System made up of transport drones cooperating with an overhead conveyor

Abstract

The invention relates to a system (12) for cooperative material handling, which has: a multiplicity of overhead conveyor load carriers (19), in particular pouches (20); an overhead conveyor (10) which has a drive means (28), wherein each of the load carriers (19) has a coupling device (24) which is designed to be releasably brought into engagement with the drive means (28) in order to move the corresponding load carrier (19), while engaged, along a fixedly defined conveying path in a storage or production environment; at least one drone (14), which is designed for autonomous or remote-controlled, freely definable flight in the storage or production environment; wherein each of the drones (14) is provided with a manipulator (54), which is designed to receive and / or release the coupling device (24) of the load carriers.

Description

WITTEWELLER Applicant: July 8, 2025 SSI Schäfer Automation GmbH (AT) 4706P335WO - MW / MW Fischeraustraße 27 A-8051 Graz AUSTRIA System of transport drones cooperating with an overhead conveyor The present disclosure relates to an intralogistics system used in particular for picking items stored in containers in a warehouse. The system represents a hybrid of continuous and discontinuous conveyors, in which, in particular, an overhead conveyor and one or more drones cooperate to create an internal material flow, specifically aimed at fulfilling picking tasks. To date, combinations of continuous conveyors, such as roller conveyors and belt conveyors, and driverless transport vehicles, also known by the abbreviations AGV, AGV and AMR, have been used to fulfill such tasks. There are many reasons against using drones as inconsistency promoters in this context. The term "drone" is used in various contexts and can have several meanings. In the present revelation, it specifically refers to flying drones. In this context, a drone is an unmanned aerial vehicle (UAV) that can operate remotely or autonomously. Drones are often equipped with various sensors and cameras and can be controlled via GPS and other navigation systems. Drones are increasingly used in intralogistics (i.e., in warehouse and / or production environments), but only rarely for transport. Drones scan and check inventory, for example, by automatically reading barcodes or RFID tags as they fly by (inventory and stock management). Drones can transport small to medium-sized items within a warehouse (intra-warehouse transport and delivery) by directly picking up the item. Drones can be used to monitor warehouses to detect security breaches or to verify compliance with safety regulations, for example, by checking the integrity of shelving through image capture. They can also monitor areas that are difficult or dangerous for humans to access (surveillance and security checks). Drones can be used to rearrange items on shelves.This is particularly useful in large warehouses with high shelves, where traditional methods can be time-consuming and risky. By using drones, companies can also collect detailed data on inventory levels and movements, which can then be used to optimize warehouse processes and improve efficiency (data analysis and processing). In combination with other robotic systems, drones can perform tasks that require precise coordination, such as working alongside autonomous vehicles within the warehouse (collaborative robotics). Drones can be used for the inspection and quality control of goods—and shelves—especially in large or hard-to-reach areas (quality control). Drones are not used for internal transport of goods in intralogistics for various reasons, such as safety concerns (collisions and crashes). Drones pose a risk of collisions with other drones, machines, shelves, or people. These collisions can not only damage goods but also be dangerous for personnel. Drones have limited payload capacity. Drones are not suitable for carrying heavy or large objects. Their maximum payload is significantly lower compared to traditional transport methods such as forklifts or conveyor belts, limiting their efficiency when handling larger volumes. Drones have a limited battery life and require regular recharging, which can lead to operational interruptions. Operating drones consumes a lot of energy, especially when carrying heavy loads, which can increase operating costs. Acquiring and maintaining drones, as well as implementing the necessary infrastructure, can be expensive. Drone grippers are not suitable for singulation, i.e., for the targeted selection of items—especially for order picking—from storage containers. At best, they can carry the entire box, which is disadvantageous for the reasons mentioned above. The internet article “Cargo drones: A potential gamechanger in the logistics industry” by the management consultancy Roland Berger describes the use of drones for deliveries in the open air, i.e. within a company premises, but outside of buildings, or between adjacent warehouses. The online article "How drone delivery will transform the future of logistics industry" by The Cooperative Logistics Network highlights the last mile of delivery in online retail. Amazon, for example, plans to use its drones to make deliveries for less than $1, which could reduce logistics costs by up to 70%. This also changes the structure of warehouses and distribution centers, as fewer large truck docks will be needed. Boeing is planning a transport drone ("The Condor") that can carry loads of up to 180 kg over distances of up to 200 km. The online article "Applications of drones in warehouse operations" (white paper) from ETH Zurich offers a comprehensive analysis of the various potential applications of drones in intralogistics. It identifies and describes three main areas of application: inventory management, transport, and inspection and monitoring. However, the intralogistics transport sector is subject to significant limitations, particularly regarding payload, range, battery capacity, gripping mechanism, and navigation. Therefore, the transport sector has the lowest potential for drone use. Many well-known applications of drones in intralogistics share the common feature of a gripping mechanism that allows the drone to directly grasp and hold the object being transported while flying. The gripping mechanism makes direct contact with the object. For this purpose, mechanical fingers or clamps are used, for example, to grasp and hold the objects. These devices are versatile and can grip objects of various shapes and sizes. They are robust and can transport relatively heavy loads. An example of this are the grippers used by companies like Matternet to transport medical supplies. Alternatively, vacuum grippers can be used. Vacuum grippers utilize suction cups to grip flat and smooth surfaces. They are particularly useful for handling packaging and boxes.These grippers are able to grasp objects gently without damaging them, making them ideal for delicate products. Amazon and other logistics companies use vacuum grippers in their drone systems. Magnetic grippers use strong magnets to grasp and hold metallic objects. This type of gripper is particularly useful in industries where metallic parts need to be transported. According to its title, DE 102005 006455 A1 relates to a transport system for hanging objects. According to its title, DE 102016205 854 A1 relates to a method and a device for loading and unloading a loading area. According to its title, EP 3472 079 B1 concerns a palletizing and depalletizing system for goods using drones. Therefore, one of the objectives of the present disclosure is to create a system for cooperative material handling in a storage and / or production environment, in particular for fulfilling order picking tasks, which uses drones - despite their inherent disadvantages - for the internal transport of (order picking) items. This task is solved by a cooperative material handling system comprising: a plurality of overhead conveyor load carriers, in particular bags; an overhead conveyor having a drive means, wherein each of the load carriers has a coupling device which is configured to be detachably engaged with the drive means in order to move the corresponding load carrier during engagement along a fixed conveying path in a storage or production environment, in particular by positive or non-positive engagement; at least one drone which is configured for autonomous or remotely controlled, freely definable flight in the storage or production environment; wherein each of the drones is equipped with a manipulator which is configured to pick up and / or release the coupling device of the load carriers, in particular automatically. The combination of overhead conveyor technology and drones enables the implementation of improved material flow by leveraging the advantages of drones, listed below, while simultaneously avoiding the disadvantages mentioned above. The overhead conveyor is particularly well-suited for order picking in e-commerce, especially when the items to be picked are handled in a 1:1 ratio in conveyor pockets, as described, for example, in DE 10 2011 104 511 A1. In this application, preferably only one item is transported in a single pocket at a time. Drones can complete transport operations more quickly because they utilize (storage) space flexibly and without infrastructure, choosing the shortest path between a source and a destination, particularly in all three dimensions. They can bypass congestion in overhead conveyor systems and use direct air routes, significantly reducing transport times. Transport is no longer dependent on the ground. The three-dimensionality of the transport route provides additional degrees of freedom, resulting in significantly increased flexibility. In times of e-commerce and a progressive atomization of order structures, i.e., the average number of order lines per order is constantly decreasing, the present concept enables entirely new possibilities that are becoming increasingly larger. symbiotically reinforce emerging swarms of transport units (e.g. bags in the overhead conveyor). The use of drones can reduce operating costs, as fewer personnel and conveyors are needed. This results in significant savings in transportation costs. Rush orders can be completed more easily and quickly. Drones can overtake overhead conveyors. Drones can reach material flow destinations via shorter routes. Drones can fly into hard-to-reach or remote areas, such as upper storage areas in a high-bay warehouse. Drones generally have a smaller ecological footprint compared to conventional means of transport. They consume less energy and produce no direct emissions, making them a more environmentally friendly option. The drones, which connect, for example, a storage area with the overhead conveyor, support material flow in a customized and barrier-free manner. The existing space can be used flexibly as before, and travel times are optimized. The drones fly along virtual paths (for example, from waypoints) and require no complex installation, thus enabling easy integration into existing systems and infrastructures. The number of drones can be increased to meet throughput requirements. This allows for flexible adaptation to changing needs. Preferably, the coupling device is a roller adapter into which the bags can be attached. The manipulator is designed to pick up and release the roller adapter, particularly its interior. Roll adapters make attaching and detaching bags easier, increasing efficiency. Handling the bags is simple. By integrating the roller adapter inside the manipulator, it is protected against external damage. The roller adapter is a sensitive component because it is designed for (positive and / or non-positive) engagement within the overhead conveyor chain. Any (plastic) deformation of the roller adapter could lead to damage. This results in the roller adapter no longer being reliably carried along, i.e., moved, by the overhead conveyor. Therefore, mounting it inside the manipulator increases the system's reliability. Preferably, the manipulator has a flap and a rail section, the rail section defining a passage designed to receive the roller adapter and which can be closed, at least on the exit side, by the flap. Preferably, the flap surrounds the rail section. The mounting is secure. The flap and rail section ensure that the roller adapter is securely mounted and transported. The roller adapter cannot be lost during flight. Safety is increased. The mechanism prevents the payload carrier from unintentionally detaching from the drone during flight. Preferably, the manipulator further comprises a spring, wherein the rail section is encompassed by a body of the manipulator, which may further comprise a shaft section, and wherein the spring is preferably arranged around the shaft section, in particular between a drone frame and the rail section. This measure increases stability. The spring ensures a secure closure of the opening through the flap, which enhances safety during flight. The spring enables automatic locking of the manipulator in its receiving or transport position. To open the manipulator, a force must be actively applied from the outside. The roller adapter can only leave the manipulator when desired. Preferably, the spring is pre-tensioned in such a way that the passage is closed with the flap without any external force being applied. The pre-tensioned spring ensures that the flap remains closed without external influences, which increases the safety of handling. Preferably, the system also includes a release device designed to move the flap into a dispensing position. Operation is simple. The release mechanism allows for easy and controlled dispensing of the load carriers. Furthermore, this enables further automation of the material handling process. Preferably, the system further comprises a transfer station that is configured to transfer one of the load carriers to the at least one drone; and / or to receive it from the at least one drone. The transfer station acts as an interface, enabling a smooth transfer of load carriers between the drones and the overhead conveyor, thus increasing efficiency. The transfer station ensures seamless integration of the drones into the overhead conveyor. The transfer station can ensure both the handover to and the receipt of drones. This increases the system's flexibility. Preferably, the transfer station has a rail with an open end. Preferably, the transfer station also includes: a release device; and / or a singulation device. The transfer is controlled. The release mechanism enables precise control of the transfer. The singulation device ensures that load carriers are handed over individually, preventing congestion and delays. Preferably, the overhead conveyor has a rail in which the drive element is guided and moved. The overhead conveyor can be configured to move the drive element along the conveying path defined by the rail. A drive mechanism guided within the rail ensures smooth, safe, protected, and continuous transport of the load carriers. The transport is efficient. Reliability is increased. The rail ensures that the drive unit adheres precisely to the defined conveying path. Preferably, the manipulator additionally comprises: a mechanical gripper; a vacuum gripper; a magnetic gripper; an electroadhesive gripper; and / or a flexible gripper. Versatility is increased. Different gripper types enable the handling of a wide variety of load carriers, which can be of varying shapes. Adaptability is enhanced. The manipulator can use the optimal gripper depending on the requirements, thus increasing flexibility. Preferably, the at least one drone comprises at least one sensor which may be configured to determine the position of the respective drone, in particular relative to a transfer station, and to align the manipulator accordingly (i.e., relative to the transfer station). Accuracy is increased. Sensors enable precise positioning of the drone, which improves the accuracy of the transfer and collection of cargo carriers. Preferably, the at least one sensor further comprises: a camera, a LIDAR, an infrared sensor or a combination thereof. This results in improved environmental perception and navigation through the use of advanced sensors, which increases the safety and efficiency of drone operations. Preferably, the system further comprises a control system designed to coordinate movements of i) the load carriers in the overhead conveyor and ii) the at least one drone. This enables synchronized movements of cargo carriers and drones through a, preferably central, control system, which improves the overall efficiency and integration of the system. In particular, each of the drones also features: a control unit; and / or a communication unit that is set up to exchange data with a (central) control system. This enables increased autonomy and coordination of the drones through integrated control and communication units that allow data exchange with the central control system. It is understood that the aforementioned features and those to be explained below can be used not only in the combinations specified, but also in other combinations or on their own, without leaving the scope of the present concept. Examples of the concept are shown in the drawings and are explained in more detail in the following description. They show: Fig. 1 shows a block diagram of a cooperative material handling system, in particular a storage and order picking system; Fig. 2 is a block diagram of an overhead conveyor of Fig. 1; Fig. 3 is a schematic top view of a system according to Fig. 1; Fig. 4 shows a side view of an interface between an ordinary overhead conveyor section and a transfer station of the overhead conveyor of Fig. 1; Fig. 5 shows a side view of a transfer station set up for the delivery of a roll adapter; Fig. 6 Side views of a manipulator from different directions in its receiving or transport position; Fig. 7 Side views of a manipulator from different directions in its delivery position; Fig. 8 shows a side view of a transfer station designed to receive a roller adapter; Fig. 9 shows a block diagram of a processing circuit; and Fig. 10 a block diagram of a processor and a memory device. In intralogistics, overhead conveyors, which belong to the category of continuous conveyors, are used to transport items within a warehouse and / or production environment. In this environment, order picking tasks are a key focus. In intralogistics, "order picking" refers to the process of assembling items from a warehouse according to a customer order or production order. It is a central activity in warehouse management, ensuring that the right items, in the right quantity, are available at the right time and in the right place. In the present disclosure, an overhead conveyor system or overhead conveyor 10 is used as a first main component of a system 12 for cooperative material handling. The system 12 can be a storage and order picking system. The overhead conveyor 10 transports overhead conveyor (HF) load carriers 19, in particular Bags 20, which carry the items to be picked. As the second main component of the system 12, one or more drones 14 are used. Preferably, a plurality of drones 14 are used. The system 12 can further comprise one or more workstations 22, e.g., for the manual and / or automated loading and unloading of the load carriers 19 or the bags 20. The system 12 can be arranged in an intralogistics warehouse or production environment. Cooperative material handling is understood below as the collaboration of several components to make the transport, storage, and / or management of materials, especially objects, more efficient and effective. This includes the integration of automated systems, which may include, in particular, the overhead conveyor 10, the drones 14, an (optional) warehouse management computer 16, and / or an (optional) material flow computer 18, and which can work together seamlessly, especially to optimize material flow processes. The term "material" encompasses any type of item to be transported, such as goods, (unit) goods, articles, products, or similar items handled in intralogistics or order picking. In cooperative material handling, various automation technologies work together to move the RF load carriers 19 or bags 20 through the entire warehouse or production process. This collaboration of components allows processes to be accelerated and made more efficient. Items can be moved from one point to another faster and with less human intervention. The cooperative system 12 can dynamically adapt to changing conditions and requirements. For example, the drones 14 can deliver the bags 20 in a warehouse directly to a specific overhead conveyor 10 or to one of the (optional) workstations 22.Through coordinated control and planning of material flow, the system operator can optimize resource utilization. This includes, for example, better use of storage space, labor, and energy. The drones 14 can be controlled by the warehouse management computer 16 to move items within a warehouse (e.g., faster and via shorter routes). The warehouse management computer 16 and / or the material flow computer 18 can plan the most efficient routes for the drones 14. Assign 14 picking-based (transport) tasks to the drones, e.g. based on real-time data and stock levels. The overhead conveyor 10 is a conveyor that moves the items in the high-frequency load carriers 19 suspended from a rail 26 (see Fig. 3) above a floor (e.g., the hall floor or intermediate ceiling of the system 12) and moves or transports them along this rail 26 under positive guidance. The overhead conveyor 10 is used—as a continuous conveyor—in warehouses and / or production facilities (not shown) to keep floor space free for other activities and to improve the efficiency of material flow. A pocket conveyor 11 (see Fig. 1) is a special type of overhead conveyor 10 that uses, for example, small containers and / or the pockets 20 in which the items are transported as high-frequency load carriers 19. In the following, only pockets 20 are used as examples. The bags 20 can be suspended below the continuously running rail 26, in which - as a drive means 28 or drive device - e.g. a chain 30, such as a roller chain (see e.g.DE 10 2005 006 455 A1) or a drawbar chain (see e.g. DE 10 2010 053 426 B3), is moved automatically. The pockets 20 can be coupled to the chain 30 (cf. Fig. 4), e.g. via so-called roller adapters 32, as disclosed by way of example in DE 10 2005 006 455 A1 or in the brochure “SSI Carrier” of the company SSI Schäfer. The bags 20 can alternatively (i.e., without roller adapters) – similar to clothes hangers – be hooked into corresponding (lower) openings in ladder-like chain links of the drawbar chain using a hook (not shown), which in this case serves as a coupling device 24, as exemplified in DE 10 2010 053 426 B3. As a further alternative, the bags 20 can be hooked into friction adapters, these adapters being pressed against a drive belt, which in this case constitutes the drive element 28, for transport purposes; see, for example, the OCS150 system from OCS Overhead Conveyor System GmbH. In general, the bag conveyor 11 is particularly advantageous for transporting clothing, small packages, or loose goods that can be securely stored in the bags 20. The bag conveyor 11 is advantageously used in e-commerce. As mentioned above, they are used because the 20 pockets can be easily sorted. These are also the preferred applications of the present disclosure. The bags 20 are often made of robust materials such as plastic, fabric, or metal mesh to securely carry and protect the loads. The bags 20 can be equipped with closure mechanisms such as zippers, hook-and-loop fasteners, or flaps to securely hold the goods contained within and protect them from loss or damage (see, for example, WO 2022 / 253772 A1). The bags 20 constitute a uniform carrier medium. The bags 20 preferably have an extremely low tare weight. Each of the load carriers 19 or each of the bags 20 has a coupling device 24 (see Fig. 2). The coupling device 24 can be, for example, the conventional roller adapter 32 mentioned above or an (upper) hook of a frame (not shown) with a hanger-like head, wherein a fabric panel is attached to the frame in a bag-like manner to receive the items. The coupling device 24 thus serves, in particular, as a bag coupling. Fig. 3 shows a schematic top view of the system 12 of Fig. 1. As is common in intralogistics, the longitudinal direction is denoted by X, the transverse direction by Z, and the vertical direction by Y, forming a Cartesian coordinate system. Fig. 3 shows: a section of the overhead conveyor 10, two drones 14-1 and 14-2 as examples, and several of the bags 20. Bag 20-1 is coupled to drone 14-1 and is transported by this drone 14-1 in flight to be delivered, for example, to a transfer station 34-1 of the overhead conveyor 10, which is connected to the conveyor system. In other words, transfer station 34-1 is encompassed by the overhead conveyor 10. The (first) transfer station 34-1 is configured to receive the bags 20 delivered by the drones 14-1. For the sake of clarity, drone 14-2 is shown at different points in time. To the left of another transfer station 34-2, drone 14-2 is shown unloaded, i.e., it is not (yet) carrying bag 20. To the right of transfer station 34-2, drone 14-2 is shown loaded, after it has picked up bag 20-2. Prior to this, bag 20-2 was made available for pickup at station 34-2, and drone 14-2 moved to the second transfer station 34-2. "Flies through" (not shown). "Flies through" means that the drone 14-2 can move continuously during the transfer (pickup) of the bag 20-2, or may pause briefly to pick up the bag 20-2. The second transfer station 34-2 is therefore set up to transfer the bags 20 to the drones 14, which then pick them up for this purpose. The transfer station 34-2 can also be configured to receive the bags 20 from the drones 14, similar to the transfer station 34-1. In this case, the transfer station 34-2 defines a dual interface and has a dual function. This is illustrated by way of example in Fig. 3, where the left initial section of the transfer station 34-2 is designed differently from the right end section. The flight directions of the drones 14 are illustrated in the figures by arrows 36. The conveying directions of the overhead conveyor 10 are illustrated by arrows 38. Fig. 4 shows a schematic side view of a transfer station 34 integrated into an overhead conveyor 10, which is exemplarily configured for transporting a roller adapter 32 into which a pocket 20 or a pocket-shaped body (not shown) for receiving the objects (not shown) can be suspended, by means of a drive means 28 implemented by a roller chain 30. The transfer station 34 of Fig. 4 could implement the right end section of the transfer station 34-2 of Fig. 3. Fig. 4 illustrates a general interface between a standard conveying section 40 of the overhead conveyor 10 and the transfer station 34, which can be seamlessly connected to the standard section 40. The transfer station 34 of Fig. 4 is configured for discharging the bags 20. The standard section 40 comprises the (standard) rail 26, within which the chain 30 is driven (mechanically guided) in an upper section to move the roller adapters 32 on their guide rollers 42 in a lower section of the rail 26. The roller adapters 32 can have an (upper) head section 44 which is configured to engage with the chain 30. Below the head section 44, a pair of rollers 42 can be freely rotatable within the body of the roller adapter 32. Below the pair of rollers, the body of the roller adapter 32 can have an opening 45 for receiving one of the pockets 20 (not shown). In this case, the roller adapter 32 constitutes the coupling device 24 for the pocket 20. A lower part of the body of the roller adapter 32 with the opening 45 projects from the rail 26, while the head section 44 and the rollers 42 are located within the rail 26 when the pocket 20 is moved in the overhead conveyor 10. At a downstream end of the conveying section 40 of the overhead conveyor 10, the head sections 44 of the roller adapters 32 disengage from the chain 30. The roller adapters 32 are then free and can be transferred to the (additional) rail 26 of the transfer station 34, where, for example, due to a downward slope of the additional rail 26 of the transfer station 34, the roller adapters 32 can be moved by gravity alone, i.e., passively or without drive, to a downstream discharge end 46 of the transfer station 34. The additional rail 26 of the transfer station 34 is adapted to the rail 26 of the conveying section 40 in order to smoothly receive and transport the roller adapter 32, whereby an upper section can be omitted because the chain 30 is not present there. It is understood that the further rail 26 can also be equipped with its own drive (not shown) to drive the roller adapters 32 or the bags 20 (not shown), e.g.laterally, the drone 14 is moved towards the discharge end 46, where it can pick up the roll adapter 32 or the bag 20, see Fig. 5. It is understood that the drone 14 could also pick up and transport more than one bag 20 simultaneously. For this purpose, the drone 14 is positioned in front of the discharge end 46 of the transfer station 34 and aligned so that the roll adapter 32 can be moved into a manipulator 54, as shown in Fig. 5. Fig. 5 illustrates a (single) transfer from one of the bags 20 to one of the drones 14, with each bag 20 (not shown) hanging from one of the roller adapters 32. For singulating the bags 20 or roller adapters 32, the transfer station 34 can include a singulation device 48, see also Fig. 2. In Fig. 5, the singulation device 48 is implemented by way of example by a belt 50 mounted circumferentially in a horizontal plane, which can laterally engage the head sections 44 of several of the roller adapters 32 in such a way that these roller adapters 32 are guided to the The discharge end 46 of the rail 26 of the transfer station 34 is moved. The singulation device 48 is configured to selectively discharge one of the roller adapters 32 or one of the bags 20 to the drones 14, cf. arrow 52 in Fig. 5, by moving the belt 50 in a timed manner. In general, each of the drones 14 has a manipulator 54. The manipulator 54 is a mechanical unit used to move, grasp, and / or manipulate the RF payload carriers 19 or pouches 20 via their coupling device 24. The manipulator 54 is attached to a frame 56 of the drone 14, preferably interchangeably. In Fig. 5, the drone 14 is indicated by a dashed line. The drone 14's rotors 58 and other components (for example, a control unit 90, sensors 88 of various types, a communication unit 92, etc.), particularly in a housing 60, can also be provided on the frame 56 of the drone 14. The manipulator 54 is configured to receive and / or release the coupling device 24. The manipulator 54 will be described in more detail with reference to Figs. 6 and 7. Fig. 6 shows the exemplary manipulator 54 from Fig. 5 in various side views (Fig. 6A-C) in its receiving and transport positions. Fig. 7 shows the manipulator 54 from Fig. 5 in various side views (Fig. 7A-C) in its delivery position. Figs. 6A and 7A show the manipulator 54 from the front, viewed in the negative X-direction in Fig. 5. Figs. 6B and 7B show the manipulator 54 from the side, viewed in the positive Z-direction in Fig. 5. Figs. 6C and 7C show the manipulator 54 from the rear, viewed in the positive X-direction in Fig. 5. The manipulator 54 can comprise a body 62, a flap 64, and a spring 66. The body 62 can comprise a shaft section 68 and a rail section 70. The shaft section 68 is designed to be attached at its upper end to the frame 56 of the drone 14. The shaft section 68 extends essentially vertically, i.e., parallel to the Y-direction. A rail section 70 is provided at a lower end of the shaft section 68. The rail section 70 can form a box-like housing with a through-channel 71 open at both ends (see Fig. 7B) inside. The rail section 70 comprises a space within which the roller adapter 32 can be received and moved (independently). The rail section 70 is designed to be compatible with the rail 26 of the overhead conveyor 10 or the transfer station 34. In other words, the rail section 70 is configured to receive at least one of the roller adapters 32 within its interior. Preferably, after being separated by the separating device 48, the roller adapter 32 rolls from the rail 26 of the transfer station 34 into the rail section 70 of the manipulator 54 solely by gravity. In this case, the passage channel in the rail section 70 is designed with a corresponding downward slope. The flap 64 can be vertically movable (see arrow 72 in Fig. 5) on the body 62 and can preferably be held down in its receiving or transport position (see Fig. 6) by the spring 66. The flap 64 could, for example, also be pivotally mounted. The flap 64 can be configured to close the rail section 70, at least downstream. In Figs. 5-7, the flap 64 has, by way of example, three vertically oriented, U-shaped side walls 74-1 to 74-3 and a cover 76 (see Fig. 6). The front side wall 74-1 is important, as it can close the passage channel 71. The side walls 74 and the cover 76 can be configured to receive the rail section 70, preferably in a form-fitting manner. The cover 76 can have an opening (not specified here) for receiving and guiding the shaft section 68 through it. The spring 66 can be a coil spring that accommodates the shaft section 68 inside it.The spring 66 can be arranged between the frame 56 of the drone 14 and the cover 76 of the flap 64, in particular pre-tensioned. Furthermore, the flap 64 can comprise one or more (latently projecting) wing sections 78. In Figures 5-7, the flap 64 is shown by way of example as comprising two wing sections 78-1 and 78-2. These wing sections 78 can be oriented horizontally along the transverse direction Z. These wing sections 78 can be (fixed) to the lateral side walls 74-2 and 74-3. The wing sections 78 can be used to move the flap 64 vertically from its transport position to the delivery position (see also Figure 8). Each of the wing sections 78 can have one or more (vertical) openings 80. In Figures 6 and 7, each of the wing sections 78 has, by way of example, one of the openings 80. The openings 80 can be configured to interact with a release device 82. For this purpose, the release device 82 can have one or more pins 84 (see Figure 7A), which interact with the openings 80 in a form-fitting manner. Both the openings 80 and the pins 84 can be conically tapered. For the sake of clarity, the pins 84 are shown only in Figure 7A. It is understood that the pins 84 are also present in the other illustrations in Figures 7B and 7C. The release device 82 and its pins 84 are also not shown in Figure 5, although they may be present, even if they do not serve to release the rail section there. At the transfer station of Fig.5. They can be used to position the rail section 70 of the manipulator 54 at the dispensing end 46 of the rail 26. The pins 84 are shown again in Fig. 8 for this purpose. The release device 82 serves to move the manipulator 54 from its transport position to the delivery position by moving the flap 64 upwards and thereby releasing it. Release occurs when the flap 64 is moved vertically upwards against the force of the spring 66. For this purpose, the drone 14 can approach the pins 84 of the release device 82 with its wing sections 78, insert the pins 84 into the openings 80 by slightly lowering vertically, and then lower itself completely vertically, see arrow 85 in Fig. 8. The corresponding stroke 86 is schematically illustrated between Figs. 6 and 7. In the state shown in Fig. 7, the flap 64 is raised and clears the path for the roller adapter 32, which is located in the rail section 70, in the direction of the rail 26, see also Fig. 8.Once the roll adapter 32 is attached to the rail 26 of the transfer station 34, which in this case is configured as a receiving station, the drone 14 can take off vertically again to detach from the release device 82. This causes the spring 66 to automatically push the flap 64 downwards again, closing the rail section 70 to receive a new bag 20. It is understood that the release device can alternatively be equipped with its own (active) drive to raise and lower the pins 84, so that the drone does not need to be moved while the flap 64 is opening and closing, which can simplify drone control. The release device 82 can be included in the transfer station 34 (see Fig. 2). The release device 82 can be mounted on the rail 26 of the transfer station 34, which is designed to accommodate the coupling devices 24, i.e., the RF load carriers 19 or the pockets 20. Alternatively, the release device 82 can be provided separately from the transfer station 34. In this case, the release device 82 can, for example, be mounted on a stand (not shown), which is preferably located in the immediate vicinity of the transfer station 34. As shown in Fig. 5, the transfer station 34 does not require a release device 82 to receive one of the bags 20. The flap 64 of the manipulator 54 leaves the passage channel 71 in the rail section 70 open on one side, allowing a single roller adapter 32 to roll into the passage channel 71 independently. In this state shown in Fig. 5, which represents the receiving and transport positions, the flap 64 is in a lower position (see also Fig. 6). The front side wall 74-1 serves as a stop and, together with the (optionally) sloping floor of the passage channel, secures the roller adapter 32 inside the manipulator 54, so that the drone 14 is loaded and can fly freely in space without losing the roller adapter 32. The slope of the floor is preferably chosen such that the roller adapter 32 is not lost during the flight of the drone 14.The base could also be horizontally oriented, in which case an additional locking device (not shown) can be used to fix the loaded roll adapter 32 inside the manipulator 54. Alternatively, it is also possible to design the flap 64 to be completely closed in the circumferential direction, for example by providing a fourth side wall 74-4 (not shown) that defines a rear side wall 74 of the flap 64 and also closes the upstream opening of the passage channel 71, just as the front side wall 74-1 closes the downstream opening of the passage channel 71. In this case, the (discharging) transfer station 34 of Fig. 5 can also be equipped with a release device 82 (not shown in Fig. 5) analogous to the transfer station 34 of Fig. 8, in order to move the flap 64 vertically upwards during the reception of the roller adapter 32, so that the passage channel 71 is then open. It is understood that the manipulator 54 is adapted to the coupling device 24, particularly with regard to size and shape. For example, if no roller adapters 32 are used to transport the bags 20 within the overhead conveyor 10, the manipulator 54 will also look different than shown in Figures 5-8. The manipulator 54 can, for example, be configured to directly pick up, e.g., grasp, and release the upper hook of the bag 20, with which the bag 20 is suspended in an opening of an overhead conveyor transport element. In this case, the drone 14 could, for example, be positioned laterally to the transport element to lift out the bag 20, in particular by flying the drone 14 accordingly. In general, each of the drones 14 can be equipped with one or more sensors 88 (see Fig. 5). One of the sensors 88 can be configured to determine the position of the drone 14 in space, and in particular relative to the transfer station 34. Another of the sensors 88 could determine a (relative) orientation of the manipulator 54 and, if necessary, correct it by being connected to a corresponding actuator (not shown). Each of the drones 14 can also be equipped with a (first) control unit 90 (see Fig. 5). The control unit 90 can be configured to determine the positions of the drone 14 and the transfer station 34 relative to each other, based on location data provided by a (position) sensor 88. One of the sensors 88 can also be configured to determine the orientation of the drone 14 in space. Based on the information about the position and orientation, the control unit 90 can align the manipulator 54 accordingly, e.g., to interact with the release device 82. Furthermore, each of the drones 14 can have a communication unit 92 to exchange data with, for example, the overhead conveyor 10. This data exchange can be used to coordinate the movements of the bags 20 in the overhead conveyor 10 and the drones 14 (with or without a bag 20). Communication can also take place with a higher-level control unit 94. System 12 can (optionally) include a central control unit 94, see Fig. 1. The control unit 94 is configured, in particular, to send signals to each of the drones 14 and to the overhead conveyor 10 in order to coordinate and synchronize their movements. The control unit 94 can also monitor the position and / or status of each of the bags 20 within the overhead conveyor 10, as well as the operating status of each of the drones 14, particularly in real time. The control unit 94 can also be configured to plan the most efficient route for transporting the items through System 12. This planning can, in particular, include the transfer of the bags 20, at their transfer station 34, between the overhead conveyor 10 and the drones 14, and vice versa. The overhead conveyor 10 can include a (second) control unit 96 that implements the above-mentioned synchronization of movements, for example by moving the drive means 28 accordingly. Process control can therefore be centralized or decentralized. The central controller 94 and the decentralized control units 90 and 96 can perform the same functions, either separately or together. The central controller 94 can be replaced by the control units 90 and 96, and vice versa. Next, hardware configurations of the controller 94 and / or control units 90 and 96 will be described. FIG. 9 shows a diagram illustrating a first exemplary hardware configuration that implements each function of the controller 94 and / or control units 90 and 96. FIG. 10 shows a diagram illustrating a second exemplary hardware configuration that implements each function of the controller 94 and / or control units 90 and 96. It should be noted that each function of the controller 94 and / or control units 90 and 96 relates to each of the functions described above. Each of the functions could be implemented using a processing circuit 98. In the case where purpose-built hardware is used, the purpose-built processing circuit 98 can be a single circuit, a compound circuit, an application-specific integrated circuit (ASIC), a custom programmable gate array (FPGA) or a combination thereof. The functions of controller 94 and / or control units 90 and 96 could each be implemented by a processing circuit, or they could be implemented collectively by a common processing circuit.

[0096] Furthermore, in FIG. 10, the processing circuit 98 has been replaced by a processor 100 and a storage device 102. The processor 100 could be an arithmetic mean, such as an arithmetic unit, a microprocessor, a microcomputer, a central processing unit (CPU), or a digital signal processor (DSP). Examples of the storage device 102 also include non-volatile or volatile semiconductor memories, such as random-access memory (RAM), read-only memory (ROM), flash memory, erasable programmable ROM (EPROM), and electrical EPROM (EEPROM (registered trademark)). In a case where the processor 100 and the storage device 102 are used, each of the functions of the controller 94 and / or control units 90 and 96 is implemented by software, firmware, or a combination thereof. The software or firmware is written in the form of a computer-readable program and stored in the storage device 102. The processor 100 reads such programs stored in the storage device 102 and executes them. These programs can cause a computer to execute procedures and processes for the respective functions of the controller 94 and / or control units 90 and 96. For example, the storage device 102 can be a non-volatile or volatile semiconductor memory, such as a ROM, an EPROM, an EEPROM, a floppy disk, an optical disc, a compact disc, or a DVD. Some of the functions of the controller 94 and / or control units 90 and 96 could be implemented by hardware, and other functions could be implemented by software or firmware. For example, the functions of the controller 94 could be implemented using dedicated hardware, and the functions of the control units 90 and 96 could be implemented using the processor 100 and the memory device 102. The configurations shown in the above embodiments are examples, and it is possible to combine the configurations with another known method or to combine the embodiments with each other, and it is also possible to partially omit or modify the configurations without deviating from the scope of the present disclosure. 10 overhead conveyors 11 pocket conveyors 12 System (for cooperative material handling) 14 drone 16 warehouse management computers 18 Material flow calculators 19 RF charge carriers 20 (overhead conveyor) bags 22 workstations 24 Coupling device or pocket coupling 26 rail 28 propulsion devices 30 chain 32 roller adapters 34 Transfer station 36 Flight direction 38 Direction of conveyance 40 Conveyor section 42 Roller 44 Head section 45 opening 46 Deadline 48 Single-person control device 50 belts 52 Delivery movement 54 Manipulator 56 frames 58 Rotor 60 cases 62 bodies 64 flap 66 spring 68 shaft section 70 track section 71 Through channel 72 Vertical movement 74 Side wall 76 lids 78 wing sections 80 opening 82 Release device 84 pens 85° descent 86 Hub 88 Sensor 90 1 . Control unit 92 Communication unit 94 Control, central 96 2. Control unit 98 Processing circuit 100 processor 102 Storage device

Claims

REQUIREMENTS 1. System (12) for cooperative material handling, comprising: a plurality of overhead conveyor load carriers (19), in particular pockets (20); an overhead conveyor (10) comprising a drive means (28), wherein each of the overhead conveyor load carriers (19) has a coupling device (24) which is configured to be detachably engaged with the drive means (28) in order to move the corresponding overhead conveyor load carrier (19) during engagement along a fixed conveying path in a storage or production environment; at least one drone (14) which is configured for autonomous or remotely controlled, freely definable flight in the storage or production environment; wherein each of the drones (14) is equipped with a manipulator (54) which is configured to pick up and / or release the coupling device (24) of the overhead conveyor load carriers.

2. System (12) according to claim 1, wherein the coupling device (24) is a roll adapter (32) into which the bags (20) can be hooked, and wherein the manipulator (54) is configured to receive and release the roll adapter (32), in particular inside it.

3. System (12) according to claim 2, wherein the manipulator (54) has a flap (64) and a rail section (70), wherein the rail section (70) defines a passage which is provided for receiving the roller adapter (32) and which can be closed at least on the exit side by the flap (64).

4. System (12) according to claim 3, wherein the manipulator (54) further comprises a spring (66), wherein the rail section (70) is encompassed by a body (62) of the manipulator (54) which further comprises a shaft section (68), and wherein the spring (66) is preferably arranged around the shaft section (68) between a drone frame (56) and the rail section (70).

5. System (12) according to claim 4, wherein the spring (66) is pre-tensioned to keep the passage closed with the flap (64) without an external force being applied.

6. System (12) according to one of claims 3 to 5, further comprising a release device (82) configured to move the flap (64) into a dispensing position.

7. System (12) according to any one of claims 1 to 6, further comprising a transfer station (34) configured to transfer one of the overhead conveyor load carriers (19) to the at least one drone (14); and / or to receive it from the at least one drone (14).

8. System (12) according to claim 7, wherein the transfer station (34) has a rail (26) with an open end.

9. System (12) according to claim 7 or 8, wherein the transfer station (34) further comprises: a release device (82); and / or a singulation device (48).

10. System (12) according to any one of claims 1 to 9, wherein the overhead conveyor (10) has a rail (26) in which the drive means (28) is guided and moved, and wherein the overhead conveyor (10) is configured to move the drive means (28) along the conveying path defined by the rail (26).

11. System (12) according to any one of claims 1 to 10, wherein the manipulator (54) comprises: a mechanical gripper; a vacuum gripper; a magnetic gripper; an electroadhesive gripper; and / or a flexible gripper.

12. System (12) according to one of claims 1 to 11, wherein the at least one drone (14) comprises at least one sensor (88), wherein one of the sensors (88) is configured to determine a position of the respective drone (14), in particular relative to a transfer station (34), and to align the manipulator (54) accordingly.

13. System (12) according to claim 12, wherein the at least one sensor (88) further comprises: a camera, a LIDAR, an infrared sensor or a combination thereof.

14. System (12) according to one of claims 1 to 13, which further comprises a control system (94; 90, 96) which is set up to coordinate movements of i) the overhead conveyor load carriers (19) in the overhead conveyor (10) and ii) the at least one drone (14).

15. System (12) according to any one of claims 1 to 13, wherein each of the drones (14) further comprises: a control unit (90); and / or a communication unit (92) configured to exchange data with a controller (94).

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