Storage and picking system and method for picking with autonomously moving shelf-serving devices

A storage and picking system for storing and picking of articles into order containers in accordance with picking orders, the system comprising:

• a storage zone;
• a working zone arranged adjacent to the storage zone;
• a warehouse which is arranged in the storage zone and which comprises a plurality of racks, wherein the racks are arranged in rows parallel to each other and define at least one rack aisle therebetween, wherein each of the racks comprises a plurality of rack planes, which are arranged on top of each other, having storage locations, wherein each of the storage locations is configured to supply at least one storage container, or at least one of the articles;
• at least one picking-work station arranged in the working zone and being configured for transferring the articles into the order containers;
• a plurality of markers arranged in a distributed manner in the zones;
• and
• a plurality of storage and retrieval devices travelling autonomously, wherein each of the storage and retrieval devices comprises:
• a load-handling device being adapted to retrieve at least one of at least one of the storage containers and at least one of the articles along a travelling direction of the storage and retrieval device from, or to store the same into, one of the storage locations;
• a vertical mast along which the load-handling device is supported vertically movable;
• and
• a ground-near travelling unit including a carrier and a drive unit, wherein the travelling unit is connected to the mast;
• at least one hoisting device being integrated into the travelling unit;
• at least one sensor for detecting the markers which define a travelling path along which the storage and retrieval devices travel in the travelling direction;
• and
• a controlling device being integrated into the travelling unit;
• wherein the mast is connected to the carrier and extends vertically upwards;
• wherein the travelling unit is dimensioned such that, and wherein the mast is arranged such that, the storage and retrieval device travel in the travelling direction, for the purpose of storing or retrieving, beneath one of the racks while an other storage and retrieval device passes the storage and retrieval device in the rack aisle;
• wherein the hoisting device is configured to move the load-handling device up and down along the mast;
• and
• wherein the controlling device is configured to let the storage and retrieval device travel autonomously within each of the zones and between the zones in the travelling direction along a respective travelling path which is selectable freely.