METHOD FOR OPERATING A DRIVERLESS TRANSPORT SYSTEM, SUPPLY DEVICE AND TRANSPORT SYSTEM

Abstract

A method includes operating a driverless transport system with a plurality of battery-operated and driverless vehicles for transporting a consignment of goods over a drivable logistics region having a supply device. The supply device has at least one receptacle which receives at least one vehicle and is movable in at least one vertically oriented plane in a storage region. The method includes the steps of: supplying at least one vehicle by means of the receptacle in the logistics region; positioning the at least one vehicle at the consignment of goods; coupling the consignment of goods to the at least one vehicle and transporting the consignment of goods by the at least one vehicle from a first location to a second location; depositing the consignment of goods; receiving the at least one vehicle by the receptacle of the supply device; and moving the at least one receptacle with the vehicle.

Claims

1. Method for operating a driverless transport system (1) with a plurality of battery-operated and driverless vehicles (3) for transporting a consignment of goods (6) over a drivable logistics region (10) having a supply device (2), the supply device (2) having at least one receptacle (20) which receives at least one vehicle (3) and is movable in at least one vertically oriented plane in a storage region (12), comprising the following method steps: Supplying at least one vehicle (3) by means of the receptacle (20) in the logistics region (10); Positioning the at least one vehicle (3) at the consignment of goods (6); Coupling the consignment of goods (6) to the at least one vehicle (3) and transporting the consignment of goods by the at least one vehicle (3) from a first location to a second location; Depositing the consignment of goods (6); Receiving the at least one vehicle (3) by the receptacle (20) of the supply device (2); and Moving the at least one receptacle (20) with the at least one vehicle (3).

2. Method according to claim 1, characterized in that the changing or charging of a battery of at least one vehicle (3) takes place in the storage region (12).

3. Method according to claim 1, characterized in that the at least one vehicle (3) travels back to the supply device (2) and is received by it when the battery-operated vehicle (3) falls below a charge level.

4. Method according to claim 1, characterized in that the receptacle (20) can be moved along a guide device (24).

5. Method according to claim 4, characterized in that the guide device (24) guides the at least one receptacle (20) along a closed travel path.

6. Method according to claim 4, characterized in that the movement of the at least one receptacle (20) occurs along the guide device (24) in a, preferably single, direction of movement (26).

7. Method according to claim 4, characterized in that the at least one receptacle (20) is moved along the guide device (24) in such a way that the orientation of the at least one receptacle (20) in the horizontal remains substantially unchanged.

8. Method according to claim 1, characterized in that the receptacle (20) is temporarily slowed down or stopped for the supply of the at least one vehicle (3).

9. Method according to claim 1, characterized in that the at least one vehicle (3) is positioned under the consignment of goods (6) to be transported for coupling.

10. Method according to claim 1, characterized in that to couple the consignment of goods (6) to the at least one vehicle (3), the consignment of goods (6) is lifted by the at least one vehicle (3).

11. Method according to claim 1, characterized in that a plurality of vehicles (3) for transporting the consignment of goods (6) are arranged in a formation.

12. Method according to claim 1, characterized in that the storage region (12) comprises at least one parking position (22) on which the at least one vehicle can be arranged.

13. Method according to claim 1, characterized in that the at least one vehicle (3) can be held on the receptacle (20) by retaining means.

14. Supply device (2) for a plurality of battery-operated and driverless vehicles (3), which vehicles can be dispensed and received in at least one drivable logistics region (10) through an entry and/or exit area (14, 16), wherein the supply device (2) comprises at least one receptacle (20) that receives at least one vehicle (3), wherein the at least one receptacle (20) is movable in at least one vertically oriented plane in a storage region (12), and wherein the at least one receptacle (20) can dispense the at least one vehicle (3) in the entry and/or exit area (14, 16) in the at least one drivable logistics region (10) and can receive the at least one vehicle (3) from the at least one drivable logistics region (10).

15. Supply device (2) according to claim 14, characterized in that the at least one receptacle (20) comprises means for changing or charging the battery of the at least one vehicle (3).

16. Supply device (2) according to claim 15, characterized in that the means for changing or charging the battery are conductive or inductive.

17. Supply device (2) according to claim 14, characterized in that a guide device (24) is provided and that the guide device (24) guides the at least one receptacle (20) along a predetermined travel path.

18. Supply device (2) according claim 17, characterized in that the guide device (24) represents a closed travel path.

19. Supply device (2) according to claim 17, characterized in that the guide device (24) guides the at least one receptacle (20) along the travel path in a horizontal orientation.

20. Supply device (2) according to claim 14, characterized in that the at least one receptacle (20) comprises retaining means by which the at least one vehicle (3) can be fastened to the receptacle (20).

21. Supply device (2) according to claim 14, characterized in that the storage region (12) comprises a plurality of parking positions (22), and in that at least one vehicle (3) can be arranged on the respective parking position (22).

22. Transport system (1) of a supply device (2) according to claim 14.

Description

[0051] In the following, an embodiment example of the present is described in detail with reference to the accompanying drawing. Wherein:

[0052] FIG. 1 shows a schematic representation of a transportation system with a plurality of driverless and battery-powered vehicles and a supply device, wherein the vehicles are movable in a drivable logistics region, and a supply device for storing and supplying the vehicle,

[0053] FIG. 2 shows a schematic representation of the transportation system according to FIG. 1, wherein a formation of vehicles loads or unloads a truck at a loading station,

[0054] FIG. 3 shows a simplified perspective representation of a vehicle of the transport system,

[0055] FIG. 4 shows a schematic and highly simplified side view of the supply device,

[0056] FIG. 5 shows a further side view of the supply device according to FIG. 4,

[0057] FIG. 6 shows a first further development of the supply device according to FIG. 4 and FIG. 5, and

[0058] FIG. 7 shows a second further development of the supply device

[0059] In the following, identical or functionally identical components are identified with the same reference signs. For the sake of clarity, not all identical or functionally identical parts are given a reference number in the individual figures.

[0060] FIG. 1 shows a top view on a highly simplified and schematized transport system 1, which can, for example, be used in the logistics sector. The transport system 1 comprises a supply device 2 for a plurality of battery-operated and driverless vehicles 3, which vehicles are shown in detail and by way of example in FIG. 3, which vehicles can drive autonomously over a drivable logistics region 10 for transporting a consignment of goods 6.

[0061] The consignment of goods 6 is shown in the accompanying FIG. 1 and FIG. 2 as a euro-pallet, wherein the consignment of goods to be transported can be selected at will. By way of example, the consignment of goods 6 can also be any transport container as well as other objects, such as a shopping cart, a baby carriage, a hospital bed, a dustbin or the like. The consignment of goods 6 does not necessarily need to be lifted by the vehicle 3 for transportation, but rather can also be used as an adapter or coupling to couple the vehicle 3 for transportation to the vehicle 3 and to move the consignment of goods from a first location to a second location with the at least one vehicle 3.

[0062] The vehicles 3 are autonomously driving and battery-powered vehicles, which are also referred to as Automated Guide Vehicles, or AGVs for short. In particular, the vehicles 3 can be so-called MM-AGVs, which is to say, Multi-Purpose-Micro Automated Guide Vehicles, which are characterized by their compact size. The size is preferably adapted to the free space of a euro-pallet in accordance with EN 13698-1, so that the AGV can enter this free space. The free space between the three bottom boards is 227.5 mm wide and 100 mm high, wherein the vehicle 3 should not exceed these dimensions in order to be able to drive into the free space.

[0063] In the simplest case, the logistics region 10 can be an accessible and horizontally oriented logistics plane, such as, for example, a floor of a warehouse, and can include a loading station for trucks 5as shown in FIG. 1 and FIG. 2. The vehicles 3 can moreover also drive onto a truck 5 or its loading area in the logistics region 10 to load or unload the consignment of goods 6. It should be noted at this point that the logistics region 10 can also be accessed via several floors or the like, wherein, for example, the floors or planes can be connected via ramps.

[0064] The battery-operated and driverless vehicles 3 comprise a drive device 32, a lifting device 34 and a battery, not shown, which can supply the vehicle with electrical power. According to a preferred embodiment, the battery is a rechargeable battery, wherein the battery can either be permanently arranged on the vehicle 3 or can be exchanged via a quick-change system.

[0065] According to a preferred embodiment which is shown in FIG. 3, the lifting device 34 can be arranged on an upper side of the vehicle 3 and can be configured to raise or lower the consignment of goods 6. The lifting device 34 can be movable and can further preferably raise or lower the consignment of goods independently of the direction of travel of the vehicle 3. The vehicle 3 can moreover be configured to balance out the consignment of goods.

[0066] The coordination or alternatively control of the vehicle 3 or alternatively the vehicles 3 of the transport system 1 can take place via an electronic coupling, in particular by means of wireless communication. Sensors 36 are used to control the vehicle 3 and can prevent collisions.

[0067] The vehicle can determine the weight of the consignment of goods and, for example, transmit it to a control system.

[0068] The vehicle 3 can moreover comprise an interface, not shown, by means of which the vehicle 3 can be powered to charge the battery. The interface can be wired or wireless, wherein the interface can preferably be configured as a wired interface on the underside opposite the top side.

[0069] With reference to FIG. 1, it can be seen that the transport system 1 comprises a plurality of vehicles 3, which can swarm out from a supply device 2 and can be operated in a swarm, for example, to carry out extensive and time-consuming tasks automatically.

[0070] In order to perform a task, for example, the transportation of consignments of goods 6 from a first location to a second location, the vehicle 3 can take on a formation as shown in FIG. 1 and preferably move synchronously within this formation. The formation consists of at least two, preferably four, even more preferably six, or even more preferably more than six vehicles 3. In the formation, the vehicles 3 are arranged, for example, in a line or a cuboid, preferably in rows and columns, which is to say, in an orderly manner. In the case of an uneven load, the formation can also be adjusted.

[0071] As will be described in detail later, the vehicles 3 can swarm out from the supply device 2 to a first location in any desired manner and can take up the formation at the consignment of goods 6 or under the consignment of goods 6 and couple the consignment of goods 6. Coupling can take place by means of the lifting device 34.

[0072] Transportation from a first location to a second location takes place in the formation. At the second location, the vehicles 3 can deposit the consignment of goods 6. After depositing the consignment of goods 6, the vehicles 3 can leave the formation and either take on further tasks or travel back to the supply device 2.

[0073] FIG. 2 shows the so-called one shot loading or unloading of a truck 5. In the case of one shot loading or unloading, several transport goods 6 are transported by a large number of vehicles 3 in a formation in a preferably synchronized or coordinated movement. For one shot loading, the consignment of goods 6 can be, for example, supplied in a formation of 34 euro-pallets in the logistics region 12. In this example, four vehicles 3 are used per euro-pallet to transport the consignment of goods, which is why 48 vehicles are supplied for one shot loading.

[0074] The supply device 2 is located within the logistics region 10 and is arranged in a storage region 12, which is substantially arranged in a vertically oriented plane, and is configured to receive a plurality of vehicles 3 in the manner of a vertical storage system from the logistics region 10 by means of an entrance area 14 or to supply them via an exit area 16.

[0075] The supply device 2 comprises a plurality of receptacles 20, wherein the respective receptacle 20 can accommodate at least one vehicle 3. The receptacles 20 are guided by a guide device 24 along a preferably closed travel path. The travel path can exhibit any shape. By way of example, to increase the capacity of the supply device 2, the travel path can be configured in a meandering shape, as shown in FIG. 7.

[0076] The guide device 24 can be configured as a modular system. Thanks to the modular system, a supply device 2 can be easily adapted to requirements and subsequent retrofitting or expansion can be easily realized.

[0077] The guide device 24 comprises means of traction or conveyance that enable synchronous movement of all receptacles 20 along the guide device 24.

[0078] The means of traction or conveyance comprise a drive, not shown, by means of which the receptacles 20 can be moved along the travel path-preferably in a single direction of movement 28, see FIG. 4. The direction of movement 28 can, however, also be changed, for example, to supply at least one vehicle 3 more quickly or to be able to receive it again.

[0079] The receptacles 20 can be coupled to each other in a chain-like manner and even more preferably at constant intervals and thus be guided repeatedly and in sequencein the manner of a chain magazine-into the entrance area 14 and/or into the exit area 16, preferably in a timed manner. The drive can temporarily slow down or stop this movement to make it easier to receive or supply the at least one vehicle 3.

[0080] The receptacles 20 are kept horizontally oriented along the entire travel path. In this manner, their spatial position along the entire travel path remains substantially unchanged. The receptacles 20 can be configured in the manner of gondolas for this purpose or the orientation can be specified by the guide device 24. A guide device 24 obtained in this manner for a plurality of receptacles is known, for example, from so-called paternoster elevators.

[0081] The respective receptacle 20 can comprise at least one parking position 22 on which a vehicle 3 can be arranged or alternatively parked. In the entry area 14, the at least one vehicle 3 from the logistics region 10 can be received by the receptacle 20 or alternatively can travel into the parking position 22 of the receptacle 20. In the exit area 16, the at least one vehicle 3 can be supplied by the receptacle 20 or can travel from the parking position 22 of the receptacle 20 and travel into the logistics region 10.

[0082] The receptacle 20 comprises means, not shown, for charging the battery. The means for charging the battery of the at least one vehicle 3 received by the receptacle 20 can charge the battery of the at least one vehicle 3 by wire or wirelessly as soon as the vehicle 3 has been received by the receptacle 20. The receptacle 20 may moreover comprise means, not shown, for cleaning or servicing the vehicle 3. The means for cleaning or servicing the vehicle 3 may, for example, use compressed air, disinfectant and/or water.

[0083] The means for charging the battery and/or the means for cleaning or servicing may be provided at each parking position 22. The means may comprise electrical contacts, not shown, which can interact with corresponding contacts on the vehicle 3 in a known manner and establish an electrical connection between the parking position 22 and the vehicle 3 for electrically charging the battery of the vehicle 3.

[0084] The receptacle 20 can, moreover, have retaining means, not shown, by means of which the at least one vehicle 3 is held on the receptacle 20. Preferably, the at least one vehicle 3 is mechanically or magnetically held on the receptacle 20. The retaining means can prevent the vehicle 3 from slipping relative to the receptacle 20 or on the parking position 22 in the event of a jerky movement of the receptacle 20 along the guide device 24, for example, due to acceleration or slowing down of the receptacle 20 along the travel path.

[0085] A further development according to FIG. 6 shows further parking positions 22, which are arranged along the guide device 24 in the storage region 12. The parking positions 22 are arranged like shelves and are stationary in relation to the receptacles 20 and at least one vehicle 3 can be transferred from a receptacle 20as indicated by a double arrowto the parking position 22 or travel onto the parking position 22. The parking positions 22 may comprise means for charging the battery or to enable a targeted ejection of specific vehicles 3 for maintenance, repair, preventive maintenance and/or repair work. In the at least one parking position 22, vehicles 3 can be supplied as replacements in order to be able to supply sufficient vehicles 3 in the event of vehicle 3 failures or increased demand.

[0086] For the supply or receiving of at least one vehicle 3, the receptacle can be arranged in the logistics region 10 or in alignment with the logistics plane 10, and the at least one vehicle 3 canas shown in FIG. 4travel onto the receptacle 20 or travel off of the receptacle 20.

[0087] The driverless transportation system 1 for the plurality of battery-operated and driverless vehicles 3 can be operated as described below. As soon as there is a need for vehicles 3 to carry out tasks in the logistics region 10, the supply device 2 supplies the vehicles 3 that have batteries in a charged state. For this purpose, the receptacles 20 are moved in sequence along the guide device 24 and moved one after the other or alternatively in a timed manner into the entry and/or exit area 14, 16 and supplied from there. The vehicles 3 can swarm out from the entry and/or exit area 14, 16, to the first location in the logistics region to carry out tasks and couple to the consignment of goods 6. This is followed by transportation to a second location, where the consignment of goods 6 is dropped. Further tasks can be carried out.

[0088] After all tasks have been completed or as soon as the charge level of a battery of a vehicle 3 falls below a certain level, the respective vehicle 3 travels back to the supply device 2 and is received by a free receptacle 20.

[0089] The charging of the battery of the vehicle 3 then takes place, wherein the vehicle 3 remains on the receptacle 20 or in the parking position 22 until the battery is sufficiently charged and further tasks are to be carried out.

LIST OF REFERENCE SIGNS

[0090] 1 Transport system [0091] 2 Supply device [0092] 3 Vehicle [0093] 5 Truck [0094] 6 Consignment of goods [0095] 10 Logistics plane [0096] 12 Plane [0097] 14 Entrance area [0098] 16 Exit area [0099] 20 Receptacle [0100] 22 Parking space [0101] 32 Moving equipment [0102] 34 Lifting device [0103] 36 Sensors