TRANSPORT AND MANIPULATION SYSTEM AND METHOD FOR TRANSPORTING LOAD CARRIERS

Abstract

A transport and manipulation system has an activity area in which a provisioning device is arranged which includes takeover and handover stations. The activity area includes a working area in which static workstations for manually executing processing orders are arranged, and a travel area, in which autonomous transport vehicles can move. Each transport vehicle is configured for automatically taking over a load carrier at the takeover station according to a transport order received, transporting it to a workstation and dispensing it there, or taking it over at the workstation, transporting it to the handover station and dispensing it there. The travel area includes first and second travel sections defining therein first and second travel speeds, respectively. The second travel speed is higher than the first travel speed. The second travel section is bounded against the first travel section, wherein transport vehicles can pass the boundary at a passing zone.

Claims

1. A transport and manipulation system (1) having at least one activity area (4) in which a provisioning device (3) is arranged which comprises a takeover station (10) and a handover station (11), and comprising a warehouse management system (29) and a mobile conveying system having autonomous transport vehicles (8), wherein the activity area (4) comprises at least one working area (6), in which a plurality of static workstations (7) for manually carrying out processing orders by persons (15) are arranged, and at least one travel area (5), in which a plurality of autonomous transport vehicles (8) can move and which connect, in terms of conveyor technology, the provisioning device (3) with the workstations (7), wherein, at the takeover station (10), a source load carrier (9) can be taken over by an autonomous transport vehicle (8), and, at the handover station (11), a target load carrier (9) can be handed over by an autonomous transport vehicle (8), and wherein the transport vehicles (8) each have a control unit (39), which control unit (39) is configured for receiving and evaluating transport orders from the warehouse management system (29), and wherein the transport vehicles (8) are automatically and autonomously controlled in accordance with these transport orders by a source load carrier (9) being taken over at the takeover station (10), transported to one of the workstations (7) and provisioned there, at least for a first transport order of the transport orders, in order to subsequently carry out a processing order at this workstation (7), and a target load carrier (9) being taken over at one of the workstations (7), transported to the handover station (11) and dispensed there, at least for a second transport order of the transport orders, after a processing order has been completed at this workstation (7), and wherein each transport vehicle (8) is further configured for receiving a travel path specification (25) and independently following the travel path specification (25) by capturing and evaluating navigation markers (19), wherein the travel area (5) has a first travel section (12) and a second travel section (13), wherein the first travel section (12) protrudes into the at least one working area (6), and wherein, in the first travel section (12), a first maximum travel speed is defined, in particular a first maximum travel speed which is safe for persons, and, in the second travel section (13), a second maximum travel speed is defined, and wherein the second maximum travel speed is higher than the first maximum travel speed, and wherein the second travel section (13) is bounded against the first travel section (12) by a boundary (14) which can be passed by the transport vehicles (8) at at least one predetermined passing zone (17), wherein the control unit (39) of the respective transport vehicle (8) is adapted to regulate the travel speed such that the specified maximum travel speeds are complied with.

2. The transport and manipulation system according to claim 1, wherein the takeover station (10) and/or the handover station (11) of the provisioning device (3) is connected, via a load carrier conveying system (2), with at least one from the group of article storage for storing articles in the load carriers (9), picking system having one or multiple picking workstations, incoming-goods unit or outgoing-goods unit.

3. The transport and manipulation system according to claim 1, wherein the travel area (5) and the working area (6) partially overlap.

4. The transport and manipulation system according to claim 1, wherein the travel area (5) is defined by a barrier or by the presence of navigation markers (19).

5. The transport and manipulation system according to claim 1, wherein a plurality of navigation markers (19) is arranged in the travel area (5), in particular on the floor of the travel area (5).

6. The transport and manipulation system according to claim 1, wherein the navigation markers (19) are formed by structural features (24) inside a space surrounding the transport and manipulation system.

7. The transport and manipulation system according to claim 1, wherein the transport vehicle (8) comprises a control unit (39) having a memory means, in which memory means a map of the navigation markers (19) is stored.

8. The transport and manipulation system according to claim 1, wherein the transport vehicle (8) comprises a control unit (39) having a memory means, in which memory means a map of the at least one travel area (5) and/or of the at least one working area (6) is stored.

9. The transport and manipulation system according to claim 1, wherein the static workstation (7) has a work desk (7-1), a holding area (7-2) for buffering at least one source load carrier (9), a holding area (7-3) for buffering at least one target load carrier (9) and/or a user interface (7-4) having an output device and/or an input device, and wherein the person (15) is instructed, via the output device of the user interface (7-4), to perform a processing step in accordance with the processing order on the article(s) which is/are removed from the source load carrier (9), and wherein the person (15) is instructed, via the input device of the user interface (7-4), to confirm a processing step.

10. The transport and manipulation system according to claim 9, wherein the holding area (7-2) for buffering at least one source load carrier (9) is formed on an inbound delivery device (7-5) and the holding area (7-3) for buffering at least one target load carrier (9) is formed on an outbound delivery device (7-6).

11. The transport and manipulation system according to claim 10, wherein a transfer device (7-7), or transfer devices (7-7, 7-8), are provided, by means of which the source load carrier (9) is automatically moved between a transport vehicle (8) and the inbound delivery device (7-5) and/or the target load carrier (9) is automatically moved between a transport vehicle (8) and the outbound delivery device (7-6).

12. The transport and manipulation system according to claim 1, wherein the static workstation (7) has at least one provisioning area (40) for working means, on which working means are provisioned in an initial configuration step, in particular by a transport vehicle (8).

13. The transport and manipulation system according to claim 12, wherein the control unit (39) of the transport vehicles (8) is configured for receiving and evaluating transport orders from the warehouse management system (29), and wherein the transport vehicles (8) are automatically and autonomously controlled in accordance with these transport orders by a working means load carrier being transported to said workstation (7), or transported away from said workstation (7), for a third transport order of the transport orders.

14. The transport and manipulation system according to claim 1, wherein the workstation (7) is configured with a variable position.

15. The transport and manipulation system according to claim 1, wherein a unique identifier is stored in each navigation marker (19).

16. The transport and manipulation system according to claim 5, wherein navigation markers (19) are arranged also in the working area (6), in particular on the floor of the working area (6), or wherein navigation markers (19) are arranged in the activity area (4).

17. The transport and manipulation system according to claim 1, wherein the travel path specification (25) comprises a start point (26) and a target point (27) inside the travel area (5) and/or a plurality of navigation markers which are to be followed by the transport vehicle (8).

18. The transport and manipulation system according to claim 17, wherein a route section speed is stored in the travel path specification (25).

19. The transport and manipulation system according to claim 1, wherein the control unit (39) of the transport vehicles (8) is configured for receiving and evaluating transport orders from the warehouse management system (29), and wherein the transport vehicles (8) are automatically and autonomously controlled in accordance with these transport orders by a source load carrier (9) and/or a target load carrier (9) being transported between a first workstation (7) and a second workstation (7), for a fourth transport order of the transport orders, wherein the start point (26) and target point (27) for a fourth transport order are formed by the first workstation (7) and second workstation (7).

20. The transport and manipulation system according to claim 1, wherein article(s) for a single processing order is/are located in the source load carrier (9), or wherein article(s) for a plurality of processing orders is/are located in the source load carrier (9).

21. The transport and manipulation system according to claim 1, wherein the boundary (14) is formed by a person access protection.

22. The transport and manipulation system according to claim 21, wherein the person access protection is formed by a mechanical and/or a contactless barrier.

23. The transport and manipulation system according to claim 21, wherein the person access protection comprises a monitoring device, which is configured for identifying an access by the person (15) to the second travel section (13) by passing the person access protection and for optionally generating a warning signal.

24. The transport and manipulation system according to claim 1, wherein the workstation (7) comprises a work desk (7-1) having a first side (41) facing the operator (15) and a second side (42) facing the second travel section (13), wherein the second side (42) forms the boundary (14).

25. The transport and manipulation system according to claim 1, wherein the second travel section (13) surrounds the provisioning device (3) at least in sections.

26. The transport and manipulation system according to claim 1, wherein at least of one of the transport vehicles (8) forms a single loading plane (43), on which at least two load carriers (9) can be deposited, or forms loading planes (43) arranged on top of one another, on which respectively at least one load carrier (9) can be received, so that multiple load carriers (9) can be transported simultaneously with the at least one transport vehicle (8).

27. The transport and manipulation system according to claim 26, wherein said load carriers (9) are formed by at least one source load carrier and at least one target load carrier of one processing order, or wherein said load carriers (9) are formed by load carriers of different processing orders.

28. The transport and manipulation system according to claim 1, wherein the source load carrier is defined as target load carrier after the processing order has been carried out.

29. The transport and manipulation system according to claim 1, wherein the control unit (39) of the transport vehicles (8) is configured for receiving and evaluating transport orders from the warehouse management system (29), and wherein the transport vehicles (8) are automatically and autonomously controlled in accordance with these transport orders by at least one target load carrier, in particular an empty target load carrier (9), being taken over at one of the provisioning stations (45) comprising the transport and manipulation system (1) and transported to one of the workstations (7) and provisioned there, for a fifth transport order of the transport orders, in order to subsequently carry out a processing order at this workstation (7).

30. A method for transporting load carriers (9) and for manually carrying out processing orders in the transport and manipulation system (1), according to claim 1, which forms at least one activity area (4) in which a provisioning device (3) is arranged which comprises a takeover station (10) and a handover station (11), and which activity area comprises at least one working area (6), in which a plurality of static workstations (7) for manually carrying out processing orders by persons are arranged, and at least one travel area (5), in which a plurality of autonomous transport vehicles (8) can move and which connect, in terms of conveyor technology, the provisioning device (3) with the workstations (7), comprising the steps: acquiring transport orders (33) on a warehouse management system (29); transmitting the transport orders (33) from the warehouse management system (29) to control units (39) of the autonomous transport vehicles (8), wherein a transport order (33) defines the travel path of a transport vehicle (8) between a start point (26) and a target point (27) inside the at least one travel area (5), wherein the start point (26) is formed at the takeover station (10) or one of the workstations (7) and the target point (27) is formed at the handover station (11) or one of the workstations (7); evaluating a start point (26) and a target point (27) inside the travel area (5) from the transport order (33) for the respective transport vehicle (8), by the control unit (39) of the respective transport vehicle (8); taking over a load carrier (9) onto the transport vehicle (8) at the start position (26); transporting the load carrier (9) to the target position (27) along a travel path defined by the transport order (33) by means of using the transport vehicle (8) by capturing and evaluating navigation markers (19) at the control unit (39) of the respective transport vehicle (8); handing over the load carrier (9) at the target position (27); wherein the transport vehicle (8) is moved along the travel path at a first maximum travel speed in a first travel section (12) and at a second maximum travel speed in a second travel section (13), wherein the second maximum travel speed is higher than the first maximum travel speed, and wherein the second travel section (13) is bounded against the first travel section (12) by a boundary (14) which can be passed by the transport vehicles (8) at at least one predetermined passing zone (17).

31. The method for transporting load carriers and for manually carrying out processing orders according to claim 30, wherein the transport vehicle (8) autonomously travels to the start position (27) after the transport order (33) has been evaluated.

32. The method for transporting load carriers and for manually carrying out processing orders according to claim 30, wherein, upon the person (15) accessing the second travel section (13) from the first travel section (12) by passing the boundary (14), the second maximum travel speed is defined as equal to the first maximum travel speed.

33. The method for transporting load carriers and for manually carrying out processing orders according to claim 30, wherein, during transitioning from the first travel section (12) to the second travel section (13) and vice versa, the travel speed of the respective transport vehicle is gradually adjusted.

34. The method for transporting load carriers and for manually carrying out processing orders according to claim 30, wherein the transport vehicles (8) in the second travel section (13) move predominantly along straight-lined travel paths (28).

35. The method for transporting load carriers and for manually carrying out processing orders according to claim 30, wherein the at least one travel area (5) and/or the at least one working area (6) is defined inside the activity area (4) in a configuration step, in particular by allocation of navigation markers (19) to the at least one travel area (5) and/or at least one working area (6).

Description

[0114] For the purpose of better understanding of the invention, it will be elucidated in more detail by means of the figures below.

[0115] FIG. 1 shows a first embodiment of a transport and manipulation system, in a top view;

[0116] FIG. 2 shows a second embodiment of a transport and manipulation system, in a top view;

[0117] FIGS. 3a, 3b show a view of various embodiments of a boundary between a first travel section and second travel section;

[0118] FIG. 4 shows an activity area with a possible arrangement of navigation markers;

[0119] FIG. 5 shows a schematic representation for the processing of transport orders and their travel paths.

[0120] First of all, it is to be noted that, in the different embodiments described, equal parts are provided with equal reference numbers and/or equal component designations, where the disclosures filled into in the entire description may be analogously transferred to equal parts with equal reference numbers and/or equal component designations. Moreover, the specifications of location, such as at the top, at the bottom, at the side, chosen in the description refer to the directly described and depicted figure, and in case of a change of position, are to be analogously transferred to the new position.

[0121] FIG. 1 shows a first embodiment of a transport and manipulation system 1, a provisioning device 3 of which adjoins a load carrier conveying system 2 operated in an automated manner. The load carrier conveying system is a stationary load carrier conveying system. Usually, the load carrier conveying system is also adjoined by an incoming-goods unit, outgoing-goods unit, article storage for storing articles having load carriers and a picking system having one or multiple picking workstations for automatically/manually carrying out picking orders, as described, for example, in the international publication WO 2018/006112 A1 or international application PCT/AT2019/060077.

[0122] As marked in dashed lines in FIG. 1, the transport and manipulation system 1 is defined inside an activity area 4. The provisioning device 3 is arranged in the activity area 4, and the load carrier conveying system 2 abuts on the activity area 4.

[0123] The transport and manipulation system 1 may also comprise a (optional) schematically marked provisioning station 45, at which empty target load carriers 9 are provisioned. Yet, alternatively, the empty target load carriers 9 can also be provisioned at the provisioning device 3, in particular at a takeover station 10.

[0124] According to the embodiment shown, the activity area 4 comprises [0125] a travel area 5, in which a plurality of autonomous transport vehicles 8 can move and which connect, in terms of conveyor technology, the provisioning device 3 with workstations 7, [0126] a working area 6, in which a plurality of static workstations 7 for manually carrying out processing orders by persons 15 (operators) are arranged.

[0127] Yet, generally, the activity area 4 may comprise more than one travel area 5 and more than one working area 6.

[0128] The provisioning device 3 comprises a takeover station 10 and a handover station 11. According to the embodiment shown, the takeover station 10 and handover station 11 are arranged separately. Generally, the takeover station and handover station can also be combined and formed by a single takeover and handover station.

[0129] The takeover station 10 and handover station 11 respectively comprise a holding location, on which a load carrier 9 can be deposited. On the one hand, the takeover station 10 and handover station 11 can immediately adjoin the load carrier conveying system 2. On the other hand, the load carrier conveying system 2 may also comprise the takeover station 10 and handover station 11.

[0130] The load carrier conveying system 2 comprises a conveying device for transporting load carriers 9 to the takeover station 10, see arrow 44 from left to right, and a conveying device for transporting load carriers 9 away from the handover station 11, see arrow 44 from right to left. The load carriers 9 are containers or cardboard boxes, for example.

[0131] The transport vehicle 8 can take over a load carrier, in particular a source load carrier, from the takeover station 10, or the transport vehicle 8 can dispense a load carrier, in particular a target load carrier, to the handover station 11.

[0132] The transport vehicles 8 each comprise a control unit 39, which is configured for receiving and evaluating transport orders from a warehouse management system 29 (see FIG. 5). The autonomous control of the transport vehicles 8 is taken over by the respective control unit 39, which is configured for selectively controlling a travel drive (not represented) in order to thus be able to follow a specific travel path. The transport vehicles 8 can further respectively comprise a sensor, which is connected to the control unit 39 in order to identify obstacles on the way and trigger an action on this basis. In particular, the control unit 39 must ensure that there is no collision between the transport vehicles 8 or with an obstacle.

[0133] In particular, the transport vehicles 8 can be automatically and autonomously controlled in accordance with the transport orders by [0134] a source load carrier 9 being taken over at the takeover station 10, transported to one of the workstations 7 and provisioned there, at least for a first transport order of the transport orders, in order to subsequently carry out a processing order at this workstation 7, and/or, [0135] a target load carrier 9 being taken over at one of the workstations 7, transported to the handover station 11 and dispensed there, at least for a second transport order of the transport orders, after a processing order has been completed at this workstation 7, and/or, [0136] a working means load carrier being transported to said workstation 7 or transported away from said workstation 7, at least for a third transport order of the transport orders, and/or, [0137] a source load carrier 9 and/or a target load carrier 9 being transported between a first workstation 7 and a second workstation 7, at least for a fourth transport order of the transport orders, wherein the start point 26 and target point 27 for a fourth transport order are formed by the first workstation 7 and second workstation 7, and/or, [0138] at least one target load carrier 9, in particular an empty target load carrier, being taken over at the provisioning station 45 and transported to one of the workstations 7 and provisioned there, at least for a fifth transport order of the transport orders, in order to subsequently carry out a processing order at this workstation 7.

[0139] The control unit 39 comprises a memory means not represented in more detail, in which a map of the navigation markers 19 and/or a map of the at least one travel area 5 and/or of the at least one working area 6 is stored.

[0140] As can be seen in FIG. 1, the travel area 5 is sub-divided into a first travel section 12 and a second travel section 13. This is achieved by the second travel section 13 being bounded against the first travel section 12 by a boundary 14, which can be passed by the transport vehicles 8 at at least one predetermined passing zone 17 (only). The first travel section 12 protrudes into the at least one working area 6. Persons 15 are allowed to move inside this working area 6. The second travel section 13 couples to the provisioning device 3. In particular, it is of advantage if the second travel section 13 surrounds the provisioning device 3 at least in part.

[0141] When the transport vehicles 8 in the first travel section 12 are moving, a first maximum travel speed is defined for them. When the transport vehicles 8 in the second travel section 13 are moving, a second maximum travel speed is defined for them. The second maximum travel speed is higher than the first maximum travel speed. In particular, the first maximum travel speed can also be referred to as a travel speed “which is safe for persons.” In this context, “safe for persons” means that the person 15 is not exposed to any dangerous injury risk if s/he were to collide with a transport vehicle 8. The first maximum travel speed and/or the second maximum travel speed can be defined by means of the warehouse management system 29.

[0142] This embodiment enables persons 15 and transport vehicles 8 to jointly operate in the first travel section 12, as the transport vehicles 8 move at a first travel speed (first maximum speed=safety speed), at the maximum, which ensures a safe stopping of the transport vehicle 8 in front of a suddenly-appearing obstacle. In the second travel section 13, the transport vehicles 8 can move at a higher maximum travel speed (second maximum speed), as persons 15 are not simultaneously located in the second travel section 13. This is ensured by means of the boundary 14. Therefore, a safety speed is not required in the second travel section 13, as the transport vehicles 8 need not reckon with suddenly-appearing obstacles. It is, however, of advantage if the actual travel speed of the transport vehicles 8 is selected in accordance with the current traffic volume and/or that it can be defined by the travel path specification.

[0143] Usually, the load carrier conveying system 2 described above is distinguished by a high transport throughput (high transport capacity), which, however, is generally not required for the manual workstations 7. Typically, such a load carrier conveying system 2 can be used to transport several hundred load carriers 9 per hour. At the individual manual workstation 7, less than ten load carriers 9 per hour are typically required. The advantage of the embodiment consists in that the load carrier conveying system 2 can work at its “typical” transport throughput, as the autonomous transport vehicles 8 are allowed to move at their high second maximum travel speed in the second travel section 13 abutting on the provisioning device 3. Accordingly, the takeover station 10 and handover station 11 can be called at highly frequently by the autonomous transport vehicles 8.

[0144] The transport and manipulation system 1 described ensures that the high transport throughput can be distributed over the “surface area” by the provisioning device 3. The high transport throughput is divided by the (individual) provisioning device 3 between a plurality of autonomous transport vehicles 8. Even if there are multiple takeover stations 10 and/or handover stations 11, the high transport throughput can be seen as a point-shaped source or sink, whereas the required transport throughput at the workstations 7 is distributed over a large surface area—hence the term of distributing the transport throughput over the surface area.

[0145] The travel area 5 is represented by the solid line in FIG. 1. It is defined, for example, by a physical barrier or by a bound. This bound is preferably a logical bound, which is defined, for example, by the navigation markers. The transport vehicles 8 can move freely inside the travel area 5.

[0146] A workstation 7 can generally be configured such that a wide variety of processing orders can be carried out. For example, at one of the workstations 7, the processing orders “packaging a consignment” and “enclosing a prospectus with the consignment” can be carried out.

[0147] To this end, the static workstations 7 comprise a work desk 7-1, a holding area 7-2 for buffering at least one source load carrier 9, a holding area 7-3 for buffering at least one target load carrier 9 and (optionally) a user interface 7-4 having an output device and/or an input device. The person 15 can be instructed, via the output device of the user interface 7-4, to perform a processing step in accordance with the processing order on the article(s) which is/are removed from the source load carrier 9. In said example, the article(s) is/are identical with the consignment which is to be packaged and with which a prospectus is to be enclosed. The person 15 can be instructed, via the input device of the user interface 7-4, to confirm a processing step.

[0148] The output device can be formed, for example, by a screen, on which a description of the actions of the processing order to be carried out is represented. The input device can be formed, for example, by a keyboard, a confirmation button or a scanning device, with which the person 15 can confirm, among other things, the completion of the processing order. For reasons of better clarity, the holding area 7-2 for buffering at least one source load carrier 9, the holding area 7-3 for buffering at least one target load carrier 9 and the user interface 7-4 are represented at one workstation 7 only.

[0149] The processing order may also comprise, for example, a quality control, where each article is checked by means of a visual inspection, etc.

[0150] The static workstation 7 may further have at least one provisioning area 40 for working means, on which working means are provisioned in an initial configuration step. “Working means” is understood to mean tools and/or auxiliary materials, such as packaging materials.

[0151] According to a first embodiment, the holding area 7-2 for buffering at least one source load carrier 9 and the holding area 7-3 for buffering at least one target load carrier 9 is formed on the work desk 7-1 at one of the workstations 7 in FIG. 1. As not represented in more detail, the transport vehicle 8 may comprise a transfer device, for example a conveying device, by means of which the source load carrier 9/target load carrier is dispensed onto the holding area 7-2 or received by the holding area 7-3 after the transport vehicle 8 has been positioned next to the work desk 7-1.

[0152] According to a second embodiment, the holding area 7-2 for buffering at least one source load carrier 9 is formed on an inbound delivery device 7-5 and the holding area 7-3 for buffering at least one target load carrier 9 is formed on an outbound delivery device 7-6 at one of the workstations 7 in FIG. 1. The inbound delivery device 7-5 and outbound delivery device 7-6 are arranged laterally next to the work desk 7-1, as marked in dash-dotted lines.

[0153] The inbound delivery device 7-5 and outbound delivery device 7-6 are designed separate as inbound delivery device and outbound delivery device. On the other hand, the inbound delivery device 7-5 and outbound delivery device 7-6 can also be designed as combined inbound and outbound delivery device. Also, an alternating operation of the inbound delivery device and outbound delivery device is conceivable if they are designed essentially structurally identical.

[0154] In addition, a transfer device 7-7 is provided per inbound delivery device 7-5 and a transfer device 7-8 is provided per outbound delivery device 7-6.

[0155] A source load carrier 9 can be switched automatically, by the transfer device 7-7, between the transport vehicle 8 and the inbound delivery device 7-5. A target load carrier 9 can be switched automatically, by the transfer device 7-8, between the transport vehicle 8 and the outbound delivery device 7-6.

[0156] While the transfer devices 7-7, 7-8 are arranged separate according to the embodiment shown, the transfer device 7-7 and transfer device 7-8 can also be designed as combined transfer device 7-7, 7-8. Also, an alternating operation of the transfer devices 7-7, 7-8 is conceivable if they are designed essentially structurally identical.

[0157] According to an embodiment not shown, the transport vehicle 8 may comprise a transfer device, for example a conveying device, by means of which the source load carrier 9/target load carrier is dispensed onto the holding area 7-2 or received by the holding area 7-3 after the transport vehicle 8 has been positioned next to the inbound delivery device 7-5/outbound delivery device 7-6. In this case, the transfer devices 7-7, 7-8 shown are not required.

[0158] It should be noted in this context that the workstations 7 need not necessarily be structured identically. In particular, the user interface 7-4 having the output device and/or the input device is optional. This is the case, for example, when always the same processing order is to be executed at a workstation, and a confirmation input is not required. If the user interface 7-4 is provided, it may also comprise merely the input device. In this case, the processing order may comprise, for example, a re-packing order where each article is to be placed into a target load carrier separately.

[0159] As can be seen in FIG. 1, the boundary 14 may comprise a physical barrier. The physical barrier is a grille, for example. The boundary 14 can be passed by the transport vehicles 8 with or without load carriers 9 at a single passing zone 17 or multiple passing zones 17. In contrast, the boundary 14 is to (physically) prevent the access to the second travel section 13 from the first travel section 12 for a person 15. It may also be provided that a touching of this barrier by a person 15 can be identified. Expediently, however, a person 15 cannot pass this/these passing zone(s) 17.

[0160] The provision of a physical barrier has the advantage that large-scale monitoring devices will be obsolete, as a person 15 cannot reach the second travel section 13.

[0161] According to one possible embodiment, a capturing means 18 is provided in the area of the passing zone(s) 17, which capturing means 18 can identify an unauthorized crossing by a person 15.

[0162] The passing zone(s) 17 can be designed such that there is a passageway 20 for the passing of the transport vehicles 8 in the boundary 14, in particular in the barrier, as can be seen in FIGS. 3a and 3b. Even if the transport vehicle 8 is smaller than a person 15, a person 15 could still try to access the second travel section 13. Such an access violation of the safety area can then be identified by the capturing means 18. In this case, the transport vehicles 8 in the second travel section 13 can be controlled by the fleet management system (FMS) such that they are switched to a safety mode (safety operation). For example, the transport vehicles 8 are stopped in the second travel section 13, or the travel speed is slowed down to at least the first maximum travel speed, so that the transport vehicles 8 move at the first maximum travel speed, at the maximum, also in the second travel section 13, and therefore the safety of persons is ensured. This safety mode is maintained until such time as the person 15 has left the second travel section 13.

[0163] According to another possible embodiment, it may also be provided that the capturing means 18 is configured for temporarily activating a safety mode in the second travel section 13 if a person 15 desires (planned) entry into the second travel section 13, for example in order to be able to carry out servicing activities without the operation of the transport vehicles 8 having to be suspended.

[0164] As marked in FIG. 1, it may also prove of advantage if the second travel section 13 forms straight-lined travel paths 16, along which the transport vehicles 8 are moved predominantly. In this way, workstations 7 located remote from the provisioning device 3 can be supplied with high transport throughput.

[0165] FIG. 2 shows a second embodiment of a transport and manipulation system 1, which differs from the first embodiment essentially in the arrangement of the workstations 7 and boundary 14.

[0166] The workstations 7 are arranged at mutual distance and in parallel rows. An aisle (walkway) is formed between the workstations 7.

[0167] The work desk 7-1 of each workstation 7 forms a first side 41 facing the operator 15 and a second side 42 facing the second travel section 13, wherein the second side 42 of the work desks 7-1 forms a partial section of the boundary 14 between the first travel section 12 and the second travel section 13.

[0168] The advantage of this embodiment lies, in particular, in that a physical barrier as an additional boundary 14 is structurally required essentially only at each of the ends of the aisle and between the rows of workstations 7. If the workstations 7 are lined up against a building wall (not represented), a physical barrier as an additional boundary 14 is structurally required essentially only at one of the ends the aisle and between the rows of workstations 7. At the longitudinal sides of the workstations 7, an additional physical barrier as a structural boundary is obsolete, as it already exists in the form of the arrangement and formation of the work desks 7-1. In this regard, the work desks 7-1 may have a rear panel, for example, so that a climbing over or a crawling through is prevented.

[0169] The aisle between the parallel rows of workstations 7 forms the first travel section 12, where the persons 15 and the autonomous transport vehicles 8 are located and move simultaneously. Here, again, the first maximum travel speed “which is safe for persons” applies to the transport vehicles 8, as a safe stopping in front of a person 15 must be ensured.

[0170] It may be provided that the transport vehicles 8 follow the received travel path specification by capturing navigation markers. This embodiment also comprises, for example, that navigation markers 19 are arranged at the transition between the first travel section 12 and second travel section 13, which are captured by the transport vehicle 8 while passing, whereby the first maximum travel speed or the second maximum travel speed, depending on the travel direction, is defined.

[0171] The additional boundary 14 between the first travel section 12 and the second travel section 13 comprises, once again, a passing zone 17 which can be passed by the transport vehicles 8. As can be seen in FIG. 2, workstations 7 can be arranged in a row also at mutual distance, so that a passing zone 17 is formed between the workstations 7.

[0172] Especially in large-scale working areas 6, the arrangement of multiple passing zones 17 has proven an advantage, as the traffic volume of the transport vehicles 8 is divided between multiple passing zones 17, and the transport vehicles 8 can reach the second travel section 13 earlier and/or more often. Equally, in the area of the passing zones 17, capturing means 18 are preferably arranged once again in order to be able to identify an unauthorized crossing by a person 15. As described above, the transport vehicles 8 can be switched to a safety mode, provided that the capturing means 18 capture a person.

[0173] FIGS. 3a and 3b show different embodiments of a passing zone 17 as it has been described above.

[0174] FIG. 3a shows a first embodiment of a passing zone 17, which is configured for letting pass one transport vehicle 8 only. In this case, the passing zone(s) 17 is/are designed such that there is a passageway 20 in the boundary 14, in particular the barrier, for the transport vehicles 8 to pass. Should a person try to pass the passing zone 17, this is captured by a capturing means 18 and the transport vehicles 8 in the second travel section 13 are switched to a safety mode, for example, i.e. a safety travel operation is activated. Yet it may also be provided that an emergency stop of all transport vehicles 8 in the second travel section 13 is triggered upon identification of an access violation.

[0175] FIG. 3b shows a second embodiment of a passing zone 17, which is configured for letting pass a transport vehicle 8 and a person 15. In this case, the passing zone(s) 17 is/are designed such that the boundary 14, in particular the barrier, comprises a passageway 20, which is closable, in the upper region, by a physical barrier 21 and is configured, in the lower region, for the unimpeded passing (traveling through) of the transport vehicles 8. The physical barrier 21 can be formed by a temporarily removable (detachable) grille or a door.

[0176] As described above, the capturing means 18 can capture an unauthorized access attempt through the lower region of the passageway 20. In particular, the capturing means 18 will be configured, however, to enable an authorized access. For example, a person 15 can open and/or remove the barrier 21 and thus gain an authorized access to the second travel section 13. As already described, a safety mode is then activated in the second travel section 13. The safety mode is preferably canceled by closing and/or attaching the barrier 2.

[0177] A particular embodiment of a transport vehicle 8 is also shown in FIGS. 3a and 3b. This transport vehicle 8 comprises loading planes arranged on top of one another 43, on which respectively at least one load carrier 9 can be received, so that the transport vehicle 8 can be used to transport multiple load carriers 9 simultaneously.

[0178] Yet the transport vehicle 8 can also form a single loading plane 43, on which at least two load carriers 9 can be deposited, so that also this transport vehicle 8 can be used to transport multiple load carriers 9 simultaneously, as this is not represented in more detail, however.

[0179] The load carriers 9 transported simultaneously can relate to a source load carrier and a target load carrier for one processing order or source load carriers for different processing orders etc. This embodiment enables the transport efficiency of the transport vehicles 8 to be increased.

[0180] Generally, the transport vehicle 8 can also form a single loading plane 43, on which a single load carrier 9 can be deposited, so that this transport vehicle 8 can be used to transport exclusively one load carrier 9, as this is not represented in more detail, however.

[0181] The embodiments of the transport and manipulation system 1 described above can also utilize different transport vehicles 8.

[0182] FIG. 4 shows an overview of a transport and manipulation system 1. The transport and manipulation system 1 is arranged in a building or a hall (i.e. a closed space). Inside this space, the activity area 4 is defined. As already described above, this activity area 4 comprises at least one travel area 5 and at least one working area 6. For reasons of better clarity, individual details such as the travel sections 12, 13, the other transport vehicles 8 and the other workstations 7, for example, are not represented in FIG. 4.

[0183] It is provided that the transport vehicles 8 receive a transport order from a warehouse management system (WMS) and transport the load carriers 9 according to the transport order, for example between a takeover station 10 and a workstation 7, a handover station 11 and a workstation 7, between different workstations 7 etc. For example, a transport order for a transport vehicle 8 may consist in taking over a target load carrier 9 at a workstation 7 and transporting it to the handover station 11 and dispensing it there.

[0184] It is further provided that the transport vehicles 8 receive a travel path specification 25 and follow it by capturing and evaluating navigation markers 19. This travel path specification 25 is detected by the warehouse management system (WMS) or a fleet management system (FMS), as the latter has an overview of all transport vehicles 8 located in the travel area 5 and can therefore plan an optimal travel path. Optimal in the sense that as few blockages and/or congestions as possible occur, which would reduce the throughput. The transport vehicles 8, while having their own intelligence in order to be able to respond to local requirements such as a possible collision, for example, cannot perform a route planning.

[0185] In order to enable navigation in the travel area 5, there are navigation markers 19 in the travel area 5, and/or the travel area 5 is defined by navigation markers 19.

[0186] In accordance with one embodiment, these navigation markers 19 may be formed by structural features of the surrounding space, i.e. of the building and/or the hall. The structural features can be structural elements 22 of the building, such as support structure elements or characteristic structural elements of the building. Further, these structural features may also be formed by design elements 23, for example by windows or doors. These structural elements are stationary structural elements, which are easily visible for the autonomous transport vehicles 8. The transport vehicles 8 preferably comprise a sensor, in particular optical sensor, and an image processing device in order to capture the structural features as navigation markers in a captured image of the surroundings. For better and safer detection of the navigation markers 19 in the space, it is of advantage, according to another embodiment, if the structural features have an identifier which can be clearly captured and evaluated. For example, the structural features can be designed in different colors, so that a transport vehicle 8 can quickly and clearly detect its position in the space. The structural features can also be formed by elements of the workstations 7 and/or of the working areas 6, or also by the number of the workstations 7 to be followed. In accordance with this embodiment, all clearly identifiable features existing in the activity area 4 and/or in the building space can serve as navigation markers 19.

[0187] It may also be provided that the navigation markers 19 are formed by navigation features 24 which are arranged in the travel area 5, and optionally also in the working area 6, in particular, in accordance with a preferred embodiment, on the floor of the travel area 5 and working area 6. In FIG. 4, these navigation features 24 are represented, only by way of example, in a small region of the activity area 4. It should be understood that the navigation features 24 are and/or can be arranged in other regions of the activity area 4.

[0188] In accordance with one preferred embodiment, these navigation features 24 are formed by markers which can be captured optically, for example by 1D or 2D codes. This enables the transport vehicle 8, while following the travel path, to always capture the closest navigation features 24 and prepare the further travel path. It may be provided that an absolute position of the feature and/or a unique identifier is stored in each navigation feature 24. This has the particular advantage that each transport vehicle 8 can determine its position in the activity area 4 without consulting a superordinate warehouse management system (WMS).

[0189] A start position 26 and a target position 27 is stored in the travel path specification 25 received by the transport vehicle 8. Further, navigation markers 19 which are to be followed along the travel path 28 are stored. In order to prevent local accumulations of transport vehicles 8, the travel path specification 25 can specify an exact chain of the navigation markers 19 to be followed. Or only characteristic navigation markers 19 are specified; the navigation between them is left up to the transport vehicle 8.

[0190] FIG. 5 shows an exemplary handling of processing orders using the transport and manipulation system 1. Orders 30 are acquired, using data technology, in a superordinate warehouse management system 29. The orders may comprise customer orders, for example, in which the (order) articles require an additional manual action prior to being dispatched. The orders 30 can also relate to the handling of returns, for example, in which the (return) articles must be “reprocessed” prior to being stored in the article storage or prior to being picked again.

[0191] It may optionally be required that the articles for orders are to be specially packaged, for example in a gift wrapping or in a breakage-proof packaging, before being dispatched, or that a dispatch note or an invoice must be additionally enclosed with the articles for orders.

[0192] FIG. 5 is a highly simplified representation of the transport and manipulation system 1 and of the method carried out by it, in particular relating to the processing of the orders 30.

[0193] The orders 30 are divided into order lines 31 by the warehouse management system (WMS) and/or a fleet management system (FMS), as a specific treatment is optionally required for each order line. With this division, the warehouse management system (WMS)/fleet management system (FMS), most of the time, also carries out a sequencing of the order lines in order to make optimal use of the capacity of the transport and manipulation system 1 at issue. When creating this sequence, the current capacity utilization of the workstations 7 and of the transport vehicles 8 located in the travel area 5, for example, is taken into account. For example, it is possible, on the basis of the knowledge of the current position of the transport vehicles 8, their travel paths 28 and therefore their start positions 26 and target positions 27, to sort the order lines 31 so as to prevent any local accumulation, and therefore a blockage, of transport vehicles 8 in the travel area 5 when processing the order lines 31. Therefore, also a travel path specification 25 per transport order is detected. The travel path specification 25 can be integrated in the transport order, or linked with it.

[0194] The warehouse management system (WMS)/fleet management system (FMS) transmits the order lines 31 as transport orders 33 and the travel path specifications 25 to the transport vehicles 8 preferably by means of a wireless communication link 32. According to a preferred embodiment, the transport orders 33 are transmitted selectively to specific transport vehicles 8. Knowing the current position of the transport vehicles 8 enables selective addressing of transport vehicles 8 which are best-suited for the task, for example which are located closest to the start position 26. According to one possible embodiment, it may also be provided that the transport orders 33 are transmitted to all transport vehicles 8, and the autonomous transport vehicles 8 decide independently, by means of their own sequence control, which transport vehicle 8 accepts which transport order 33.

[0195] Each transport vehicle 8 starts to process the transport order 33 accepted/received. Each transport order 33 defines a travel path along which the transport vehicle 8 and the load carrier 9 transported by it are moved.

[0196] For a transport order 1.1, a transport vehicle 8 has picked up a load carrier 9 from the takeover station 10 (start position) and transported it to a workstation 7 (target position), wherein the transport vehicle 8 is moved along a first travel path 35.

[0197] For a transport order 3.1, a transport vehicle 8 has picked up a load carrier 9 at a workstation 7 (start position) and transported it to the handover station 11 (target position), wherein the transport vehicle 8 is moved along a second travel path 36.

[0198] As described above, a transport vehicle 8 may also be configured for transporting multiple load carriers 9 simultaneously. The transport orders 3.2 and 3.3 are processed by such a transport vehicle 8, wherein the transport orders 3.2, 3.3 consist in receiving the load carrier 9 at the takeover station 10 (start position) and first transporting the first load carrier 9 to a first workstation 7 and afterward transporting the second load carrier 9 to a second workstation 7, wherein the transport vehicle 8 is moved along a third travel path 37. When the transport vehicle 8 reaches the first workstation 7 (first target position), the first load carrier 9 is dispensed, there, onto the holding area 7-2 of the first workstation 7. When the transport vehicle 8 reaches the second workstation 7 (second target position), the second load carrier 9 is dispensed, there, onto the holding area 7-2 of the second workstation 7.

[0199] For a transport order 1.2, the transport vehicle 8 is moved along a fourth travel path 38, wherein it travels first from a current position (start position) to a workstation 7, where it receives a load carrier 9 from the holding area 7-3, and afterward from the workstation 7 to the handover station 11 (target position) in order to dispense the load carrier 9 from the transport vehicle 8 onto the handover station 11.

[0200] For a transport order 2.1, a transport vehicle 8 has received a load carrier 9 at a first workstation 7 (start position) and transported it to a second workstation 7 (target position), wherein the transport vehicle 8 is moved along a fifth travel path 46.

[0201] As not represented in more detail, also a working means load carrier can be transported to a workstation 7, or away from a workstation 7, for a transport order.

[0202] As equally not represented in more detail, at least one empty target load carrier 9 can be taken over by the provisioning station 45 (FIGS. 1, 2) and transported to one of the workstations 7 and provisioned there, for a transport order.

[0203] As can be gleaned from the figure, the travel paths were planned so as to prevent any accumulation of transport vehicles 8, wherein a longer travel distance is optionally accepted, for example for the fifth travel path 46, in order to thereby prevent a blockage occurring subsequently.

[0204] In accordance with the above embodiments, the method for transporting load carriers 9 and for manually carrying out processing orders in the transport and manipulation system 1 comprises at least the steps: [0205] acquiring transport orders 33 on the warehouse management system (WMS)/fleet management system (FMS), [0206] transmitting the transport orders 33 from the warehouse management system (WMS)/fleet management system (FMS) to the control units 39 of the autonomous transport vehicles 8, wherein a transport order 33 defines the travel path of a transport vehicle 8 between a start point 26 and a target point 27 inside the at least one travel area 5, wherein the start point 26 is formed at the takeover station 10 or one of the workstations 7 and the target point 27 is formed at the handover station 11 or one of the workstations 7, [0207] evaluating a start point 26 and a target point 27 inside the travel area 5 from the transport order 33 for the respective transport vehicle 8, by the control unit 39 of the respective transport vehicle 8, [0208] taking over a load carrier 9 onto the transport vehicle 8 at the start position 26, [0209] transporting the load carrier 9 to the target position 27 along a travel path 28, 35, 36, 37, 38, 46 defined by the transport order 33 by the transport vehicle 8 by capturing and evaluating navigation markers 19 at the control unit 39 of the respective transport vehicle 8, and [0210] handing over the load carrier 9 at the target position 27, in particular by the transport vehicle 8.

[0211] The transport vehicle 8 is moved along the travel path at a first maximum travel speed in the first travel section 12 and at a second maximum travel speed in the second travel section 13. The second maximum travel speed is higher than the first maximum travel speed.

[0212] The exemplary embodiments show possible embodiment variants of the transport and manipulation system, wherein it should be noted in this respect that the invention is not restricted to these particular illustrated embodiment variants of it, but that rather also various combinations of the individual embodiment variants are possible and that this possibility of variation owing to the teaching for technical action provided by the present invention lies within the ability of the person skilled in the art in this technical field. Therefore, also any and all conceivable embodiment variants are comprised by the protective scope which are possible by combination of individual details of the embodiment variant represented and described.

[0213] Finally, as a matter of form, it should be noted that for ease of understanding of the structure, elements of the drawings are partially not depicted to scale and/or are enlarged and/or are reduced in size.

LIST OF REFERENCE NUMBERS

[0214] 1 transport and manipulation system [0215] 2 load carrier conveying system [0216] 3 provisioning device [0217] 4 activity area [0218] 5 travel area [0219] 6 working area [0220] 7 workstation [0221] 7-1 work desk [0222] 7-2 holding area [0223] 7-3 holding area [0224] 7-4 user interface [0225] 7-5 inbound delivery device [0226] 7-6 outbound delivery device [0227] 7-7 transfer device [0228] 7-8 transfer device [0229] 8 transport vehicle [0230] 9 load carrier [0231] 10 takeover station [0232] 11 handover station [0233] 12 first travel section [0234] 13 second travel section [0235] 14 boundary [0236] 15 person/operator [0237] 16 travel path [0238] 17 passing zone [0239] 18 capturing means [0240] 19 navigation marker [0241] 20 passageway [0242] 21 barrier [0243] 22 structural element [0244] 23 design element [0245] 24 navigation feature [0246] 25 travel path specification [0247] 26 start position [0248] 27 target position [0249] 28 travel path [0250] 29 warehouse management system (WMS) [0251] 30 orders [0252] 31 order lines [0253] 32 communication link [0254] 33 transport order [0255] 34 start position [0256] 35 first travel path [0257] 36 second travel path [0258] 37 third travel path [0259] 38 fourth travel path [0260] 39 control unit [0261] 40 provisioning area [0262] 41 first side [0263] 42 second side [0264] 43 loading plane [0265] 44 arrow [0266] 45 provisioning station [0267] 46 fifth travel path