Storage and order-picking system

A storage and order-picking system comprising a plurality of manipulators for processing a plurality of picking/storing orders using a manipulator-to-goods-principle, wherein the system comprises:

• a provision zone;
• a picking zone adjacent to the provision zone and extending along the provision zone;
• a plurality of provision units arranged in the provision zone next to each other and/or on top of each other, wherein each of the provision units comprises at least one handling unit;
• a plurality of stationary transfer locations arranged in the picking zone, said transfer locations are arranged along the provision zone, and
• each of the transfer locations is configured to receive and buffer one of the handling units, wherein the transfer locations respectively comprise a frame on which the handling units are deposited for retrieval or delivery by the DTVs;
• a driverless transport system comprising a plurality of driverless transport vehicles, wherein the DTVs and the transfer locations are configured to exchange the handling units with each other, said DTVs are movable autonomously;
• and
• a controlling device being configured to:
• analyze the plurality of picking/storing orders for determining retrieval/delivery locations in the provision zone;
• set transfer actions by selecting, for each of the retrieval/delivery locations in the provision zone, at least one of the transfer locations in the picking zone as a delivery/retrieval location in the picking zone, and by assigning the delivery/retrieval location to the retrieval/delivery location in the provision zone,
• wherein the delivery/retrieval location is located within an action zone extending around the respective retrieval/delivery location, said action zone moving dynamically with the respective manipulator, and
• wherein each of the transfer actions further defines a number and type of the handling units to be transferred by the respective manipulator between the delivery/retrieval location and retrieval/delivery location assigned to each other;
• generate action orders for each of the manipulators by:
• selecting some of the transfer actions;
• and
• setting a moving path along which the respective manipulator moves between the selected retrieval/delivery location in the provision zone through the picking zone;
• and
• generating transport orders for the DTVs so that each of the manipulators can perform its transfer actions within its action zone during performance of its action order, the DTVs preparing the corresponding selected transfer locations within the action zone and/or downstream of the action zone in time.