SHELF STORE AND METHOD FOR CONTROLLING THE ROUTE OF A SHELF SERVING DEVICE IN A SHELF STORE

摘要

a regallager 1 and a procedure for the control of a regalbediengeru00e4ts regards 6 in a regallager 1, at least one regalbediengeru00e4t comprehensively with at least two independently controllable by electric motors powered movement axles 5, x, y to perform a bew egung from a starting point to a destination 3, 4.a control unit to control the maintain a full movement axles motors x, y of the regalbediengeru00e4ts and an electric dc link for the exchange of ru00fcckgespeister electrical energy between the motors.the control unit is so formed that the kind of movement from the starting point 3 to the destination 4 necessary movements of individual movement axles, x, y, and predicted more emphasis, and that they are the engines of the movement axles x, y direction so that the regalbedienge is the movement on a projected system 6 performson a set of concerted motions of the individual movement axles is based.the control unit calculates an amount of several sets of coordinated movements, and the quantity of at least one first set with the speed of movement of optimized motions for a kickstart, and a second set of de s consumption of electrical energy optimized motions for a spargang contains.on the basis of operating parameters of the regallagers, particularly on the basis of the kind of movement available time, the control unit selects a sentence with movements from the calculated quantity of the motors, the movement axles to execute a target regards.