possible to implement the process by scheduling the rolling adapter for retrieval, transmitting an intermediate travel instruction to the scheduled rolling adapter with the stopping point as the intermediate destination, moving the rolling adapter to the stopping point, and stopping the rolling adapter at the stopping point to interrupt the endless travel. Stopping at the stopping point can, on the one hand, bring all traffic on the closed route to a halt, thereby reducing extraneous movements to a minimum. Stopping at the stopping point may be possible with less control effort and / or a lower radio power density, since, for example, only short distances are required and / or the required radio links can always be set up the same way, enabling more efficient transmission.

[0024] Another possible embodiment of the method provides for transmitting the retrieval travel instruction to a retrieval destination after transmitting the intermediate travel instruction to the scheduled rolling adapter, leaving the stopping point, and then leaving the closed route using the on-board longitudinal and lateral dynamics control system, while controlling the retrieval destination according to the retrieval travel instruction using the on-board longitudinal and lateral dynamics control system. This allows the rolling adapter to be initially made available at the stopping point, which overall enables faster retrieval and faster exit from the closed route.

[0025] It is also conceivable to transmit the intermediate travel instruction with the stopping point as the intermediate destination to any rolling adapter traveling along the closed route if no retrieval planning has / is currently been carried out for any of the hanging pockets located in the closed route and / or the goods stored in the hanging pockets.

[0026] This allows traffic to be stopped along the closed route. This saves time, control effort, power consumption, and energy. As soon as a planning operation is due, the intermediate destination can be canceled, causing the corresponding rolling adapter to start moving again, along with the other rolling adapters waiting behind it. The actual retrieval can be carried out as described above.

[0027] Another option is to stop any rolling adapter traveling along the closed track at the stopping point. This allows for a defined stop with high repeatability.

[0028] A further conceivable implementation can be implemented by transmitting the continuous travel instruction to any rolling adapter if or as soon as one of the rolling adapters is / is scheduled for retrieval (and thereby triggering autonomous and globally control-free continuous travel along the entire continuous route with the rolling adapter and all other rolling adapters located on it, whereby in particular the autonomous travel is started from a standstill into a driving state using the respective traveling distance control). This allows the closed route to be traveled continuously again at a speed greater than zero, and subsequently all other rolling adapters that have come to a stop behind the rolling adapter can also autonomously resume their travel at a speed greater than zero. This can be done autonomously by all rolling adapters using the respective traveling distance control.As a result, the entire endless route can be driven on using all rolling adapters without any additional control effort and / or radio communication, in particular by the central control device and / or communication means located on the network.

[0029] It is also possible to schedule a repeated, continuous travel of the closed track with any rolling adapter according to the continuous travel instruction using the on-board longitudinal and lateral dynamics control system. The closed track is then ready for a repeat of the procedure and / or a piece of cargo already scheduled for retrieval can be retrieved as quickly as possible.

[0030] Furthermore, it is possible to repeat the process for a large number of retrievals and / or to repeat the process in parallel or serially for a large number of sorting stages, in particular serially in a block of the network and a transfer arrangement connected downstream of it, to transmit the intermediate travel instruction to any rolling adapter traveling on the closed route or to the rolling adapter scheduled for the retrieval and / or

[0031] One embodiment of the method involves transmitting the continuous travel instruction to all other rolling adapters traveling along the closed route. The method can therefore be scaled as required, particularly for a high-performance warehouse with a large number of rolling adapters, in particular up to one million, especially more than 500,000, preferably between 70,000 and 500,000 individually and autonomously movable rolling adapters. In this case, radio power density can be kept low despite the large number of rolling adapters in a comparatively small space, thereby enabling desired storage and retrieval of stored goods with higher storage performance compared to individual control of all travel movements. Preferably, automatic stopping or deceleration of the travel can occur if the leading rolling adapter blocks the network or travels slower than the rolling adapter.This can be achieved using the on-board distance control system. A speed adjusted to the traffic present on the closed stretch of road can be controlled autonomously, i.e., without central control effort. Preferably, a first target speed of the rolling adapter, which may be intended for normal travel, can be overridden by a second, slower target speed using the distance control system. The second target speed can be adjusted to the speed of the leading rolling adapter. This allows for convoy travel.

[0032] A continuous driving instruction can be stored in the rolling adapter for continuous travel along a specified or predeterminable closed route. This eliminates the need to retransmit a continuous driving instruction once transmitted. It can be executed without further load on the radio room, especially until another instruction is transmitted to the rolling adapter. This allows continuous travel along the closed route without central control.

[0033] In another preferred variant, the rolling adapter can be stopped (autonomously) at a predefined or predetermined stopping point of the closed track, or at the stopping point depending on the control device. Flexible control of stopping at the stopping point is possible, optionally controlled individually autonomously, locally, or centrally, or in a combination of centrally, locally, and / or individually autonomously. This makes the process highly scalable and flexible to use.

[0034] It is preferably possible for the rolling adapter to leave the closed route, preferably starting from the stopping point in the direction of a predeterminable or predetermined destination point, depending on the control device, and / or to cross one of the shunting roads and / or turn into one of the expressways to leave the closed route. The rolling adapter, in particular the scheduled rolling adapter, can leave the closed route particularly quickly. Removals can be carried out comparatively more quickly.

[0035] According to another alternative, entry into the closed path can be controlled by the control system. This allows for an advantageous combination of autonomous control or autonomous driving and central control with particularly minimal radio room load and central control effort, while still maintaining sufficient knowledge of processes in the hanging bag storage system for controlling the storage and retrieval processes, particularly the loading and unloading processes.

[0036] Another possible embodiment of the method is carried out with provision or autonomous driving of the rolling adapter or the rolling adapter with attached hanging bag in one of the following states:

[0037] Stored in a motionless manner by stopping if the front rolling adapter or a front hanging pocket blocks the network (in particular the network or a local section of the network of the respective closed section of the respective block) in response to the traveling longitudinal dynamic control, stored in a motionless manner and stopped at the stopping point or the imaginary stopping point in response to the non-moving control device and / or stopped there and prepared to leave the closed section, ready to receive for the non-moving control device, addressed for a retrieval process in response to the non-moving control device, in motion to enter the closed section in response to an entry instruction from the non-moving control device, in motion to leave the closed section,In motion to leave the stopping point or the imaginary stopping point, depending on the non-moving control device, powered by electrical energy; in motion for the continuous travel along the closed track after entering, only depending on the moving longitudinal and lateral dynamics control. The global control device is not required for stopping and continuous travel along the closed track. This allows for further reduction of radio power density, enabling very good scalability and performance.

[0038] Finally, it is possible to use multiple paths or data paths such as radio links when (sending the retrieval command from and / or) communicating between the control device and the communication device of the rolling adapter. This enables comparatively flexible and customized communication, which can also contribute to reducing the overall required radio power density. The task is also in a hanging bag storage system for storing, picking, sorting, and retrieving stored goods, with a plurality of rolling adapters and hanging bags that can be suspended or hung from the rolling adapters, wherein the rolling adapters each have a traveling longitudinal dynamic control system with a distance control for autonomous travel on a network,a traveling transverse dynamics control and a traveling communication device, preferably for establishing at least one data link between a control device and the rolling adapter (preferably at least two data links), and wherein at least one of the stored goods can be picked up and retrieved from the hanging pockets, achieved in that the rolling adapter can be driven autonomously on the network, a speed of the rolling adapter can be controlled by means of the distance control of the longitudinal dynamics control, the rolling adapter can be driven autonomously into a closed section of the network by means of the traveling longitudinal and transverse dynamics control, a continuous driving instruction can be transmitted to the rolling adapter, which states that the closed section is to be driven endlessly, the rolling adapter can be driven autonomously and endlessly along the closed section by means of the traveling longitudinal and transverse dynamics control depending on the continuous driving instruction,The continuously moving rolling adapter can be scheduled for retrieval by means of a control device, a retrieval travel instruction to a retrieval destination can be transmitted to the rolling adapter scheduled for retrieval (more precisely, to the communication device of the rolling adapter) (wherein the retrieval travel instruction can be received and / or stored in the rolling adapter and / or by means of the communication device), and the scheduled rolling adapter can be extended from the closed route and moved further to the retrieval destination in accordance with the retrieval travel instruction for the retrieval of the rolling adapter by means of the traveling longitudinal and lateral dynamics control. The global control device is not required for stopping and continuous travel on the closed route. This allows a reduction in radio power density, whereby hanging pocket warehouses with a very large number of hanging pockets, e.g., more than 10,000, in particular 500,000,In particular, more than 1,000,000 and / or with a density of up to 20 hanging pockets per meter, especially between 10 and 20, viewed in the direction of travel or X-direction, as well as good scalability, are possible. The hanging pocket storage system is particularly suitable for implementing the method described above. This also results in the advantages described above, to which reference is hereby made.

[0039] An embodiment of the hanging pocket storage system is characterized in that the hanging pockets or rolling adapters with attached hanging pockets present in the block are designed to assume the states of the following group and have at least one of them in the closed section:

[0040] Motion-free storage by stopping if the front rolling adapter or a front hanging pocket blocks the net (in particular a block of the net) depending on the moving longitudinal dynamic control, motion-free storage and stopped at a stopping point or the imaginary stopping point depending on the non-moving control device and / or stopped there and ready to leave the closed route, ready to receive for the non-moving control device, addressed for a retrieval process depending on the non-moving control device, in motion to enter the closed route depending on an entry instruction from the non-moving control device, in motion to leave the closed route, in motion to leave the stopping point or the imaginary stopping point depending on the non-moving control device, energized by means of electrical energy,In motion for continuous travel along the closed track after entering, only dependent on the accompanying longitudinal and lateral dynamic control. The rolling adapters, together with the rest of the hanging pocket storage system, are configured to perform the previously described procedure. High storage performance can be achieved with minimal external movements, communication effort, and energy consumption. The rolling adapters can be used flexibly and autonomously thanks to their ability to assume the described states.

[0041] A further preferred embodiment of the hanging pocket storage system is characterized in that the imaginary stopping point can be transmitted to the rolling adapter as the destination point of an intermediate travel instruction or can be transmitted to the rolling adapter by means of the control device as the destination point of the intermediate travel instruction and / or the stopping point is part of the network and can be controlled by means of the control device, and / or wherein the hanging pockets in the closed route have a preferred direction of travel, wherein the exit, viewed in the direction of travel, is as far downstream from the inlet as possible, preferably a maximum distance, and upstream is as far as possible from the inlet, preferably a minimum distance. This makes it possible to minimize a travel distance after scheduling, thus minimizing retrieval time and thus maximizing storage performance.

[0042] Finally, a variant of the hanging pocket storage system is conceivable, characterized by a closed line comprising a storage lane, a shunting lane crossing this lane, another storage lane crossing this lane, and another storage lane. This arrangement enables particularly flexible use of the hanging pocket storage system. With this network configuration, other retrieval strategies such as shunting, waiting, and 180-degree relocations are also feasible. This flexibility can, depending on requirements, enable improved scalability, cost-effectiveness, and a broad range of possible applications for the hanging pocket storage system.

[0043] The hanging pocket storage system is preferably designed, configured, and / or programmed to carry out a previously described method. This also results in the advantages explained above.

[0044] Finally, the object is achieved in a rolling adapter for a hanging bag, which interacts with a previously described hanging bag storage system and at least one front rolling adapter of the hanging bag storage system, in that the longitudinal dynamics control of the rolling adapter has a distance control which controls a speed of the rolling adapter depending on an object lying in front of the rolling adapter and / or the front rolling adapter as seen in the direction of travel and / or regulates a distance to the front rolling adapter, and / or controls the speed to zero if the front rolling adapter has a speed of zero and / or an actual distance of the rolling adapter to the front rolling adapter falls below a predefinable or predefined minimum distance. Since the rolling adapter interacts with the hanging bag storage system, the above advantages arise.

[0045] The rolling adapter is preferably designed, configured, and / or programmed to perform a previously described method, particularly in conjunction with the rest of the hanging pocket storage system. This also results in the advantages outlined above.

[0046] The object is furthermore to provide a hanging bag storage system for storing, picking, sorting and retrieving stored goods by means of a control device by means of which the storage, picking and sorting of the stored goods can be controlled and / or a sequence of the stored goods for retrieving the stored goods can be specified, a plurality of hanging bags that can be suspended or suspended from rolling adapters, wherein the rolling adapters or the hanging bags each have a traveling longitudinal and transverse dynamics control and a communication device preferably for establishing at least one data link between a control device and the rolling adapter (preferably at least two data links), and wherein at least one of the stored goods can be received in the hanging bags and retrieved again, a hanging bag warehouse that cooperates with the plurality of hanging bags for storing, picking and sorting the stored goods,with: a level and a network on which the hanging bags can be moved autonomously or at least semi-autonomously by means of the respective longitudinal and lateral dynamic control and at least one block in which the hanging bags can be stored, stored without movement, and retrieved again for retrieval, wherein the hanging bag storage has at least one or a plurality of closed route(s), wherein the closed route(s) can be traveled endlessly by the hanging bags or the rolling adapters with attached hanging bags, has / have an access or the access and an exit as well as a stopping point or an imaginary stopping point,at which, depending on the control device, one of the hanging pockets can be stopped and / or made ready to leave the closed route(s), and only depending on the state of one of the hanging pockets or only depending on the state of one of the hanging pockets and the longitudinal dynamic controls of the rolling adapters of the other hanging pockets, all of these other hanging pockets in the respective closed route can also be stopped. The combination of the autonomously moving rolling adapters with the block results in particularly high flexibility, good picking times, and comparatively low energy consumption in a given sequence. Hanging pockets or stored goods that are not currently required do not have to be moved, which enables comparatively low energy consumption and / or wear. Radio power density can be further reduced. Traveling along the closed route does not require global communication,Stopping at the stopping point only requires global communication between the control device and the corresponding hanging bag. This can be done in advance when a travel command is transmitted, preferably outside the block. This allows radio power density to be further reduced in the block that can perform sorting of the hanging bags. In an alternative embodiment of the hanging bag storage system, the hanging bags stored in the block can be retrieved for retrieval by means of a retrieval command received via the communication device. This allows stored goods to be retrieved centrally.

[0047] In a further embodiment, it is possible for the retrieval command to be sent from the control device to the communication device of the respective hanging bag via a link or a wireless link. In principle, the retrieval command can be sent via at least one link, in particular a radio link, but preferably also via multiple links or data links, e.g., radio links. This can improve transmission reliability.

[0048] Furthermore, it is conceivable for the net or at least the block of the net to be designed horizontally or at least essentially horizontally. This allows for a space-saving hanging pocket storage system to be implemented. Furthermore, a braking device such as an internal, mobile parking brake and / or means not provided for in the infrastructure, such as hooks, magnets, or coupled towing devices, can be dispensed with on the hanging pockets or the rolling adapters, since, in particular, unwanted, driveless, gravity-induced rolling away, which may occur in a stationary state, cannot occur. Furthermore, rolling adapters can be relocated to a new location on the net without any further precautions, in particular by manual gripping and / or for maintenance work. Any unlocking and re-locking of the pockets or rolling adapters can be eliminated.

[0049] A further embodiment of the hanging bag storage system has at least a second level, in each of which the hanging bags and thus the stored goods can be accommodated. The hanging bags with the stored goods can be made available in the respective level of the hanging bag storage for the upcoming retrieval, and a conveyor system, vertical conveyor system and / or ring conveyor system arranged between the levels for transporting the stored goods between the levels. In this way, the vertically available installation space for the hanging bag storage system can be optimally utilized, i.e., as many storage locations and / or sorting capacities as possible can be created on the available floor space. Another alternative embodiment of the hanging bag storage system is characterized by the following:that the predeterminable or predetermined sequence of the stored goods for retrieval across the level and the at least second level can be and / or is produced by means of at least five elements of the hanging pocket storage system of the following group: - at least one of the blocks arranged in the level, at least one further block arranged in the at least one second level, - at least one transfer arrangement for producing and providing the hanging pockets for retrieval in a partial sequence of the transfer arrangement of the level, and / or which is arranged downstream of one of the blocks, - at least one second transfer arrangement arranged in the at least one second level for producing and providing the hanging pockets for retrieval in a partial sequence of the second transfer arrangement of the second level, and / or which is arranged downstream of at least one further block,- the conveyor system, vertical conveyor system, and / or ring conveyor system arranged between the levels and / or downstream of the transfer arrangements for transporting the stored goods between the levels, and / or wherein the sequence can be created and / or assembled and / or combined from the partial sequences of the provisioning devices by means of the conveyor system, vertical conveyor system, and / or ring conveyor system. It is conceivable that parts available for storage and / or sorting, in particular closed routes or endlessly accessible roundabouts, are equally present in the blocks and the transfer arrangements, in particular in different dimensions. For example, comparatively larger in the blocks and comparatively smaller in the transfer arrangements. The blocks and the transfer arrangements can be operated using the same strategy.This can reduce control effort. To optimize and / or adapt to a flow direction of the stored goods through the hanging pocket storage system, the rotary and / or endless sections of the blocks and transfer arrangements can be elongated and arranged in a longitudinal direction or at a 90-degree angle to each other.

[0050] Alternatively or additionally, the hanging pocket storage system can be designed so that the hanging pockets can be moved into at least one block by means of the on-board longitudinal and transverse dynamics control system, and can be stored, stored without movement, and retrieved again under the control of the control device. This eliminates the need for complex conveyor technology such as drag chains, carrier systems, and the like. The network and / or the block of the hanging pocket storage system is / are preferably passive, so that actuating elements on the network can also be omitted. Control processes can be carried out by the on-board transverse dynamics control system without the need for central control by the control device.

[0051] Finally, it is conceivable that the hanging pockets in at least one block could be put into a power-saving sleep state. This could further save energy. The sleep state can preferably be used when the device is idle during storage to save energy. The hanging pockets can be woken up again for retrieval or removal.

[0052] The object is further achieved in a hanging pocket storage system of a hanging pocket storage system or a previously described hanging pocket storage system in that the hanging pockets or rolling adapters with attached hanging pockets present in the block are designed to assume the states of the following group and have at least one of these in the hanging pocket storage system or the block: stored without movement by stopping, if a front hanging pocket blocks the network of the block, depending on the traveling longitudinal dynamics control, preferably only depending on the traveling longitudinal dynamics control; stored without movement and stopped at the stopping point or the imaginary stopping point depending on the non-moving control device and / or stopped there and made ready to leave the closed route; ready to receive the non-moving control device, preferably for traveling to the stopping point and / or a destination;addressed for a retrieval process depending on the non-moving control device; in motion to enter, preferably on the approach, into the closed route depending on the non-moving control device; in motion to leave the closed route, in particular on the exit; in motion to leave the stopping point or the imaginary stopping point, preferably on the exit, depending on the non-moving control device; energized by means of electrical energy;In motion, for continuous travel along the closed track after entering, only depends on the accompanying longitudinal and lateral dynamics control. The global control device is not required for stopping and continuous travel on the closed track. This allows for a reduction in radio power density, enabling suspended pocket storage with a very large number of suspended pockets, e.g., more than 10,000, in particular 500,000, in particular more than 1,000,000 and / or with a density of up to 20 suspended pockets per meter, in particular between 10 and 20, viewed in the direction of travel or X-direction, as well as good scalability. The previously described advantages also arise as part of the suspended pocket storage system.

[0053] A preferred embodiment of the hanging bag storage is designed such that the imaginary stopping point can be transmitted to the rolling adapter as the destination point of a travel instruction or can be transmitted to the rolling adapter by means of the control device as the destination point of a travel instruction and / or the stopping point is part of the network and can be controlled by means of the control device, wherein. It is therefore conceivable that the stopping point is only realized virtually or imaginarily by means of a control by means of the control device, in particular by hanging bags entering the block receiving the stopping point as a destination or intermediate destination and approaching it autonomously. Alternatively, the stopping point can be part of the network, e.g. in the form of a device that issues the command to stop to a hanging bag or an approaching rolling adapter with a suspended hanging bag, in particular controlled by the control device. This can, for example,by a mechanical or data-based intervention that can be detected by the rolling adapter and converted into a stop.

[0054] In another embodiment, it is possible for the closed route to include an eager road, a shunting road crossing this, another storage road crossing this, and another storage road. The closed route can simply be formed by intersecting tracks and can be driven along endlessly using the on-board lateral dynamics control system.

[0055] The object is further achieved in a rolling adapter for a hanging pocket, which interacts with a hanging pocket bearing as described above, in that the longitudinal dynamics control of the rolling adapter has a distance control which controls a speed of the rolling adapter depending on an object lying in front of the rolling adapter and / or the front rolling adapter as seen in the direction of travel and / or regulates a distance to the other rolling adapter. The distance control allows the rolling adapter to stop without global communication, particularly when the closed section is blocked by stopping at the stopping point. In this case, it is possible to allow further hanging pockets to enter the closed section despite the stop. For this purpose, the entrance and exit can be arranged at a distance from one another.The exit can have the greatest possible distance downstream from the approach, preferably the maximum, and the smallest possible distance upstream, preferably the minimum. This allows the approach to remain clear despite the blocked overhead lanes, allowing as many of the overhead lanes as possible to enter the closed section. This can keep a highway as free from congestion as possible for the purposes of inflow or outflow.

[0056] In one embodiment of the rolling adapter, the longitudinal dynamics control of the rolling adapter sets the speed to zero if the front rolling adapter has a speed of zero and the actual distance between the rolling adapter and the front rolling adapter falls below a predeterminable or predetermined minimum distance. The measurement required for this can preferably be performed without or with a comparatively low radio power, so that the hanging pockets stop on the closed path, requiring no or only a minimal amount of radio power.

[0057] Furthermore, in one embodiment, it is provided that the rolling adapter has at least one of the following states and / or is set up, designed and / or programmed to assume the states and / or these can be selectively assumed by the rolling adapter: automatic stopping or slowing down of the journey if the front rolling adapter blocks the network; storing a driving instruction for and / or endless travel along a predetermined or predeterminable closed route; stopping at a predeterminable or predefined stopping point of the closed route or stopping at the stopping point depending on the control; leaving the closed route,Preferably, starting from the stopping point in the direction of a predeterminable or predetermined destination point, depending on the control system, or crossing one of the shunting roads and / or turning into one of the expressways to leave the closed route; entering the closed route depending on the control system. Thus, after being programmed once with a driving instruction to enter the closed route, the rolling adapter can travel autonomously without further connection to the control system or driving instruction until the control system addresses the rolling adapter with a new driving instruction to retrieve the goods. In this case, autonomous travel can be achieved using the on-board arresting and lateral dynamics control system. It is particularly preferable for the sorting and ejection of the hanging bag to take place in several stages.particularly in the blocks and the downstream transfer arrangements. Preferably across several levels together with the vertical conveyor. The vertical conveyor transports the roller adapter together with the hanging pocket and the eager goods contained therein. Two or more sorting elements, in particular endless lines, can be connected or used one after the other and simultaneously in parallel. For example, it is conceivable to address two or more of the stored goods in parallel from two blocks or from two or more of the closed lines from one block and to relocate them to a further endless line of a transfer arrangement downstream of both. This can also be done in parallel on several of the levels if necessary. This allows the sequence to be generated on the level or, in the case of several levels, a multitude of partial sequences.These can then be combined into the desired order of stored goods using the downstream vertical conveyor. The respective transfer arrangement, just like the blocks, features several sorting elements, particularly parallel sorting elements, especially closed sections. This allows for parallel storage, retrieval, and sorting of the hanging pockets and thus the stored goods contained therein. This allows for high performance of the hanging pocket storage system.

[0058] The problem is also solved in a method for controlling a hanging pocket warehouse or for controlling a previously described hanging pocket warehouse by: moving the rolling adapter into the closed track; transmitting a continuous travel instruction to the rolling adapter stating that the closed track is to be traveled continuously; continuously traveling along the closed track; transmitting a retrieval travel instruction to a retrieval destination to the rolling adapter for retrieval; leaving the closed track and controlling the retrieval destination in accordance with the travel instruction for the retrieval of the rolling adapter. The endless track can thus be traveled autonomously without further contact to the control device. For this purpose, only a maximum of two contacts to the control device are required: one instruction to move into the endless track and circle there, and another instruction to leave it again.It is conceivable that only locations are specified, and the hanging pockets or rolling adapters autonomously navigate to these locations, particularly with knowledge of the network, especially the block, and knowledge or a pre-stored routine for circling there. The method can be carried out, in particular, at and / or using the hanging pocket storage system described above. This results in the advantages described above.

[0059] One embodiment of the method is characterized by interrupting the continuous travel if the front rolling adapter is in front of the rolling adapter and has a speed of zero; and resuming the continuous travel if the front rolling adapter again has a speed greater than zero. This can be done using the longitudinal dynamics control system that is traveling along with the vehicle, thus without placing a load on the central control system.

[0060] In a further alternative embodiment of the method, scheduling the rolling adapter for retrieval, transmitting an intermediate travel instruction to the scheduled rolling adapter with the stopping point as the destination, moving the rolling adapter to the stopping point, and stopping the rolling adapter at the stopping point are conceivable. In this case, the intermediate travel instruction from the control device can stop all hanging pockets located in the closed route. Wear and tear and power consumption can be reduced until one of the hanging pockets actually needs to leave the closed route. This applies in particular to the hanging pocket located at the stopping point and / or already scheduled for the next retrieval.

[0061] In a further alternative, the method can be implemented by scheduling the rolling adapter for a retrieval, transmitting a retrieval travel instruction to a retrieval destination after transmitting an intermediate travel instruction to the scheduled rolling adapter, leaving the stopping point, and then leaving the closed route, while approaching the retrieval destination according to the retrieval travel instruction. The retrieval travel instruction can, in particular, be issued with a time delay, whereby the suspended pocket addressed by the control device via the intermediate travel instruction can already move up to the stopping point in preparation. The stopping point is preferably located close to the exit so that the retrieval destination can be reached more quickly.Particularly preferably, the closed section can have a U-shaped design and be used as a first-in, first-out buffer, with the entrance and exit preferably being located at an open end of the U-shaped design. This creates a maximum length of path between the entrance and exit, thus providing maximum capacity for buffering the suspended pockets.

[0062] A further embodiment of the method can be carried out with transmission of the intermediate travel instruction to any rolling adapter traveling on the closed route if no scheduling for the retrieval is currently carried out, and / or transmission of the intermediate travel instruction to the stopping point as the destination or intermediate destination and / or transmission of the continuous travel instruction to any rolling adapter if the rolling adapter is scheduled for retrieval, and / or continuous travel on the closed route with any rolling adapter in accordance with the continuous travel instruction; direct leaving of the stopping point by any rolling adapter.

[0063] Finally, the process can be repeated for a large number of retrievals, transmitting the intermediate travel instruction to any rolling adapter traveling along the closed route or to the rolling adapter scheduled for retrieval, and transmitting the continuous travel instruction to all remaining rolling adapters traveling along the closed route. This ensures that the rolling adapters stop even if none of the hanging pockets is currently scheduled and is waiting at the stopping point for the final retrieval. In this case, any rolling adapter or hanging pocket is sent to the stopping point and stopped there, with all subsequent hanging pockets automatically also stopping.

[0064] Further advantages emerge from the subclaims and the following description of a preferred embodiment.

[0065] Short description of the characters

[0066] The invention is explained in more detail below using an exemplary embodiment illustrated in the figures. They show:

[0067] Fig. 1 is a schematic three-dimensional view obliquely from the side, front and top, of a hanging pocket storage system having a hanging pocket storage system;

[0068] Fig. 2 is a schematic side view of a hanging pocket for the hanging pocket storage shown in Fig. 1;

[0069] Fig. 3 is a schematic side view of several of the hanging pockets shown in Fig. 2 on a rail network;

[0070] Fig. 4 is a schematic view of a plane of a hanging pocket storage system to illustrate a retrieval with a reversal of a direction of movement;

[0071] Fig. 5 is a schematic view of the level of the hanging bag storage to illustrate a retrieval with a circuit of an eager road;

[0072] Fig. 6 is a schematic view of the plane of the hanging pocket storage system to illustrate a retrieval with a circuit / oscillation; and Fig. 7 is a schematic representation to illustrate a method for controlling a hanging pocket storage system with a continuously traversable closed track.

[0073] Detailed description of preferred embodiments

[0074] The invention will now be explained in more detail by way of example with reference to the accompanying drawings. However, the embodiments are only examples and are not intended to limit the inventive concept to a specific arrangement. Before describing the invention in detail, it should be pointed out that it is not limited to the specific components of the device or the specific method steps, since these components and methods can vary. The terms used herein are intended to describe particular embodiments only and are not used in a limiting sense. 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.

[0075] Fig. 1 shows a schematic three-dimensional view from the side front and top of a hanging pocket storage system 2 with a hanging pocket storage 1.

[0076] Depending on the application, the hanging pocket storage unit 1 can have exactly one level, in particular at least one level or preferably at least two levels 9, 13. A total of four levels are shown here, with a first level 9 and a second level 13 being provided with reference numerals by way of example. More or fewer levels are conceivable, e.g., 10 levels or more arranged vertically one above the other.

[0077] 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.

[0078] 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.

[0079] 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.

[0080] In one 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 of the hanging pocket storage system 2. 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 storage system 1 is designed, for example, at least partially or entirely, without drag chains and / or carriers, preferably at least within levels 9, 13.

[0081] For this purpose, the suspended pocket storage system 1 comprises a network 49, e.g., a rail network with connecting sections and branches such as crossings and / or switches. This is preferably a grid with straight rails connected to each other by crossings and / or switches. For example, with rectangular meshes.

[0082] In order to store the stored goods 3 in the hanging bag warehouse, the latter 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, several are also conceivable, provided they fit in the corresponding hanging bag 5. In the transfer point, the stored goods 3 can optionally be buffered and transferred directly into the hanging bags 5, which for this purpose head for the transfer point 53 and then preferably travel autonomously to a storage location in the hanging bag warehouse 1.

[0083] At an unloading station 55 of the hanging bag storage system 1, the stored goods 3 are removed from the ring conveyor system 23 and are available there, preferably in a predetermined or predeterminable sequence 15. It is conceivable for a column of hanging bags 5 to move from the ring conveyor system 23 into the unloading station 55 in the desired sequence 15, or to be transferred from the ring conveyor system 23 to the unloading station, unloaded there, and then return for further loading. The unloading station 55 can be located inside or outside one of the levels 9, 13, preferably on a lowest level.

[0084] 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, e.g. to continue driving or being transported further to the transfer point 53 after unloading.

[0085] Particularly preferably, the hanging pockets 5 are designed so that they travel autonomously along the network 49. Hanging pocket warehouses 1 with autonomously moving hanging pockets 5 are known and are described, for example, in DE 10 2018 128 417 A1, so a more detailed description is omitted here. Preferably, a control device 25 of the hanging pocket storage system 2 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.

[0086] Fig. 2 shows a schematic side view of such a hanging pocket 5 for the hanging pocket storage 1 shown in Fig. 1.

[0087] Fig. 3 is a three-dimensional view of several of the hanging pockets 5 shown in Fig. 2, suspended in the net 49 designed, for example, as a rail network.

[0088] For this purpose, they have wheels 57 and can be driven by a drive energy, merely indicated by reference numeral 59, and a drive utilizing this drive. The hanging pockets 5 can be designed in two parts and have a rolling adapter 61 and a pocket material suspended or suspendable therefrom, in particular detachable without damage, in particular a sagging and / or foldable material, in which a stored item 3 can be accommodated. In Fig. 3, a double arrow 51 indicates a possible direction of movement of the hanging pockets 5 in the net 49. The hanging pockets 5, in particular their rolling adapter 61, are set up, programmed and / or designed for autonomous or semi-autonomous travel on the net 49. For this purpose, they, in particular the rolling adapter 61, can have their own drive, preferably an electric drive, and each have their own longitudinal and lateral dynamics control.The hanging pocket storage system 2 thus comprises the rolling adapters 61 and the hanging pockets 5 suspended or capable of being suspended therefrom. For simplicity, the term "hanging pocket" or "rolling adapter" may be used alone in this application to describe travel states, whereby this may also simultaneously refer to the moving combination or unit / rolling adapter unit of a rolling adapter 61 with the hanging pocket 5 suspended therefrom, particularly in the sense of a pocket body.

[0089] By means of the longitudinal control, at least two driving states from the following group can preferably be set: stop and drive forward. Preferably from the group: drive backward, stop and drive 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: “drive forward, drive backward, stop, accelerated drive forward, accelerated drive backward, braked drive forward, braked drive backward”. 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.

[0090] Preferably, the network 49 can be designed passively, i.e., without any 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.

[0091] Particularly preferably, the net 49 is constructed horizontally or substantially horizontally. "Substantially horizontal" here means that the rolling adapters 61 traveling on it do not roll away automatically due to gravity when stationary, thus they can preferably be constructed without a parking brake. In this case, the drive or drive energy 59 is / are 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.

[0092] Fig. 2 shows the hanging pocket 5 with the stored goods 3 accommodated 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 or from the side.

[0093] 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 or vertical axis of the rolling adapter 61 or the hanging pocket 5 that is perpendicular to the other axes.

[0094] As can be seen in Fig. 2, the hanging pocket 5 comprises, in addition to the drive (not shown in detail) and a corresponding control system, a first transceiver device 205 and a second transceiver device 207. These can be implemented either individually or as an integrated component, preferably having at least different radio frequencies and / or transmission protocols.

[0095] Via these, the hanging pocket 5 can receive or transmit messages via two communication channels with other hanging pockets 5 and / or the control device 25. The messages can therefore be transmitted wirelessly to them or transmitted by them. This can be done optionally via one of the transceiver devices 205 or 207, e.g., depending on a location within the hanging pocket warehouse 1 and / or a current task of the respective hanging pocket 5, such as storing, transporting, retrieving, depositing, buffering, and / or sorting the stored goods 3. Furthermore, it is conceivable to use one of the transceiver devices 205, 207 of the hanging pockets 5 additionally for driving dynamics control, distance control, and / or collision avoidance.

[0096] The collision avoidance can be switched off as soon as the hanging pockets 5 travel through non-critical areas of the hanging pocket warehouse 1, for example the closed route 56 described below.

[0097] Fig. 4 shows a schematic view of a level of a hanging pocket storage system, e.g., level 9 of the previously described hanging pocket storage system 1. Level 9 is only partially shown, but the dimensions and number of individual elements of level 9 described here can be varied depending on the requirements of the hanging pocket storage system 1. Likewise, the number of levels themselves can be varied.

[0098] Unless explicitly stated, reference is also made to the following figures. Level 9, which is only partially shown, has the network 49 with a plurality of rails. The network 49 has, for example, rectangular meshes formed by the rails and crossings, wherein corresponding four-way switches can be provided at mesh nodes. The wheels 57 of the hanging pockets 5 can roll on the rails of the network 9. Movement of the hanging pockets 1 can occur autonomously or at least semi-autonomously. For this purpose, each of the hanging pockets 5 can have its own drive acting on the wheels 57 and a corresponding control system.

[0099] The network 49 can, in principle, be traversed in any direction by the suspended pockets 5. Preferably, the switches are designed to be passive, and the suspended pockets 5 interact with the switches through appropriate steering devices (not shown in detail) to effect desired changes of direction. Movements of the suspended pockets 5 are shown in bold dashed lines in the figure.

[0100] Preferably, however, the network 49 is used and traveled by the hanging pockets 5 – regardless of the previously described free travel and usage options – according to predefined or predeterminable rules. For this purpose, directions, speeds, and preferably types of use can be specified for certain sections of the network 5. In the present case, the network 49 can have at least one storage lane 62 for storing the hanging pockets 5. In the storage lanes 62, one or more of the hanging pockets 5 can be stored in a row 60, symbolized, for example, by a curved bracket. For this purpose, they remain at rest, preferably in a power-saving idle state, parked one behind the other in the row 60 of the corresponding storage lanes 62.

[0101] For display, all of the hanging pockets 5 that are to be moved can be woken up and moved again accordingly.

[0102] In this exemplary embodiment, storage lines 62 are arranged parallel to each other throughout level 9 and are shown horizontally and as solid lines in the figure. The rules and arrangement offer the advantage that material flows during storage and retrieval can be standardized and thus faster, simpler, and free of resource conflicts on network 49.

[0103] The hanging pockets 5 are symbolized in the figure by rectangles. The storage aisles 62 of the hanging pocket warehouse 1 have a cross-over length compared to other areas of the hanging pocket warehouse 1, in particular expressways and / or shunting roads, in particular a length that is at least 1.5 times longer, preferably at least 3 times longer, in particular at least 10 times longer, e.g., between 3 and 25 meters, preferably approximately 20 times longer. The cross-over length can be, for example, between 3 and 20 meters, preferably approximately 15 meters. The length of the storage aisles 62 can be made dependent on the use or optimization of the hanging pocket warehouse 1, e.g., shorter for rapid access and short dwell times of the stored goods 3 and longer for comparatively low handling frequencies.

[0104] The hanging bag warehouse 1 also has shunting lines 66, preferably at least one shunting line 66. The shunting lines 66 are arranged at an angle to the storage lines 62, preferably orthogonally thereto. In the figure, the shunting lines 66 are shown vertically and also in solid lines. Preferably, at least one of the storage lines 62 opens into at least one of the shunting lines 66 at the angle, preferably orthogonally. In contrast to the storage lines 62, stopping for storage purposes is not permitted on the shunting lines 66. A reversal of the direction of movement is optionally possible. In the present case, the storage lines 62, which are combined in blocks 76, open into two of the shunting lines 66 at least on one side, preferably on both sides and at the angle, in particular orthogonally. The blocks 76 each have a plurality of storage lines 62 arranged parallel to one another. In this case 5 each. The number can vary, e.g.between 2 and 30, preferably between 5 and 20, in particular approximately 15. The number can also be adapted to a task of the hanging bag storage 1.

[0105] It is optionally conceivable that the blocks 76 are surrounded by a ring of shunting roads 66. However, expressways 72 are provided at an upper and / or lower end of the respective blocks 76 and parallel to the storage roads 62, preferably directly adjacent to each other.

[0106] In order to achieve a good and rapid outflow of the stored goods 3 or hanging bags 5, a comparatively high speed may be driven on the expressways 72 and, in particular, continuous travel is provided, i.e., stopping without reason is not intended or should be avoided. Reasons for stopping can therefore preferably be limited to collision avoidance. Particularly preferably, the expressways 72 can generally have a directional movement of the hanging bags 5. Furthermore, it is optionally possible for the expressways 72 to be arranged parallel to one another at a certain distance, with the blocks 76 arranged in between. It is conceivable that expressways 72 arranged parallel to one another have opposite specifications for the direction of movement, i.e., at least one pair of expressways 72 arranged parallel to one another is provided with opposite specifications for the direction of movement.Furthermore, the expressways 72 can be arranged at an angle to one another, preferably intersecting at the angle, e.g., arranged orthogonally to one another. In this case, the expressways 72 can be arranged in a grid pattern and preferably with alternating directions of travel. In this way, ring roads surrounding at least one or more of the blocks 76 can be formed, allowing for particularly fast, one-way travel. The alternating directions are indicated in the figure by arrows 78, and the expressways 72 are indicated by dashed lines.

[0107] It can be seen in the figure that, particularly preferably, the storage roads 62 are crossed at least on one side by one of the shunting roads 66, and one of the expressways 72 arranged at an angle to the storage roads 62 runs parallel to the respective shunting road 66. As shown in the figure, it is possible for one of the shunting roads 66 to be arranged parallel to each of the expressways 72 on both sides, with one of the blocks 76 adjacent to each of them, with a plurality of connections and junctions connecting one of the shunting roads 66 to the respective expressway 72 and, in turn, to the storage roads 62 of the respective blocks 76. A grid-like arrangement of at least two, preferably three rails of the network 49 running parallel to one another is thus formed, which, at a distance of the storage roads 62 from the hanging pockets 5, has switches or points that can be navigated at least partially or autonomously.Intersections and limits the trestles 76 orthogonally to the alignment of the storage roads 62 or connects them to the remaining network 49 of the hanging pocket storage 1. The arrangement is divided by the traffic regulations into the shunting roads 66 and the expressways 72, whereby a physical structure can have identical parts of switches and rail sections in order to enable a cost-effective and easily assembled structure.

[0108] In the following, the possible uses of this grid-like arrangement of storage lanes 62, shunting lanes 66, and express lanes 72 are explained in more detail using the example of a relocation. One of the stored goods 3 in the hanging bag warehouse 1 is scheduled for relocation, e.g., retrieval, preferably initially to the unloading station 55. The hanging bag 5 with the planned one of the stored goods 3 is shown dotted in the figure, whereby the stored goods 3 itself contained in the hanging bag 5 is not visible. The planned one of the stored goods 3 can be identical at one or more locations in the hanging bag warehouse 1, whereby a selection can be made based on a criterion before scheduling.

[0109] As can be seen in the figure, the hanging pockets 5 shown in dotted lines are relocated, which is symbolized by a dashed and bold arrow 74.

[0110] Before this can take place, however, the item 3 shown in dotted lines is first scheduled for retrieval. This can be done using the control device 25.

[0111] In order to free up a retrieval path 70 along which the scheduled storage goods 3 can leave row 60, further storage goods 3 are relocated to a shunting line 66, 68 of the hanging bag warehouse 1, shown in solid lines. The shunting line 66 is arranged orthogonally to the storage line 62 and intersects it at a four-way switch at one end of the storage line 62. As soon as the retrieval path 70 is free, the relocation or retrieval of the scheduled storage goods 3 can take place along it, which is symbolized in the figure by the bold and dashed arrow 74. The scheduled storage goods can then optionally be temporarily stored or, if necessary, travel directly to or be conveyed to the unloading station 55, preferably enter the ring conveyor system 23 and be conveyed by this to the unloading station.

[0112] As can be seen in Fig. 4, the direction of movement of the remaining items 3 in row 60 is reversed in order to clear the retrieval path 70, and then the remaining items 3 are moved back into row 60. In this case, three items 3 are moved, preferably in a convoy, out of row 60 into storage lane 62. After the scheduled item 3 has been moved, the three items 3 in row 60 are moved back into storage lane 62 in the opposite direction. This process, with the reversal of the direction of movement, is symbolized in Fig. 4 by a dashed and bold arrow 80. The sequence of the three items 3 is maintained. The shunting lanes 66 can be traveled in the same direction, thereby achieving smoother traffic flow.

[0113] Fig. 5 shows a variant for clearing the retrieval path 70 and relocating the scheduled storage goods 3 along it, wherein the storage line 62 of the hanging bag warehouse 1 is circumnavigated with the other storage goods 3 while maintaining the direction of movement. The relocation of the other storage goods 3 of the row 60 is carried out in the same direction of movement after circumnavigating the storage line 62. This allows the sequence of the other storage goods 3 to be reversed. The circumnavigation of the storage line is symbolized by the arrow 80 in Fig. 5. It can be seen that the entire block 76 with a plurality of storage lines 62 in which the scheduled storage goods 3 are located is circumnavigated. This takes place on a total of four of the shunting lines 66, which are arranged to intersect and surround the block 76.In this exemplary embodiment, at least one of the blocks 76, preferably each of the blocks 76, is surrounded by a ring of shunting roads, i.e. the shunting road 66 and at least one further shunting road 68, preferably four of the shunting roads arranged orthogonally to one another.

[0114] Fig. 6 shows a further possibility for clearing the retrieval path 70 and relocating the planned storage goods 3 along it. For this purpose, the other storage goods 3 are moved in a ring-shaped manner, which is symbolized by the arrow 80, or alternatively in a pendulum movement, which is indicated by a double arrow 88. In contrast, the entire block 76 is not circumnavigated, but rather an additional storage line 64 is used, as indicated by the dashed and bold arrow 80 in Fig. 6. This can preferably take place in an adjacent storage line 62, as shown in Fig. 6, or in any other of the storage lines 62 of the corresponding block 76. When using the additional storage line 64, the shunting lines 66, 68 are traveled over a particularly short section. This allows a comparatively large number of these processes to run in parallel, and sorting and / or access times can be further shortened.As soon as the planned storage goods 3 have arrived at one end of the storage road 62, the removal path 70 is free and it can be relocated, in particular removed, by crossing the shunting road 66 and via the expressway(s) 72, which is symbolized in Fig. 6 by the dashed and bold arrow 74.

[0115] Preferably, the hanging pockets 5 or the stored goods 3 are rotated by 180 degrees for each retrieval. Preferably with an adjacent one of the storage lines 62. The stored goods 3 are therefore swapped between the storage lines 62, preferably between the two adjacent storage lines 62, whereby a sequence of the stored goods 3 is reversed or mirrored in each case and the retrieval takes place in the process. This simplifies inventory management because, although the contents of the respective storage lines 62 are mirrored, they remain intact in their entirety except for the planned storage goods. The arrangement of the individual stored goods 3 within the storage lines 62 is also irrelevant. The planned storage goods 3 can be moved out autonomously and independently of the non-planned storage goods 3. It is also irrelevant which of the storage lines 62 also participates in the rotation.It is only important that the planned one of the storage goods 3 is addressed and that the storage line 62 with this planned one of the storage goods 3 as well as any other, in particular directly adjacent, one of the storage lines 62 participates in at least half, preferably exactly half, of the rotation.

[0116] It is evident that half a rotation is sufficient for each of the storage goods 3 thus moved along the two storage roads 62 to pass exactly once at one of the shunting roads 66, 68, which are arranged on both sides of the front ends of the storage roads 62. At this moment, the planned storage goods 3 leave the circular movement, in particular onto the corresponding one of the shunting roads 66, 68 or by crossing directly onto the adjacent or parallel expressway 72. In this application, circular movement or rotation can also be understood as a movement on a closed track that deviates from a pure circular shape. The shunting roads 66 can be traveled in a constant direction and, due to the circling, are subject to comparatively low traffic loads, which allows for more fluid traffic overall.

[0117] A preferred design of the network 49 is discussed in more detail below. This can be essentially horizontal, i.e., it can do without any downhill sections. The suspended pockets can be driven, in particular, without gravity, preferably electrically. Furthermore, the network 49 can be designed without a driver and / or without a drag chain. Branching paths can have multi-way intersections at junctions, in particular four-way intersections. In this application, intersections can be understood as purely passive branches of the network 49, wherein the intersections and / or the entire network, particularly preferably at least block 76, can be designed without actuating elements. In particular, the branched paths of the intersections can be selectively navigated from the suspended pockets 5 by means of the traveling longitudinal and / or lateral dynamics controls.As can be seen in the figure, the expressways 72 are directly connected to the marshalling roads 66, 68 by means of a plurality of cross-connections 38. The cross-connections 38 can preferably be provided for each storage road 62, 64, 82, and they can also directly connect the respective expressways 72, particularly adjacent to the front end of the respective block 76, crossing the marshalling roads 66, 68.

[0118] As can be seen in Figure 6, at least block 76 of the network 49 of the hanging pocket warehouse 1 can particularly preferably have a plurality of storage lines 62 arranged parallel to one another. These can be designed passively, i.e., without conveyors, drag chains, and / or without carriers. On the plurality of storage lines 62 of block 76, the hanging pockets 5 present there optionally have at least one state from the following group: Stored motionless by stopping if a front hanging pocket 5 blocks the network 49 of block 76, depending on, preferably only depending on, the traveling longitudinal dynamics control; Stored motionless and stopped at the stopping point 50 or the imaginary stopping point 50 depending on the non-moving control device 25 and / or stopped there and prepared to leave the closed section 56, ready to receive the non-moving control device 25;in particular for transporting to the stopping point and / or a new destination, addressed for a retrieval process depending on the non-moving control device 25, in motion for entering, in particular on the access road 54, into the closed route 56 depending on the non-moving control device 25, in motion for leaving the closed route 56, in particular in motion towards or via the exit 52, in motion for leaving the stopping point 50 or the imaginary stopping point 50 depending on the non-moving control device 25, in particular towards or via the exit 52, powered by electrical energy, in motion for the endless travel along the closed route 56 after entering only depending on the moving longitudinal and lateral dynamics control.

[0119] Transverse to the parallel storage lines 62, one of the shunting lines 66 can be arranged on one side, preferably on both sides, with each of the storage lines 62 merging into at least one of the storage lines 62 via one or, in the case of both sides, via two of the preferably passive intersections. A freeway 72 is arranged parallel to each of the shunting lines 66, with a plurality of connections being provided between the respective shunting lines 66 and freeways 72, preferably one per storage line 62.As a result, preferential driving maneuvers of the hanging pockets 5 from the following group can be controlled using their own longitudinal and lateral dynamics control: coming from Lagerstraße 62, turning into Rangierstraße 66, coming from Lagerstraße 62, crossing Rangierstraße 66 and then turning into Expressway 72, coming from Rangierstraße 66, turning into Lagerstraße 62, coming from Expressway 72, turning in the direction of Lagerstraße 62, crossing Rangierstraße 66 and then entering Lagerstraße 62." By repeating these driving maneuvers, endless driving on the closed route 56 can be realized.

[0120] In a further preferred embodiment, it is conceivable that the hanging pockets 5 or the rolling adapter 61 can optionally assume the following states and / or driving states which can be controlled by means of their own longitudinal and transverse dynamics control: automatic stopping or slowing down of the journey if a front hanging pocket 5 blocks the net 49, storing a driving instruction for and / or endless driving along a predetermined closed route 56, wherein the closed route 56 can preferably comprise the storage route 62, the shunting route 66 crossing it, the further storage route 64 crossing it and the further storage route 68,

[0121] Stopping at the predeterminable or predetermined stopping point 50 of the closed route 56, in particular by means of the controller 25 or only depending on the controller 25, Leaving the closed route 56, preferably starting from the stopping point 50 in the direction of a predeterminable or predetermined destination point, in particular by means of the controller 25, in particular by crossing one of the shunting roads 66, 68 and / or turning into one of the expressways 72,

[0122] Entering the closed section 56, in particular predetermined by means of the control device 25 and / or only depending on the control device 25.

[0123] The driving conditions can be controlled by means of the traveling longitudinal and lateral dynamics control and / or the vehicle's own drive, whereby driving instructions can be sent and / or transmitted to the hanging pockets 5 by means of the non-moving control device 25.

[0124] It is preferably conceivable to provide a closed section 56 similarly designed to the closed section 56 in a transfer arrangement 10 upstream of the conveyor, in particular of the ring conveyor system 23. In particular, in order to thereby supply a sorted inflow to the downstream transfer buffer 7, 11 in a manner analogous to that described above. A single hanging pocket 5 can thus be moved from a closed section 56 of one of the blocks 76 into another closed section of one of the transfer arrangements 10, from there into one of the transfer buffers 7, 11 and from there finally into the conveyor, in particular a vertical conveyor, in particular the ring conveyor system 23, and in the process sorted into the desired sequence 15. One advantage is that the respective hanging pocket 5 can be brought to a standstill in between and stored there, and in particular can be put into a power-saving mode.This can preferably be done autonomously using the rolling adapter 61 itself, on which the hanging pocket 5 is suspended. Multi-stage sorting or several sorting stages can be performed, whereby control effort and radio power density can be minimized.

[0125] Fig. 7 shows a method for operating a previously described hanging pocket storage system 1 with steps that can be executed selectively and / or in parallel by the rolling adapter 61. In a first step 90, the rolling adapter 61 can be given an entry instruction 42 by means of the control device 25. Based on this instruction, the rolling adapter 61 can move the hanging pocket 5 into the closed path 56.

[0126] In a second step 92, the rolling adapter 61 can be given a continuous travel instruction 44 by means of the control device 25. Based on this instruction, the rolling adapter 61 with the hanging pocket 5 can travel continuously along the closed path 56 in a circle, preferably in a predetermined or predeterminable direction that is the same for all hanging pockets 5.

[0127] In a third step 94, an intermediate travel instruction 46 can be issued to the rolling adapter 61 by means of the control device 25. Based on this instruction, the rolling adapter 61 can travel with the hanging pocket 5 to the stopping point 50 of the closed route 56 and stop there. Traffic in the closed route 56 thus automatically comes to a standstill and can optionally be placed in a power-saving idle state.

[0128] In a fourth step 96, the rolling adapter 61 can be issued a retrieval travel instruction 48 by means of the control device 25. Based on this instruction, the rolling adapter 61 with the hanging pocket 5 can leave the closed path 56 again, preferably the stopping point of the closed path 56 in the direction of the transfer arrangement 10.

[0129] In a fifth step 98, the rolling adapter 61 can adapt a driving speed to a preceding one of the hanging pockets 5 by means of a traveling distance control 40 of the traveling longitudinal and lateral dynamics control, in particular, stop it if it has come to a standstill. This allows the second step 92 to be interrupted, preferably gradually for all hanging pockets 5 in the closed section 56, whereby this or the continuous driving can be automatically continued as soon as the preceding hanging pocket 5 continues its journey. The distance control 40 can have a driving dynamics control, more precisely a longitudinal dynamics control and / or distance control, or can be designed and programmed for this purpose.

[0130] It can be seen that the fifth step requires no communication with the control device at all, but is performed by all suspended pockets 5 located in the closed section 56, with the exception of the suspended pocket 5 that is currently executing the intermediate travel instruction or the retrieval travel instruction. This allows communication overhead and / or radio power density to be reduced to a minimum. In particular, the distance control can be performed optically or implemented as an optical distance control. This also allows radio power density to be reduced.

[0131] It is to be understood that this description is susceptible to various modifications, changes and adaptations which come within the range of equivalents to the appended claims.

[0132] Reference symbol list

[0133] 1 hanging bag storage 56 closed route

[0134] 2 hanging pocket storage system 60 row

[0135] 3 Storage goods 62 Lagerstraße

[0136] 5 hanging bag 64 further storage street

[0137] 7 first transfer buffer 66 shunting road

[0138] 9 first level 68 further shunting road

[0139] 10 Transfer order 70 Retrieval path

[0140] 11 second transfer buffer 72 expressway

[0141] 13 second level 74,78,80 arrow

[0142] 15 Order 76 Block

[0143] 17 Row 88 Double Arrow

[0144] 19 Storage location 90 1st step

[0145] 21 Order criterion 92 2nd step

[0146] 23 Ring conveyor system 94 3rd step

[0147] 25 Control device 96 4th step

[0148] 27 Line 98 5th step

[0149] 49 network

[0150] 51 Double arrow

[0151] 53 Transfer point

[0152] 55 unloading station

[0153] 57 wheels

[0154] 59 Drive energy

[0155] 61 rolling adapter

[0156] XX front roll adapter

[0157] 38 Cross connection

[0158] 40 Distance control

[0159] 42 Entry instructions

[0160] 44 Continuous driving instruction

[0161] 46 Intermediate driving instructions

[0162] 48 Removal driving instructions

[0163] 50 stopping point

[0164] 52 Exit

[0165] 54 Access

Claims

Patent claims 1. A method for operating a hanging bag storage system (2), designed for storing, picking, sorting and displaying stored goods (3), with a plurality of rolling adapters (61) and hanging bags (5) that can be suspended or hung on the rolling adapters (61), wherein the rolling adapters (61) for autonomous travel on a network (49) each have a traveling longitudinal dynamics control with a distance control (40), a traveling transverse dynamics control and wherein at least one of the stored goods (3) can be picked up and removed from the hanging bags (5), characterized by: Autonomous driving of the rolling adapter (61) on the network (49), Controlling a speed of the rolling adapter (61) by means of the distance control (40) of the longitudinal dynamics control, Autonomous entry of the rolling adapter (61) into a closed section (56) of the network (49) by means of the accompanying longitudinal and lateral dynamics control, transmitting a continuous travel instruction (44) to the rolling adapter (61) stating that the closed section (56) is to be travelled continuously, autonomous continuous travel of the rolling adapter (61) along the closed section (56) by means of the accompanying longitudinal and lateral dynamics control depending on the continuous travel instruction (44), Planning the endlessly moving rolling adapter (61) for removal by means of a control device (25), Transmitting a retrieval travel instruction (48) to a retrieval destination to the scheduled rolling adapter (61) for retrieval, Extending the planned rolling adapter (61) from the closed route (56) and moving the planned rolling adapter (61) further to the retrieval destination in accordance with the retrieval driving instruction (48) for retrieving the rolling adapter (61) by means of the traveling longitudinal and transverse dynamics control.

2. Method according to claim 1, characterized by: Interrupting the autonomous endless travel before leaving the closed route (56) by stopping the rolling adapter (61) or by stopping the rolling adapter (61) at a predetermined or predeterminable stopping point (50).

3. Method according to claim 2, characterized by: Free autonomous driving of the planned rolling adapter (61) on a free route between the stopping point (50) and an exit of the closed route (56) for leaving the closed route (56) after interrupting the endless driving or after stopping at the stopping point (50).

4. Method according to one of claims 2 or 3, characterized by: Stopping the rolling adapter (61) at the stopping point (50) by autonomously executing a control command to stop at the stopping point (50).

5. Method according to one of claims 2 to 4, characterized by: Mechanical intervention in the closed path (56) at the stopping point (50), detection of the mechanical intervention by means of the rolling adapter (61) or by means of the distance control of the rolling adapter (61), conversion of the detected mechanical intervention into the stopping of the rolling adapter (61).

6. Method according to one of claims 2 to 5, characterized by: Data intervention in the closed route (56), detection of the data intervention by means of the rolling adapter (61), implementation of the detected data intervention in stopping the rolling adapter (61) at the stopping point (50).

7. Method according to one of claims 5 or 6, characterized by: Giving a command to the approaching rolling adapter (61) to stop by means of a device which is part of the network (49) of the hanging bag system having the closed path, for engaging the closed path.

8. Method according to claim 7, characterized by: Controlling the issuing of the command by means of the control device (25) of the hanging pocket system.

9. Method according to one of claims 1 to 8, characterized by: Interrupting the endless travel if a front rolling adapter (61) is located in front of the rolling adapter (61) and has a speed of zero, resuming the endless travel if the front rolling adapter (61) again has a speed greater than zero.

10. Method according to one of claims 2 to 9, characterized by: Scheduling the rolling adapter (61) for extension or relocation, transmitting an intermediate travel instruction (46) to the scheduled rolling adapter (61) with the stopping point (50) as the intermediate destination, Moving the rolling adapter (61) to the holding point (50), Stopping the rolling adapter (61) at the stopping point (50) to interrupt the endless travel.

11. Method according to claim 10, characterized by: Transmitting the retrieval travel instruction (48) to the retrieval destination after transmitting the intermediate travel instruction (46) to the scheduled rolling adapter (61), Leaving the stopping point (50) and then leaving the closed route (56) by means of the accompanying longitudinal and lateral dynamics control and thereby Controlling the retrieval destination according to the retrieval driving instruction (48) by means of the traveling longitudinal and lateral dynamics control.

12. Method according to one of claims 10 or 11, characterized by: Transmitting the intermediate travel instruction (46) with the stopping point (50) as the intermediate destination to any rolling adapter (61) traveling along the closed route (56), if the planning for retrieval has not been / is not currently carried out for any of the hanging pockets (5) located in the closed route and / or the storage goods (5) stored in the hanging pockets (5).

13. Method according to claim 12, characterized by: Stopping any rolling adapter (61) traveling along the closed route (56) at the stopping point (50).

14. Method according to one of claims 12 or 13, characterized by: Transmitting the continuous travel instruction (44) to any rolling adapter (61) if or as soon as one of the rolling adapters (61) is / is scheduled for retrieval.

15. Method according to one of claims 12 to 14, characterized by: Leaving the stopping point (50) by any rolling adapter (61) and / or renewed endless travel of the closed route (56) with any rolling adapter (61) according to the endless travel instruction (44) by means of the traveling longitudinal and lateral dynamics control of any rolling adapter (61).

16. Method according to one of claims 1 to 15, characterized by: Repeating the method for a large number of retrievals, Repeating the method in parallel or serially for a large number of sorting stages, in particular serially in a block (76) of the network (49) and a transfer arrangement (10) connected downstream thereof, Transmitting the intermediate travel instruction (46) to any rolling adapter (61) traveling along the closed route (56) or to the rolling adapter (61) scheduled for retrieval, Transmitting the continuous travel instruction (44) to all other rolling adapters (61) traveling along the closed route (56).

17. Method according to one of claims 9 to 16, characterized by: - Automatic stopping or slowing down of the travel if the front roller adapter (61) blocks the net (49) or travels slower than the roller adapter (61).

18. Method according to one of claims 1 to 17, characterized by: - Storing the continuous travel instruction (44) in the rolling adapter (61) for continuous travel along the predetermined or predeterminable closed route (56).

19. Method according to one of claims 1 to 18, characterized by: - Stopping the rolling adapter (61) at the predeterminable or predetermined stopping point (50) of the closed section (56) or stopping at the stopping point (50) depending on the control device (25).

20. Method according to one of claims 2 to 19, characterized by: - Leaving the closed route (56), preferably starting from the stopping point (50) in the direction of a predeterminable or predetermined destination point depending on the control device (25) and / or crossing one of the shunting roads (66, 68) and / or turning into one of the expressways (72) to leave the closed route (56).

21. Method according to one of claims 1 to 20, characterized by: - Entry into the closed section (56) depending on the control device (25).

22. Method according to one of claims 2 to 21, characterized by optionally providing or autonomously driving the rolling adapter (61) or the rolling adapter (61) with attached hanging bag (5) in one of the following states: Mounted so as to be free from movement by stopping if the front roller adapter or a front hanging pocket (5) blocks the net (49) in response to the traveling longitudinal dynamics control, mounted so as to be free from movement and stopped at the stopping point (50) or the imaginary stopping point (50) in response to the non-moving control device (25) and / or stopped there and ready to leave the closed route (56), ready to receive the non-moving control device (25), addressed for extension or a retrieval process in response to the non-moving control device (25), in motion to enter the closed route (56) in response to an entry instruction (42) from the non-moving control device (25), in motion to leave the closed route (56), in motion to leave the stopping point (50) or the imaginary stopping point (50) in response to the non-moving control device (25),powered by electrical energy, in motion for the endless travel of the closed track (56) after entry only in dependence on the accompanying longitudinal and lateral dynamics control., 23. Method according to one of claims 1 to 22, characterized by: Using multiple paths or data paths such as radio paths when communicating between the control device (25) and a traveling communication device of the rolling adapter (61).

24. Hanging bag storage system (2) for storing, picking, sorting, and displaying stored goods (3), comprising a plurality of rolling adapters (61) and hanging bags (5) that can be suspended or hung from the rolling adapters (61), wherein the rolling adapters (61) each have a traveling longitudinal dynamics control system with a distance control (40), a traveling transverse dynamics control system, and a traveling communication device, preferably for establishing at least one data link between a control device (25) and the rolling adapter (61), for autonomous travel on a network (49), and wherein at least one of the stored goods (3) can be picked up from and removed from the hanging bags (5), characterized in that the rolling adapter (61) can be moved autonomously on the network (49), and a speed of the rolling adapter (61) can be controlled by means of the distance control (40) of the longitudinal dynamics control system,the rolling adapter (61) can be driven autonomously into a closed section (56) of the network (49) by means of the traveling longitudinal and lateral dynamics control, a continuous travel instruction (44) can be transmitted to the rolling adapter (61), which states that the closed section (56) is to be driven endlessly, the rolling adapter (61) can be driven autonomously and endlessly along the closed section (56) by means of the traveling longitudinal and lateral dynamics control depending on the continuous travel instruction (44), the continuously moving rolling adapter (61) can be scheduled for retrieval by means of the control device (25), a retrieval travel instruction (48) to a retrieval destination can be transmitted to the rolling adapter (61) scheduled for retrieval,and the planned rolling adapter (61) can be extended from the closed route (56) and moved further to the retrieval destination according to the retrieval driving instruction (48) for the retrieval of the rolling adapter (61) by means of the traveling longitudinal and transverse dynamics control.

25. Hanging pocket storage system according to claim 24, characterized in that the hanging pockets (5) or roller adapters (61) with attached hanging pockets (5) present in the block (76) are designed to assume the states of the following group and have at least one of them in the closed section (56): Mounted so as to be free from movement by stopping if the front roller adapter or a front hanging pocket (5) blocks the net (49) in response to the traveling longitudinal dynamics control, mounted so as to be free from movement and stopped at a predetermined or predeterminable stopping point (50) or an imaginary stopping point (50) in response to the non-moving control device (25) and / or stopped there and prepared to leave the closed route (56), ready to receive for the non-moving control device (25), addressed for a retrieval process in response to the non-moving control device (25), in motion to enter the closed route (56) in response to an entry instruction (42) from the non-moving control device (25), in motion to leave the closed route (56), in motion to leave the stopping point (50) or the imaginary stopping point (50) in response to the non-moving control device (25),powered by electrical energy, in motion for the endless travel of the closed track (56) after entry only in dependence on the accompanying longitudinal and lateral dynamics control., 26. Hanging bag storage system according to claim 25, characterized in that the imaginary stopping point (50) can be transmitted to the rolling adapter (61) as the destination point of an intermediate travel instruction (46) or can be transmitted to the rolling adapter (61) by means of the control device (25) as the destination point of the intermediate travel instruction (46) and / or the stopping point (50) is part of the network (49) and can be controlled by means of the control device (25), and / or wherein the hanging bags (5) in the closed section have a preferred direction of travel, wherein the exit (52) is as far as possible downstream of the inlet (54), preferably a maximum distance, and upstream is as far as possible from the inlet (54), preferably a minimum distance.

27. Hanging bag storage system according to one of claims 24 to 26, characterized in that the closed route (56) has a storage line (62), a shunting line (66) crossing this, a further storage line (64) crossing this and a further storage line (68).

28. Hanging bag storage system according to one of claims 24 to 27 and / or designed, arranged and / or programmed to carry out a method according to one of claims 1 to 23.

29. Roll adapter (61) for a hanging bag (5) for a hanging bag storage system (2) according to one of claims 24 to 28, which interacts with a front roll adapter (61) of the hanging bag storage system (2) and further components of the hanging bag storage system (2), characterized in that the longitudinal dynamic control of the roll adapter (61) has a distance control which controls a speed of the roll adapter (61) depending on an object lying in front of the roll adapter (61) and / or the front roll adapter (61) as seen in the direction of travel and / or regulates a distance to the front roll adapter (61), and / or controls the speed to zero if the front roll adapter (61) has a speed of zero and / or an actual distance of the roll adapter (61) to the front roll adapter (61) falls below a predeterminable or predefined minimum distance.

30. Roll adapter (61) according to claim 29 and / or designed, arranged and / or programmed to carry out a method according to one of claims 1 to 23.

31. Hanging bag storage system for storing, picking, sorting and retrieving stored goods (3), characterized by: a control device (25) by means of which the storage, picking and sorting of the stored goods (3) can be controlled and / or a sequence (15) of the stored goods (3) for retrieving the stored goods (3) can be specified, a plurality of rolling adapters (61) and hanging bags (5) which can be suspended or suspended from the rolling adapters (61), wherein the rolling adapters (61) or the hanging bags (5) each have a traveling longitudinal and transverse dynamic control and a a communication device, and wherein at least one of the stored goods (3) can be received in the hanging pockets (5) and retrieved again, a hanging pocket warehouse (1) which cooperates with the plurality of hanging pockets (5) for storing, picking, and sorting the stored goods (3), comprising: a level (9) and a network (49) on which the hanging pockets (5) can be moved autonomously or at least semi-autonomously by means of the respective traveling longitudinal and transverse dynamics control, can be stored, stored without movement or without movement and in a power-saving idle state, and can be retrieved again for retrieval, wherein the hanging pocket warehouse (5) has at least one or a plurality of closed routes (56), wherein the closed route(s) (56) can be traveled endlessly by the hanging pockets (5) or the roller adapters (61) with attached hanging pockets (5),an access (54) or the access (54) and an exit (52) as well as a stopping point (50) or an imaginary stopping point (50) at which, depending on the control device (25), one of the hanging pockets (5) can be stopped and / or made available for leaving the closed route(s) (56), and only depending on the state of one of the hanging pockets (5) or only depending on the state of one of the hanging pockets (5) and on the respective traveling longitudinal dynamics controls of the rolling adapters (61) of the further hanging pockets (5), all of these further hanging pockets (5) in the respective closed route (56) can also be stopped.

32. Hanging pocket storage according to claim 31, characterized in that the hanging pockets (5) or roller adapters (61) with attached hanging pockets (5) present in the block (76) are designed to assume the states of the following group and have at least one of them in the closed section (56): Mounted so as to be free of movement by stopping if a front hanging pocket (5) blocks the net (49) of the block (76) depending on the moving longitudinal dynamic control, Stored and stopped without movement at the stopping point (50) or the imaginary stopping point (50) depending on the non-moving control device (25) and / or stopped there and prepared to leave the closed route (56), ready to receive the non-moving control device (25), addressed for a retrieval process depending on the non-moving control device (25), in motion to enter the closed route (56) depending on an entry instruction (42) of the non-moving control device (25), in motion to leave the closed route (56) in motion to leave the stopping point (50) or the imaginary stopping point (50) depending on the non-moving control device (25), energized by means of electrical energy, in motion for the endless travel along the closed route after entering only depending on the traveling longitudinal and lateral dynamics control.

33. Hanging bag storage according to claim 31 or 32, characterized in that the imaginary stopping point (50) can be transmitted to the rolling adapter (61) as the destination point of an intermediate travel instruction (46) or can be transmitted to the rolling adapter (61) by means of the control device (25) as the destination point of the intermediate travel instruction (46) and / or the stopping point (50) is part of the network (49) and can be controlled by means of the control device (25), and / or wherein the hanging bags (5) in the closed section have a preferred direction of travel, wherein the exit (52) is as far as possible downstream of the inlet (54), preferably a maximum distance, and upstream is as far as possible from the inlet (54), preferably a minimum distance.

34. Hanging bag warehouse according to one of claims 31 to 33, characterized in that the closed route (56) has a storage line (62), a shunting line (66) crossing this, a further storage line (64) crossing this and a further storage line (68).

35. Roll adapter (61) for a hanging bag (5), which cooperates with a hanging bag storage (1) according to one of claims 31 to 34 and at least one front roll adapter (61) of the hanging bag storage (1), characterized in that the longitudinal dynamic control of the roll adapter (61) has a distance control which controls a speed of the roll adapter (61) depending on an object lying in front of the roll adapter (61) and / or the front roll adapter (61) as seen in the direction of travel and / or regulates a distance to the front roll adapter (61), and / or controls the speed to zero if the front rolling adapter (61) has a speed of zero and an actual distance of the rolling adapter (61) to the front rolling adapter (61) falls below a predeterminable or predetermined minimum distance.

36. Roll adapter (61) according to claim 35, characterized in that the roll adapter (61) has at least one of the following states and / or these can be selectively assumed by the roll adapter (61): - automatic stopping or slowing down of the travel if the front roller adapter (61) blocks the net (49), - storing an endless driving instruction (44) for one and / or endless driving along the predetermined or predeterminable closed route (56), - stopping at a predeterminable or predetermined stopping point (50) of the closed route (56) or stopping at the stopping point (50) depending on the control (25), - leaving the closed route (56), preferably starting from the stopping point (50) in the direction of a predeterminable or predetermined destination point depending on the control (25) or crossing one of the shunting roads (66, 68) and / or turning into one of the expressways (72) to leave the closed route (56), - Entry into the closed section (56) depending on the control device (25).

37. Method for controlling a hanging bag storage (1) or for controlling a hanging bag storage (1) with a rolling adapter (61) according to one of claims 35 or 36, characterized by: Autonomous retraction of the rolling adapter (61) into the closed section (56) by means of the accompanying longitudinal and lateral dynamics control, Transmitting an endless driving instruction (44) to the rolling adapter (61) stating that the closed route (56) is to be driven endlessly, autonomous endless driving of the closed route (56) by means of the accompanying longitudinal and lateral dynamics control, Transmitting a retrieval travel instruction (48) to a retrieval destination to the rolling adapter (61) for retrieval, Leaving the closed route (56) and moving to the retrieval destination according to the retrieval driving instruction (48) for retrieving the rolling adapter (61) by means of the traveling longitudinal and lateral dynamics control.

38. Method according to claim 37, characterized by: Interrupting the endless travel if the front rolling adapter (61) is in front of the rolling adapter (61) and has a speed of zero, resuming the endless travel if the front rolling adapter (61) again has a speed greater than zero, and / or Planning the rolling adapter (61) for retrieval, Transmitting an intermediate travel instruction (46) to the scheduled rolling adapter (61) with the stopping point (50) as the destination, Moving the rolling adapter (61) to the holding point (50), Stopping the rolling adapter (61) at the stopping point (50) and / or thereby interrupting the endless travel.

39. Method according to one of claims 37 or 38, characterized by: Planning the rolling adapter (61) for retrieval, Transmitting the retrieval travel instruction (48) to a retrieval destination after transmitting the intermediate travel instruction (46) to the scheduled rolling adapter (61), Leaving the stopping point (50) and then leaving the closed route (56) by means of the accompanying longitudinal and lateral dynamics control and thereby Controlling the retrieval destination according to the retrieval driving instruction (48) by means of the traveling longitudinal and lateral dynamics control.

40. Method according to one of claims 37 to 39, characterized by: Transmitting the intermediate travel instruction (46) with the stopping point (50) as the destination to any rolling adapter (61) traveling along the closed route (56), if no planning for retrieval has been / is currently carried out for any of the hanging pockets (5) located in the closed route and / or the storage goods (5) stored in the hanging pockets (5) and / or Stopping any rolling adapter (61) traveling along the closed route (56) at the stopping point (50) and / or Transmitting the continuous travel instruction (44) to any rolling adapter (61) if or as soon as one of the rolling adapters (61) is / is scheduled for retrieval and / or Leaving the stopping point (50) by any rolling adapter (61) and / or renewed endless travel of the closed route (56) with any rolling adapter (61) according to the endless travel instruction (44) by means of the accompanying longitudinal and lateral dynamics control and / or Repeating the procedure for a large number of outsourcings, Repeating the process in parallel or serially for a plurality of sorting stages, in particular serially in a block (76) and a transfer arrangement (10) connected downstream thereof, Transmitting the intermediate travel instruction (46) to any rolling adapter (61) traveling along the closed route (56) or to the rolling adapter (61) scheduled for retrieval, Transmitting the continuous travel instruction (44) to all other rolling adapters (61) traveling on the closed route (56).

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