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1. WO2020197383 - SYSTEM AND METHOD FOR THE INTRALOGISTIC TRANSPORT OF PRODUCTS.

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[ EN ]

CLAIMS

1. System for the intralogistic transport of products, comprising

- a number of vehicles, each vehicle being provided with an on-board control device for managing the movement of the vehicle over a floor within a movement area, and with a carrying member that is designed at least to carry a product, wherein each vehicle is designed to turn on a vertical turning axis which, viewed from above, lies within the periphery of the vehicle where, viewed from above, there is a maximum distance amax between the vertical turning axis and a point on the periphery of the vehicle, which point is located the furthest from the vertical turning axis in comparison with other points on the periphery;

- a central control device that is designed to transmit a control signal to the on-board control devices, wherein the on-board control devices are designed to receive the control signals,

wherein the central control device and/or the on-board control device of at least a portion of the number of vehicles comprise a digitized grid of grid points that represents the movement area or at least a portion thereof, which grid points are arranged at least partially according to a hexagonal pattern where the distance between an interlying grid point located away from the periphery of the movement area and any of the six neighbouring grid points that neighbour the grid point in question is equal to distance d, which distance d is greater than 2.0 times the maximum distance amax, where three directional lines are determined such that each of the directional lines runs straight through two neighbouring grid points located directly opposite one another relative to the interlying grid point,

wherein the central control device and/or the on-board control device of at least a portion of the number of vehicles are designed to move a vehicle from a first grid point to a second grid point within a strip that runs between the first grid point and the second grid point, where the direct connecting line between the first grid point and the second grid point does not run parallel to one of the three directional lines, which strip consists of at least two mutually connected straight strip portions, each of which runs parallel to one of the three directional lines.

2. System according to Claim 1 , wherein distance d is smaller than 2.2 times the maximum distance amax.

3. System according to Claim 1 or 2, wherein each vehicle, viewed from above, takes a rectangular shape with a length I and a width b.

4. System according to Claim 3, wherein the ratio of the width b to the length I is between 0.60 to 1.00 and 0.82 to 1.00, preferably between 0.65 to 1.00 and 0.77 to 1.00.

5 System according to one of the preceding claims, wherein the distance d is greater than twice the width of the vehicle.

6. System according to one of the preceding claims, wherein the carrying member is designed to carry a product in a first state of the carrying member and to unload a product in a second state of the carrying member.

7. System according to Claim 6, wherein the carrying member assumes a horizontal orientation in the first state and a sloping orientation in the second state so as to tip a product off the carrying member under the effect of gravity in the second state.

8. System according to Claim 6, wherein the carrying member comprises a conveyor belt or conveyor strip that is designed to allow a product to rest thereon and to remain still in the first state and to be driven in the second state.

9. System according to one of the preceding claims, wherein at least one pick-up position is provided within or directly adjacent to the movement area for a product to be picked up and carried from a pick-up position by the carrying member of a vehicle and wherein at least one delivery position is provided within or directly adjacent to the movement area for a product to be unloaded at a delivery position by the carrying member of the vehicle.

10. System according to Claim 9, wherein at least one delivery position comprises a hole in the floor.

1 1. System according to Claim 10, wherein a chute is connected to the hole in the floor.

12. System for the intralogistic transport of products, comprising

- a number of vehicles, each vehicle being provided with an on-board control device for managing the movement of the vehicle over a floor within a movement area, and with a carrying member that is designed at least to carry a holding member, wherein each vehicle is designed to turn on a vertical turning axis which, viewed from above, lies within the periphery of the vehicle;

- a number of holding members, each of which is designed to hold products, wherein each vehicle is designed to carry a holding member with the carrying member, with or without products held by the holding member, in the loaded state of the vehicle,

where, viewed from above, there is a maximum distance amax between the vertical turning axis and a point on the periphery of the vehicle, which point is located the furthest from the vertical turning axis in comparison with other points on the periphery, and there is a maximum distance xmax between the vertical turning axis and a point on the periphery of the holding member carried by the vehicle, which point is located the furthest from the vertical turning axis in comparison with other points on the periphery of the holding member, where xmax is greater than amax;

- a central control device that is designed to transmit a control signal to the on-board control devices, wherein the on-board control devices are designed to receive the control signals,

wherein the central control device and/or the on-board control device of at least a portion of the number of vehicles comprise a digitized grid of grid points that represents the movement area or at least a portion thereof, which grid points are arranged at least partially according to a hexagonal pattern where the distance between an interlying grid point located at a distance from the periphery of the movement area and any of the six neighbouring grid points that neighbour the grid point in question is equal to distance d, which distance d is greater than 2.0 times the maximum distance xmax, where three directional lines are determined such that each of the directional lines runs straight through two neighbouring grid points located directly opposite one another relative to the interlying grid point,

wherein the central control device and/or the on-board control device of at least a portion of the number of vehicles are designed to move a vehicle and a holding member carried by the vehicle from a first grid point to a second grid point within a strip that runs between the first grid point and the second grid point, where the direct connecting line between the first grid point and the second grid point does not run parallel to one of the three directional lines, which strip consists of at least two mutually connected straight strip portions, each of which runs parallel to one of the three directional lines.

13. System according to Claim 12, wherein distance d is smaller than 2.2 times the maximum distance xmax.

14. System according to Claim 12 or 13, wherein each holding member, viewed from above, takes a rectangular shape with a length I and a width b.

15. System according to Claim 14, wherein the ratio of the width b to the length I is between 0.60 to 1 ,00 and 0.82 to 1.00, preferably between 0.65 to 1.00 and 0.77 to 1.00.

16. System according to one of Claims 12 to 15, wherein the distance d is greater than twice the width of the holding member.

17. System according to one of Claims 12 to 16, wherein the carrying member and the holding member are designed for the holding member to be carried in a first state of the carrying member and for the holding member to be unloaded in a second state of the carrying member.

18. System according to Claim 17, wherein the carrying member operates in the first state so as to lift a holding member up off the floor and in the second state so as to set the holding member down on the floor on legs thereof in the second state.

19. System according to one of Claims 12 to 18, wherein at least one pick up position is provided within the movement area for a holding member to be lifted up off the floor at a pick-up position by the carrying member of a vehicle and wherein at least one delivery position is provided within the movement area for the holding member to be set down on the floor at a delivery position.

20. System according to one of the preceding claims, wherein the central control device and/or the on-board control device of at least a portion of the number of vehicles are designed to allow a vehicle to reach an interlying grid point from a grid point neighbouring the interlying grid point exclusively in at most five directions of approach and subsequently then to leave an interlying grid point for a grid point neighbouring the interlying grid point exclusively in at most five directions of departure, where the directions of approach and of departure in question are not opposite one another.

21. System according to one of the preceding claims, wherein the central control device and/or the on-board control device of at least a portion of the number of vehicles comprise, within a first grid area, a digitized first grid portion of first grid points that represents a first portion of the movement area, which first grid points are arranged according to a first hexagonal pattern, and comprise, within a second grid

area, a digitized second grid portion of grid points that represents a second portion of the movement area, which grid points are arranged according to a second hexagonal pattern, and comprise a third area that comprises at least one grid point between the first grid area and the second grid area where the first hexagonal pattern and the second hexagonal pattern are rotated relative to one another by an angle.

22. System according to Claim 21 , wherein the first hexagonal pattern and the second hexagonal pattern are rotated relative to one another by an angle of 30 degrees.

23. System according to one of Claims 1 to 20, wherein the central control device and/or the on-board control device of at least a portion of the number of vehicles comprise, within a first grid area, a digitized first grid portion of first grid points that represents a first portion of the movement area, which first grid points are arranged according to a first hexagonal pattern, and comprise, within a second grid area, a digitized second grid portion of grid points that represents a second portion of the movement area, which grid points are arranged according to a rectangular pattern, preferably a squared pattern, and comprise a third area that comprises at least one grid point between the first grid area and the second grid area.

24. System according to Claim 9 or 19 or according to a claim dependent on Claim 9 or 19, wherein the system comprises a number of delivery positions that are provided in a regular pattern in rows within the movement area, which rows run parallel to the three directional lines, and wherein a least one row of grid points is provided between neighbouring rows of delivery positions, which row of grid points runs parallel to rows of delivery positions, where the central control device and/or the on-board control device of at least a portion of the number of vehicles are designed to move vehicles over the grid points of a row in only one direction of movement.

25. System according to Claim 24, wherein two rows of grid points are provided between neighbouring rows of delivery positions, where the central control device and/or the on-board control device of at least a portion of the number of vehicles are designed to move vehicles over the grid points of a first row of the two rows of grid points and of a second row of the two rows of grid points in opposite directions of movement.

26. System according to Claim 24 or 25, wherein single rows of grid points are provided between neighbouring rows of delivery positions.

27. System according to Claim 26, wherein the central control device and/or the on-board control device of at least a portion of the number of vehicles are designed to move vehicles over the grid points of neighbouring rows of grid points in opposite directions of movement.

28. Method for using a system according to Claim 1 or a claim dependent thereon, comprising the successive steps of

- picking up and carrying a product from a third grid point using the carrying member of a vehicle where, viewed from above, the product is positioned within the periphery of the vehicle;

- moving the vehicle with the product from a first grid point to a second grid point within a strip that runs between the first grid point and the second grid point, where the direct connecting line between the first grid point and the second grid point does not run parallel to one of the three directional lines, where the strip consists of at least two mutually connected straight strip portions, each of which runs parallel to and over one of the three directional lines.

29. Method for using a system according to Claim 12 or a claim dependent thereon, comprising the successive steps of

- picking up and carrying a holding member from a third grid point using the carrying member of a vehicle;

- moving the vehicle with the holding member from a first grid point to a second grid point within a strip that runs between the first grid point and the second grid point, where the direct connecting line between the first grid point and the second grid point does not run parallel to one of the three directional lines, where the strip consists of at least two mutually connected straight strip portions, each of which runs parallel to and over one of the three directional lines.