DE102023002754A1 - Resource management for autonomously moving hanging bags in a hanging bag warehouse - Google Patents

Abstract

The invention relates to a method for controlling a hanging bag warehouse (1) with hanging bags (5) for storing and transporting stored goods (3) that move autonomously or at least partially autonomously on a network (49) by means of a longitudinal and transverse dynamic control that travels along with it. In order to enable the most conflict-free and efficient use of resources possible, the method is carried out by storing the hanging bags (5) in a storage area (401) of the hanging bag warehouse (1), selecting an addressee (403) from the hanging bags (5) located in the storage area (401) for moving the addressee (403) or for retrieving a stored good (3) held in the addressee (403), blocking at least one section (603, 605, 607) of the network (49), using the at least one section (603, 605, 607) for moving the addressee (403) or for a retrieval process of the stored goods (3) in the The storage goods (3) picked up by the addressee (403) and the addressee are moved by means of the longitudinal and/or transverse dynamics control system traveling with the addressee.

Description

Field of the invention

The invention relates to a method for controlling a hanging bag warehouse with hanging bags traveling on a net for storing and transporting stored goods and to a hanging bag warehouse according to the method.

State of the art

In automated warehouses, production facilities and when transporting goods, such as in mail order, it is necessary to load goods into and unload them from containers as automatically as possible. The goods can be stored in these containers before they are delivered and then reach the station where they are packaged for further transport to the customer. Transport within the warehouse is usually carried out using overhead conveyors. The containers are usually bags that are made like fabric bags and are hung on a rail system with a kind of wire hanger at the top. A container of this kind is known from the WO 2014/012965 A1 known. Its side wall elements are controlled via a rod so that the side wall elements, which are connected to one another via a connecting area, can be opened up. In the area of a loading station, the containers are also transferred to a horizontal or inclined position.

Comparable containers for conveying goods and associated overhead conveyor systems are known, for example, from EN 10 2004 018 569 A1 , EP 2 130 968 A1 or EP 2 196 415 A The transport bags described there are made of flexible materials in the form of a loop in which the goods to be conveyed are held. For loading, these transport bags are opened from above in order to be able to place the goods to be conveyed into the loop. Unloading is carried out by either removing the goods from the side of the loop or ejecting them or, for example, according to the EP 2 130 968 A1 the loop is opened downwards. Furthermore, the DE 103 54 419 A1 a conveyor carrier is known which has a relatively rigid and flat plastic wall with a cutout for loading and unloading with conveyor material,

Other containers for conveying goods are made like hanging, flat plastic tubs that are covered on one side with elastic materials, which clamps the conveying goods in place.

It is known to load such containers mechanically and unload them manually. A transport cycle is based on the slowest process, which also depends on the amount of transported goods. In particular, a large number of individual goods can slow down loading and/or unloading. For example, unloading and/or assembling disassembled transport containers can determine the maximum possible transport cycle. The EP 2 686 258 B1 relates to a suspended conveyor system with a transport bag for automatically unloading a loaded piece of goods and with an unloading station. The transport bag 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 in a vertical direction when the transport bag is in an unloading position in such a way that the at least one piece of goods can be pushed out centrally by means of a pushing device through a front side of a base body of the transport bag, wherein the pushing device has a slide which reaches through another front side 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 front sides, the base which can be raised in the vertical direction and the slide of the pushing device which reaches through one of the front sides are therefore required. From the EN 20 2017 100 206 U1 A conveying material container for a suspended conveyor system for transporting conveying material is known, which can be adjusted between an open position and a closed position. The conveying 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 conveying material can be stored within the conveying material container, and an ejection position in which the conveying material can be ejected from the conveying material container.

From the EN 10 2018 105 795 A1 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 are known. The conveyed material container is brought closer to the station, where an attractive force is then created between the station and the conveyed material container to couple the flexible material of the conveyed material container. The conveyed material container coupled in this way is tilted and the conveyed material is ejected from the conveyed material container in a sliding movement.

The EN 10 2018 128 417 A1 describes a method for transporting and sorting a a sorter bag suspended from a roller adapter rolling on a rail network of a sorting system for transporting a piece of goods, characterized by: providing the rail network of the sorting system, providing the roller adapter of the sorter bag rolling on the rail network, providing electrical drive energy for the roller adapter, converting the electrical drive energy provided by means of the roller adapter itself into kinetic energy for transporting the sorter bag, and devices according to the method. The roller adapters are used to suspend and move the sorter bags. 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 sorter bag is suspended, an electrical drive for driving the wheels, and a control device or partial control device for autonomously or at least partially autonomously controlling the roller adapter along a path selected from a plurality of paths.

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

Summary of the invention

Based on this prior art, the present invention is based on the object of enabling the most conflict-free and efficient possible shared use of resources, in particular of a network of the hanging bag warehouse, in a hanging bag warehouse with a large number of autonomously or at least partially autonomously movable hanging bags, in particular with up to one million individual hanging bags, retrieval processes and/or sorting processes, in particular up to 30,000 per hour.

The object is achieved in a method for controlling a hanging bag warehouse with hanging bags that move autonomously or at least partially autonomously on a network by means of a longitudinal and transverse dynamics control that travels with it for storing and transporting stored goods with storing the hanging bags in a storage area of the hanging bag warehouse, selecting an addressee from the hanging bags located in the storage area for moving the addressee or for retrieving a stored good held in the addressee, blocking at least one section of the network, in particular depending on the selection, a state, an environment and/or a location of the addressee within the hanging bag warehouse, and using the at least one section of the network for moving the addressee or for a retrieval process of the stored good held in the addressee and/or for external movements of other hanging bags to clear a retrieval path for the addressee, moving the addressee by means of the longitudinal and/or transverse dynamics control that travels with it. The retrieval process can take place without collisions. The addressee and the other hanging bags have their own longitudinal dynamics control and/or transverse dynamics control for movement, whereby the longitudinal dynamics control and/or transverse dynamics control only establishes a driving state on the section of track if the section of track is blocked for other hanging bags or rolling adapters. The section of track is therefore reserved for the addressee and any hanging bags that are also to be moved with it, in particular for those that evade the addressee. The addressee preferably has its own electric drive that can be or is controlled by the longitudinal dynamics control and in particular actuators to cause a turning process into the blocked section of track. Any coordination required to avoid collisions, in particular an associated radio power density, directly between the hanging bags involved can be avoided or at least reduced to a minimum. Both the addressee and any hanging bags that may be moved by others have a trouble-free section on a network, in particular a rail network, of the hanging bag warehouse.

Preferably, the blocking of at least one section of the route within the hanging bag warehouse can be controlled in a decentralized manner. This means that additional radio traffic between a central control device and the hanging bags involved in the retrieval process can be saved. In addition, the computing capacity required for this can be saved in the control device. The decentralized control allows a compromise between central control and pure swarm intelligence, which can be provided by the individual hanging bags. This enables very high scalability while still providing comparatively high levels of knowledge and targeted control of the processes within the hanging bag warehouse and minimal radio power/data traffic density. The decentralized control can be carried out using decentralized referee controls, which can be provided in blocks or sections in the hanging bag warehouse, for example, and each controls sections of the network.

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

Furthermore, the method can be carried out by initiating the storage area lock by means of the addressed recipient, establishing the storage area lock if the storage area is currently released and otherwise waiting and initiating it again after a period of time has elapsed. It is also conceivable that the storage area lock is controlled by means of a referee control, preferably via one of the second radio links, preferably per storage area, or per block with a large number of storage routes. The section-by-section blocking of the network or storage area lock can therefore be initiated in particular by the recipient after he has received a message that he should leave his storage location. This advantageously allows the method to run and be controlled in a decentralized manner. Any central control device can be limited to generating and carrying out the selection, but can also optionally create an image of the conditions in the hanging bag warehouse. Central storage of the storage location can therefore be used if necessary, but does not have to be dispensed with. In this case, it is sufficient to link the relevant stored goods to the recipient and to ensure that the message for carrying out the removal process reaches the recipient. The remaining steps required for this can be controlled in a decentralized manner.

Alternatively or additionally, a space requirement on a shunting lane of the hanging bag warehouse that is required for the retrieval process can be calculated, a shunting lane block can be initiated for at least one section of the shunting lane for, preferably exclusive, use by hanging bags in the storage area that are to be moved due to the recipient's retrieval process, and/or wherein, for a period of time during which the shunting lane is blocked, use for another retrieval process in the same section and initiation of an identical or overlapping shunting lane block for another purpose, for example for a retrieval process from a parallel storage lane, is prevented. This means that areas of the hanging bag warehouse, in particular areas that are required for external movements and/or evasive movements for the recipient's retrieval process, i.e. to clear the retrieval path, can be kept free and thus kept free of collisions. This process can advantageously be carried out independently of the central control device and also enables maximum scalability. By waiting and inhibiting each other, the required communication requirements and thus the radio power density can be reduced to a minimum.

A further preferred embodiment of the method is carried out by lifting the storage area lock if the shunting lane lock has not been achieved after a predetermined or predeterminable number of attempts. This can avoid deadlocks that last for a long time while simultaneously waiting for the same network resource, especially for external movements on the shunting lanes. It is conceivable to specify a number of 10 attempts, especially between 5 and 15, and then start again from the beginning with initiating the storage area lock. In tests, this number has resulted in particularly efficient control and particularly short removal times.

According to a further alternative, it is conceivable to initiate the warehouse road block and/or the warehouse area block again if this cannot be achieved, and to randomly vary or increase the time between attempts to achieve the warehouse road block and/or the warehouse area block. Algorithms can be used for this. Tests have shown that increasing the waiting times after each attempt enables sensible resource management on the network and/or an overall particularly low radio power density. The increase can be exponential, in particular the waiting time can be doubled for each new attempt. Algorithms of this type are also known as the backoff algorithm, which can be used for this purpose. However, it is also conceivable to additionally or alternatively determine the waiting times with a random variable, in particular to multiply a base waiting time by such a random variable, so that the waiting time exhibit a random dispersion around a base value.

The task is also solved by a hanging pocket storage system for carrying out a previously described method. This results in the advantages described above.

Finally, the task is solved in a hanging bag warehouse with a network on which hanging bags with longitudinal dynamics and transverse dynamics control can be moved autonomously or at least partially autonomously for storing and transporting stored goods, with at least one storage area of the network for storing the hanging bags, a control by means of which a recipient can be selected from the hanging bags located in the storage area for retrieving a stored good held in the recipient, and at least one section of the network can be blocked depending on the selection of the recipient, wherein the at least one section of the network can be used exclusively for the duration of a retrieval process of the stored good held in the recipient, in particular exclusively by the recipient and/or external movements of hanging bags required for the retrieval process, wherein the storage area (401) of the network (49) is drag chain-free, driver-free and actuator-free. As a result, the network can be used by the hanging bags without conflict. A conflict-free and efficient shared use of resources can be carried out for a large number of autonomously or at least partially autonomously movable hanging bags, in particular with up to a million individual hanging bags, retrieval processes and/or sorting processes, in particular up to 30,000 per hour. The hanging bag warehouse is designed, set up and/or programmed in particular to carry out a method described above. In this respect, the advantages described above also arise. The hanging bag warehouse, in particular the storage area, is also free of control elements. In particular, the network of the hanging bag warehouse, in particular at least of the storage area, interacts with the hanging bags traveling through it/these without the need for control elements, with transverse dynamics, in particular turning processes, being controllable by means of the transverse dynamics control of the respective hanging bag or the rolling adapter of the hanging bag and the network being designed to be passive for the turning processes. In particular, the network is designed to be passive for at least one turning process of the respective hanging bag to enter or leave the storage area, in particular a storage line of the storage area. For this purpose, a crossing that can be driven over and leads from a highway and/or shunting road into the storage area is designed without any setting elements - in comparison to a branch known as an adjustable switch. The hanging pocket storage facility is set up, designed, programmed and/or constructed in particular to carry out a process described above. This also results in the advantages described above.

In a preferred embodiment of the hanging bag warehouse, the control system has a central control device for selecting the addressee and a large number of referee controls arranged decentrally within the hanging bag warehouse for blocking at least one section of the route. In particular, each of the referee controls covers an area of the hanging bag warehouse, e.g. one of the storage areas or storage routes arranged parallel to one another, each grouped into blocks, plus the shunting routes surrounding them. This enables decentralized resource management, which enables a good compromise between comparatively communication-intensive swarm intelligence and central control, whereby the referee controls still provide a certain insight into the processes within the hanging bag warehouse and yet maximum scalability is possible. It is conceivable that the referee controls are arranged autonomously in the sense of distributed intelligence within the hanging bag warehouse, whereby this can be done either completely autonomously or with feedback and/or control to/by means of the central control device. It is conceivable that the feedback contains summarized, condensed and/or processed information, can process and answer special requests from the central control device, which requires a comparatively low data traffic compared to 100% monitoring of all hanging pockets. To increase operational reliability, the referee controls can be designed redundantly, for example, provided in triplicate, with data being assessed as correct if two of the three results generated in parallel match. This means that operation can continue without disruption even if one of the units fails. For the decentralized control, a large number of second radio links running between the respective referee control and the hanging pockets and/or between the hanging pockets themselves can be provided, e.g. according to a known standard such as Bluetooth Low Energy (BLE). Such a network is known from an application by the same applicant with the internal file number DE4720, to the content of which reference is hereby made. The radio links then run between the hanging pockets and the referee control. Communication between the addressee and/or the respective referee controls and the central control device can take place via a first radio link. route 409 of the notification network. However, there can also be either no connection at all between the respective referee controls and the central control device in the sense of autonomous action to save data traffic or a separate third route can be provided.

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

Short description of the characters

• 1 eine schematische dreidimensionale Ansicht von schräg seitlich vorne oben eines Hängetaschenlagers;
• 2 eine schematische Seitenansicht einer Hängetasche für das in 1 gezeigte Hängetaschenlager;
• 3 eine schematische dreidimensionale Ansicht von schräg seitlich oben auf mehrere der in 2 gezeigten Hängetaschen an einem Schienennetz;
• 4 eine schematische Ansicht einer Ebene eines Hängetaschenlagers zur Verdeutlichung einer Auslagerung mit einer Umkehr einer Bewegungsrichtung;
• 5 eine schematische Ansicht der Ebene des Hängetaschenlagers zur Verdeutlichung einer Auslagerung mit einer Umrundung/einem Pendeln;
• 6 bis 9 jeweils eine schematische Ansicht eines Lagerbereichs des Hängetaschenlagers mit zwei Lagerstraßen zur detaillierten Verdeutlichung von Steuervorgängen für die in 4 dargestellte Auslagerung;
• 10 eine schematische Detailansicht analog der Ansicht aus 8 eines Teils einer Ebene des Hängetaschenlagers zum Verdeutlichen einer Sperrung zumindest eines Streckenabschnitts eines Netzes des Hängetaschenlagers; und
• 11 ein Ablaufdiagramm eines Verfahrens zum Steuern des Hängetaschenlagers, insbesondere zum Sperren des Streckenabschnitts.

The invention is explained in more detail below using an embodiment shown in the figures. They show:

• 1 a schematic three-dimensional view from the side at the front and top of a hanging pocket storage system;
• 2 a schematic side view of a hanging bag for the 1 hanging pocket bearings shown;
• 3 a schematic three-dimensional view from the side and from above of several of the 2 shown hanging bags on a rail network;
• 4 a schematic view of a level of a hanging pocket storage system to illustrate a retrieval with a reversal of a direction of movement;
• 5 a schematic view of the hanging pocket storage level to illustrate a retrieval with a circuit/swing;
• 6 to 9 each a schematic view of a storage area of the hanging bag storage with two storage lines for detailed clarification of control processes for the 4 shown outsourcing;
• 10 a schematic detailed view analogous to the view from 8 a part of a level of the hanging bag storage facility to illustrate a closure of at least one section of a network of the hanging bag storage facility; and
• 11 a flow chart of a method for controlling the hanging bag storage, in particular for blocking the track section.

Description of preferred embodiments

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

1 shows a schematic three-dimensional view from the side at the front and top of a hanging pocket storage unit 1.

The hanging pocket storage 1 has at least two levels 9, 13, here a total of four, with a first level 9 and a second level 13 being provided with reference symbols by way of example. More or fewer levels are conceivable, for example 10 levels or more, which are arranged vertically one above the other.

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 symbols.

The hanging bag storage 1 is used for receiving, storing, sorting and/or retrieving stored goods 3. Optionally as a pure storage or sorting device. The transfer buffers 7, 11 are preferably arranged vertically one above the other, which is symbolized by a line 27. However, it is also conceivable to arrange at least two of the transfer buffers 7, 11 one above the other and/or to arrange them at an angle to a vertical spatial direction along the line 27.

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 to the ring conveyor system 23 and/or can be stored from there into the levels 9, 13 or the transfer buffers 7, 11 of the levels 9, 13.

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 in a hanging bag 5. Particularly preferably, the entire hanging bag 5 is driven autonomously, in particular by means of a traveling electric drive, controlled and/or moved before it is made available, when the hanging bag 5 is made available and/or transferred. The method is carried out before preferably using or by means of electric drives, in particular without drag chains and/or without drivers. For this purpose, the hanging pocket storage 1 is designed, for example, at least in part or entirely, without drag chains and/or without drivers, preferably at least within levels 9, 13.

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

In order to store the storage goods 3 in the hanging bag warehouse, this has a transfer point 53, via which the individual storage goods are transferred into individual hanging bags 5. Preferably, only one of the storage goods 3 is transferred per hanging bag 5. However, several are also conceivable, provided that they can be accommodated in the corresponding hanging bag 5. In the transfer point, the storage 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 drive autonomously to a storage location in the hanging bag warehouse 1.

At an unloading station 55 of the hanging bag storage 1, the stored goods 3 are removed from the ring conveyor system 23 and are available there preferably in a predetermined or predeterminable order 15. It is conceivable that a column of hanging bags 5 in the desired order 15 enters the unloading station 55 from the ring conveyor system 23 or is transferred from the ring conveyor system 23 to it, is unloaded there and then returns again for further loading. The unloading station 55 can be arranged inside or outside one of the levels 9, 13, preferably in a lowest level.

Alternatively, however, it is also conceivable that the hanging bags 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 bag warehouse 1 by means of the ring conveyor system 23, i.e. without the respective hanging bags 5 remaining in the unloading station or being available there, for example in order to continue to travel or be transported further to the transfer point 53 after unloading.

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, for example, in the DE10 2018 128 417 A1 described, so that a more detailed description is omitted here. Preferably, a control device 25 is provided for monitoring and controlling the hanging pocket storage 1, in particular for specifying the desired sequence 15 and controlling the ring conveyor system 23, which exchanges information with the functional units of the hanging pocket storage 1.

2 shows a schematic side view of such a hanging pocket 5 for the 1 shown hanging pocket bearings 1 and 3 a three-dimensional view of several of the 2 shown hanging pockets 5, suspended in the network 49, which is designed as a rail network, for example. For this purpose, these have wheels 57 and can be driven by means of a drive energy, which is only indicated by the reference number 59, and a drive that uses this. The hanging pockets 5 can be designed in two parts and have a rolling adapter 61 and a bag material suspended or suspended thereon, in particular detachable without causing any damage, in particular sagging and/or foldable material in which a stored item 3 can be accommodated. In 3 A possible direction of movement of the hanging pockets 5 in the network 49 is indicated by means of a double arrow 51. The hanging pockets 5, in particular their rolling adapters 61, are set up, programmed and/or designed for autonomous or semi-autonomous driving on the network 49.

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

Preferably, the network 49 can be designed passively, i.e. without adjusting elements. The term "free of adjusting elements" can be understood to mean that the network 49 does not have any active adjusting elements that influence the transverse dynamics of the rolling adapters 61 or hanging pockets 5, on which wheels or contact surfaces can be supported transversely to the direction of travel to bring about a change in direction that can be adjusted on the network side, as is known, for example, from classic adjustable switches.

Particularly preferably, the net 49 is constructed horizontally or essentially horizontally. Essentially horizontal can be understood here to mean that the rolling adapters 61 traveling on it do not roll away automatically due to gravity when stationary, and can therefore preferably be constructed without a parking brake. In this case, the drive is therefore gravity-free, and therefore not gravity-induced. In addition, the drive can be designed as an electric drive, whereby the longitudinal dynamics control or the drive can be carried out without a drag chain, without gravity and/or without a driver.

In 2 the hanging pocket 5 is shown with the stored goods 3 held in it. The stored goods 3 are located within a U-shaped hanging material, in particular a flexible material. Loading and unloading can take place in particular from above or from the side.

4 shows a schematic view of a level of a hanging pocket storage, for example level 9 of the hanging pocket storage 1 described above. Level 9 is only partially shown, whereby the dimensions and number of individual elements of level 9 described here can be varied depending on the requirements of the hanging pocket storage 1. The number of levels themselves can also be varied.

Unless explicitly mentioned, reference is also made to the following figures. Level 9, which is only partially shown, has the network 49 with a large number of rails. The network 49 has, for example, rectangular meshes formed by the rails and crossings, whereby 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. The hanging pockets 1 can move autonomously or at least partially autonomously. For this purpose, each of the hanging pockets 5 can have its own drive acting on the wheels 57 and a corresponding control system.

The network 49 can basically be driven over in any way by the hanging pockets 5, whereby the switches are preferably designed to be passive, i.e. basically fulfill the function of a crossing, and the hanging pockets 5 or their transverse dynamic control interact with the switches by means of corresponding steering devices (not shown in detail) in such a way that the desired change of direction can be achieved. Movements of the hanging pockets 5 are shown in bold dashed lines in the figure.

Preferably, however, the network 49 is used and driven by the hanging bags 5 - regardless of the previously described free driving and usage options - according to predetermined or predeterminable rules. For this purpose, certain sections of the network 5 can be specified, for example, directions, speeds and preferably types of use. In the present case, the network 49 can have at least one storage line 62 for storing the hanging bags 5. In the storage lines 62, one or more of the hanging bags 5 can be stored in a row 60, symbolized by a curved bracket, for example. For this purpose, they remain at rest, preferably in an energy-saving idle state, parked one behind the other in the row 60 of the corresponding storage lines 62.

For retrieval, all of the hanging pockets 5 that need to be moved can be woken up and moved again accordingly.

In this embodiment, storage lines 62 are all arranged parallel to one another throughout level 9 and are shown horizontally and as solid lines in the figure. The rules and the arrangement offer the advantage that material flows during storage and retrieval can be standardized and thus run faster, easier and free of resource conflicts on the network 49.

The hanging bags 5 are symbolized in the figure by rectangles. In comparison to other areas of the hanging bag warehouse 1, in particular highways and/or shunting roads, the storage streets 62 of the hanging bag warehouse 1 have a length without crossings, in particular one by a factor of at least 1.5, preferably of at least 3, in particular of at least 10, for example between 3 and 25, preferably of approximately 20. The length without crossings can be, for example, between 3 and 20 meters, preferably approximately 15 meters. The length of the storage streets 62 can be made dependent on the use or optimization of the hanging bag warehouse 1, for example rather shorter for quick access and short dwell times of the stored goods 3 and longer for comparatively low handling frequencies.

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 orthogonal to them. 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 comparison to the storage lines 62, it is not permitted to stop on the shunting lines 66 for storage purposes. 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 the storage lines 62 arranged parallel to one another. In this case, 5 in each case. The number can vary, for example between 2 and 30, preferably between 5 and 20, in particular approximately 15. The number can also be adapted to a task of the hanging bag storage 1.

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.

In order to achieve a good and rapid outflow of the stored goods 3 or hanging bags 5, a comparatively high speed can be driven on the expressways 72 and in particular a continuous journey is provided, i.e. stopping without reason is not provided or should be avoided. Reasons for stopping can therefore preferably be limited to collision avoidance. Particularly preferably, the expressways 72 can generally have a direction-bound 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 the expressways 72 arranged parallel to one another have opposite specifications for the direction of movement, i.e. at least one pair of expressways 72 arranged parallel to one another with opposite specifications for the direction of movement is provided. In addition, the expressways 72 can be arranged at an angle to one another, preferably crossing at the angle. For example, they can be arranged orthogonally to one another. In this case, the expressways 72 can be arranged in a grid pattern and preferably with alternating directions of movement. In this way, ring roads can be formed that surround at least one or more of the blocks 76 and can be driven on particularly quickly in one direction. The alternating directions are shown in the figure by arrows 78 and the expressways 72 are shown in dashed lines.

It can be seen in the figure that the storage roads 62 are particularly preferably 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 it, with a large number 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 has switches or crossings that can be driven over at least partially autonomously or autonomously at a distance of the storage roads 62 from the hanging pockets 5 and limits the trestles 76 orthogonally to the orientation of the storage roads 62 or connects them to the rest of the 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 at crossings and/or switches and rail sections in order to enable a cost-effective and easily assembled structure.

In the following, the possible uses of this grid-like arrangement of the storage roads 62, shunting roads 66 and expressways 72 are explained in more detail using the example of a relocation. One of the stored goods 3 stored in the hanging bag warehouse 1 is planned for relocation, for example a removal, preferably initially to the unloading station 55. The hanging bag 5 with the planned stored goods 3 is shown in dotted lines in the figure, whereby the stored goods 3 accommodated in the hanging bag 5 itself is not visible. The planned stored goods 3 can be identical in one or more locations in the hanging bag warehouse 1, whereby a selection can be made based on a criterion before planning.

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.

Before this can take place, however, the storage goods 3 shown in dotted lines are first scheduled for removal. This can be done using the control device 25.

In order to free up a retrieval path 70 on which the planned storage goods 3 can leave the 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 or intersection at one end of the storage line 62. As soon as the retrieval path 70 is free, the relocation or retrieval of the planned storage goods 3 can take place along it, which is symbolized in the figure by the bold and dashed arrow 74. The planned storage goods can then optionally be temporarily stored or, if necessary, travel directly to or be conveyed to the unloading station 55, preferably entering the ring conveyor system 23 and being conveyed to the unloading station by means of this.

As in 4 to recognize, a reversal of the direction of movement of the other storage goods 3 of row 60 takes place in order to clear the retrieval path 70 and then the other storage goods 3 are moved back into row 60. In the present case, three of the storage goods 3 are moved out of row 60 into storage line 62, preferably in a convoy. After the planned storage goods 3 have been moved, the three of the storage goods 3 of row 60 are moved back into storage line 62 in the opposite direction of movement. This process with the reversal of the direction of movement is in 4 symbolized by a dashed and bold arrow 80. A sequence of the three stored goods 3 is maintained. The shunting roads 66 can be driven in the same direction, which can result in more fluid traffic.

5 shows another possibility for clearing the retrieval path 70 and moving the planned storage goods 3 along it. For this purpose, the other storage goods 3 are moved in a ring shape, 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 circled, but another storage line 64 is used, as shown by the dashed and bold arrow 80 in 5 This can preferably be done in a neighboring Lagerstraße 62, as shown in the 5 or in any other of the storage streets 62 of the corresponding block 76. When using the additional storage street 64, the shunting streets 66, 68 are used on a particularly short section. As a result, a comparatively large number of these processes can run in parallel and a sorting and/or access time can be further shortened. As soon as the planned storage goods 3 have arrived at one end of the storage street 62, the retrieval path 70 is free and it can be relocated, in particular retrieved, by crossing the shunting street 66 and over the expressway(s) 72, which in 5 symbolized by the dashed and bold arrow 74.

Preferably, the hanging bags 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 storage lines 62 arranged adjacent to one another, with a sequence of the stored goods 3 being reversed or mirrored and the retrieval taking place at the same time. This simplifies the management of the inventory, since the contents of the respective storage lines 62 are mirrored, but remain intact in their entirety except for the planned stored goods. The arrangement of the individual stored goods 3 within the storage lines 62 also plays no role. The planned stored goods 3 can move out autonomously and independently of the non-planned stored goods 3. It also does not matter which of the storage lines 62 also takes part 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.

It is clear that half a rotation is sufficient for each of the storage goods 3 moved in this way on the two storage streets 62 to pass exactly once by one of the shunting streets 66, 68, which are arranged on both sides of the front sides of the storage streets 62. At this moment, the planned storage goods 3 leave the circular movement, in particular onto the corresponding shunting street 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 used in the same direction and are comparatively lightly congested due to the roundabout, which allows for more fluid traffic overall.

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

In this application, a storage area can be understood as any section of the network 49 which is intended, used or reserved at least temporarily, in particular permanently, for storing the hanging bags 5, thus in particular has at least one of the storage lines 62 and/or 64.

6 corresponds essentially to a detail of the 5 , in particular, the hanging pockets 5 are removed and moved as in 5 described. It mainly deals with the ongoing communication. Regarding the movements of the hanging pockets 5, reference is made to the remaining figure description, in particular the 5 reference is made.

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

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

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

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

In the warehouse street 62, where the addressee 403 is located, further hanging bags 5 block the removal path 70, which in 6 are indicated by a curved bracket 437.

In order to free this, the blocking hanging bags 5 must first leave Lagerstrasse 62.

To do this, the addressee 403 initiates a second message 407, which is forwarded via a forwarding chain 421 to the blocking hanging pockets 5 up to an end user 423 of the hanging pockets 5. This can be done via a plurality of second radio links 411 set up between the hanging pockets 5. The forwarding chain 421 has the plurality of second radio links 411.

After this process, the blocking hanging pockets 5 all have the information that the retrieval path 70 must be cleared. The end user 423 ends the forwarding chain 421, more precisely a first run of it, and initiates it in the opposite direction, as in 7 indicated. During the first run through of the forwarding chain 421, the number of blocking hanging pockets 5 that it runs over is counted, so that the end user 423 has the information about how many of the hanging pockets 5 are blocking the retrieval path 70.

During the second run through the forwarding chain 421, the blocking hanging bags 5 are given this information, i.e. how many hanging bags 5 are blocking the retrieval path 70 in total and how far an evasive action must be taken as a result of this information. The space required by each individual blocking hanging bag 5 can be added up when running through the forwarding chain. As soon as this information is available to everyone, the blocking hanging bags 5 begin the evasive action to clear the retrieval path 70, which is indicated by the arrow 80. To do this, they leave the storage road 62 and turn into the shunting road 66, which in 8 is shown.

In addition, 8 to recognize that the addressee 403 then leaves Lagerstrasse 62 and travels towards Autobahn 72, according to driving instruction 417.

As soon as the addressee 403 has left the warehouse road 62, it initiates the forwarding chain 421 again, i.e. a third pass, this time again in the direction of the end user 423. The information is forwarded that the warehouse road 62 is free again and consequently the blocking slopes pockets 5 can be retracted into them, which in 9 is indicated.

To do this, turn in the opposite direction from Rangierstraße 66 in the direction of arrow 80 into Lagerstraße 62.

The blocking hanging pockets 5 also have the storage space 415, by means of which individual current storage locations 413 in the storage area or on the storage streets 62, 64 and/or intermediate destinations to be reached on the shunting street 66 and, after the removal path 70 has been cleared, again on the storage street 62 can be stored and can be controlled accordingly autonomously or at least partially autonomously.

Information on how far the respective hanging bags 5 have to move out of the storage line 62 in order to clear the retrieval path 70 and which space on the storage line they take up again when returning can be generated when passing through the forwarding chain, e.g. by summing up, and can be generated and stored decentrally in the respective hanging bags 5 and corresponding individual travel instructions can be generated from this.

For clearing the retrieval path 70 and retrieving the addressee 403, the hanging pockets 5 can each have their own computing unit (not shown in the figures) and a 6 and only have the storage location 415 indicated in the addressee 403.

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

10 shows a retrieval process of the addressee 403. To do this, the addressee uses a part of the storage line 62 as a retrieval path 70. The shunting lines are only indicated by the reference numerals 66 and 68. In addition, an external or evasive movement of further hanging bags 5 takes place from the storage line 62 to the shunting line 66, which is indicated by the dashed arrow 80.

To avoid collisions, sections of the network 49 are closed, which in 11 indicated by means of curved brackets. In particular, storage roads 62 or sections 603 of shunting roads 66 can be closed. The sections 603 are preferably located between intersections, i.e. do not include them. In this case, crossing traffic can take place despite the closure.

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

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

11 shows a flow chart of a corresponding method. Reference is also made to the previous figures. Steps are shown using rectangles, information and computing units using corresponding symbols, routes, in particular radio routes, are shown using dashed lines, and the elements and/or processes of the hanging bag storage system 1 involved are shown using ovals.

In a first step 609, the addressee 403 is addressed. The addressee receives a message that an outsourcing is to be carried out. In principle, this message can be transmitted in any way, preferably via the notification network 419, in particular via the first radio link 409.

In a second step 611, the storage area lock 605 is then requested, in particular valid for the storage line 62 on which the addressee 403 is located. This request can be carried out centrally by the control device 25.

Preferably, however, this can be processed, controlled and/or set up by means of the referee control 601. For this purpose, the addressee 403 can send a message to the referee control 601 via one of the second radio links 411, which in 11 is indicated by a dashed arrow.

A first query 613 can then be carried out, in particular by means of the addressee 403, in which it is determined whether the storage area lock 605 has been set up. If the storage area lock 605 is not set up or cannot be set up, a wait takes place in a third step 615, which then leads back to the second step 611 after the expiration of a first wait time, i.e. a new query to set up the storage area lock 605.

If the storage area lock 605 is set up, which is preferably done or decided and released by the referee control 601, a fourth step 617 is carried out in which a space requirement for evasive movements of the retrieval process on the shunting line 66 is calculated. This can be done in any way, for example centrally, preferably decentrally by means of the first forwarding chain 421 or the first run of the forwarding chain 421. Alternatively, however, a fixed value can also be specified that reserves or makes available enough space on the shunting line 66 for all conceivable retrieval processes, which can be useful in particular for hanging bag warehouses that are not very busy.

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

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

A second query is then carried out. This can be carried out by the end user 423, which, if the shunting road block 607 is not present, leads to a sixth step 623 of waiting. After a second waiting time has elapsed, this can lead back to the fifth step 619, which can then be carried out repeatedly by the end user 423.

Alternatively, it is conceivable that 11 is not explicitly shown, in order to avoid a very long stay in this loop, to set a termination criterion after e.g. 10 repetitions, in particular 5 to 15 repetitions, in which case it is possible to branch to the first step 609, in which case the already set up storage area lock 605 can also be lifted so that the process can begin again until the relocation process of the addressee 403 can then take place without collisions or the resources required for this are available on the network 49. During the second waiting times, the end user 423 can wait and also postpone the second forwarding chain 421 or not start it.

In the event of an abort, the end user 423 can start an additional forwarding chain to send the information of the abort to all hanging bags involved so far, in particular also to the referee control 601.

In the event that the resources on the network 49 are free, i.e. the shunting road block 607 has been successfully set up, the second query 621 branches to a seventh step 625. The outsourcing process for the addressee 403 is started. Preferably, this can be done as previously described by initiating the second forwarding chain 421 by means of the end user 423.

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

List of reference symbols

1

Hanging bag storage

3

Storage goods

5

Hanging bag

7

first transfer buffer

9

first level

10

Handover order

11

second transfer buffer

13

second level

15

Series

23

Ring conveyor system

25

Control device

27

line

49

network

51

Double arrow

53

Transfer point

55

Unloading station

57

Wheels

59

Drive energy

60

Row

61

Roll adapter

62

Lagerstrasse

64

further warehouse road

66

Shunting road

68

further shunting road

70

Offload path

72

expressway

74

Arrow

76

block

78

Arrow

80

Arrow

88

Double arrow

401

Storage area

403

addressee

405

first message

407

second message

409

first radio link

411

second radio link

413

Storage location

415

Storage space

417

Driving instructions

419

Notification network

421

Forwarding chain

423

End participants

601

Referee control

603

Section

605

Storage area lock

607

Shunting road block

609

Step 1

611

Step 2

613

1. Query

615

Step 3

617

Step 4

619

Step 5

621

2. Query

623

Step 6

625

Step 7

QUOTES INCLUDED IN THE DESCRIPTION

This list of documents listed by the applicant was generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA accepts no liability for any errors or omissions.

Cited patent literature

• WO 2014012965 A1 [0002]
• DE 102004018569 A1 [0003]
• EP 2130968 A1 [0003]
• EP 2196415 A [0003]
• DE 10354419 A1 [0003]
• EP 2686258 B1 [0005]
• DE 202017100206 U1 [0005]
• DE 102018105795 A1 [0006]
• DE 102018128417 A1 [0007, 0033]

Claims (10)

Method for controlling a hanging bag warehouse (1) with hanging bags (5) that move autonomously or at least partially autonomously on a network (49) by means of a longitudinal and transverse dynamic control that travels along with it for storing and transporting stored goods (3), with: - storing the hanging bags (5) in a storage area (401) of the hanging bag warehouse (1), - selecting an addressee (403) from the hanging bags (5) located in the storage area (401) for moving the addressee (403) or for retrieving a stored good (3) received in the addressee (403), - blocking at least one section (603, 605, 607) of the network (49), - using the at least one section (603, 605, 607) for moving the addressee (403) or for a retrieval process for the stored good received in the addressee (403). (3), - Moving the addressee by means of the longitudinal and/or lateral dynamics control system that moves with the addressee. Procedure according to Claim 1 , characterized by : - decentralized control of the blocking of at least one section (603,605,607) within the hanging bag warehouse (1). Procedure according to Claim 1 or 2 , characterized by : - initiating a storage area lock (605) for a storage area (401) in which the addressee (403) is located to block the at least one route section (603,605,607), and/or wherein for a period of time of the storage area lock (605) a further retrieval process in the same storage area (401) and a further initiation of an identical storage area lock for a further addressee is prevented. Procedure according to Claim 3 , characterized by : - initiating the storage area lock (605) by means of the addressed addressee (403), - establishing the storage area lock (605) if the storage area is currently released, - otherwise waiting and re-initiating after a period of time has elapsed. Procedure according to one of the Claims 1 until 4 , characterized by : - calculating a space requirement on a shunting line (66) of the hanging bag warehouse (1) which is necessary for the retrieval process, - initiating a shunting line block (607) of at least one section (603) of the shunting line (66) for use by hanging bags (5) of the storage area (401) which are to be moved due to the retrieval process of the addressee (403) in order to block the at least one section (603), and/or wherein for a period of time of the shunting line block (607) use for a further retrieval process in the same section (603) as well as any other initiation of an identical shunting line block is prevented. Procedure according to one of the Claims 3 until 5 , characterized by : - lifting the storage area lock (605) if the shunting road lock (607) has not been achieved after a predetermined or predeterminable number of attempts. Procedure according to one of the Claims 3 until 6 , characterized by : - re-initiating a blockage of the storage line (62) and/or the storage area blockage (605) if these cannot be achieved, - randomly varying or increasing the time duration between attempts to achieve the blockage and/or the storage area blockage (605). Hanging bag storage (1), set up, designed, constructed and/or programmed to carry out a method according to one of the Claims 1 until 8 . Hanging bag warehouse (1) with a network (49) on which hanging bags (5) having longitudinal dynamics and transverse dynamics control can be moved autonomously or at least partially autonomously for storing and transporting stored goods (3), with: - at least one storage area (401) of the network (49) for storing the hanging bags (5), - a control (25, 601) by means of which an addressee (403) can be selected from the hanging bags (5) located in the storage area (401) for retrieving a stored good (3) received in the addressee (403) and at least one section (603,605,607) of the network (49) can be blocked depending on the selection of the addressee (403), - wherein the at least one section (603,605,607) for the duration of a retrieval process of the stored good received in the addressee (403) (3) can be used exclusively, - whereby the bearing area (401) of the net (49) is drag chain-free and driver-free. Hanging bag storage according to Claim 9 , characterized in that the control comprises a central control device (25) for selecting the addressee (403) and a plurality of referee controls (601) arranged decentrally within the hanging bag warehouse for blocking the at least one track section (603, 605, 607).

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