DE102007039026A1 - Stock managing method for warehouse management system, involves determining position of set of autonomous-controlled transport devices with higher accuracy during storage than during drive operation of devices - Google Patents

Stock managing method for warehouse management system, involves determining position of set of autonomous-controlled transport devices with higher accuracy during storage than during drive operation of devices

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Publication number
DE102007039026A1
DE102007039026A1 DE102007039026A DE102007039026A DE102007039026A1 DE 102007039026 A1 DE102007039026 A1 DE 102007039026A1 DE 102007039026 A DE102007039026 A DE 102007039026A DE 102007039026 A DE102007039026 A DE 102007039026A DE 102007039026 A1 DE102007039026 A1 DE 102007039026A1
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DE
Germany
Prior art keywords
characterized
position
transceiver
method according
storage
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
DE102007039026A
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German (de)
Inventor
Siegfried Prof. Dr. Jetzke
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Cotrans Logistic & Co KG GmbH
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Cotrans Logistic & Co KG GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Priority to DE102007039026A priority Critical patent/DE102007039026A1/en
Publication of DE102007039026A1 publication Critical patent/DE102007039026A1/en
Application status is Ceased legal-status Critical

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Classifications

    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02Control of position or course in two dimensions
    • G05D1/021Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0276Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
    • G05D1/028Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06Systems determining position data of a target
    • G01S13/46Indirect determination of position data
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/74Systems using reradiation of radio waves, e.g. secondary radar systems; Analogous systems
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/87Combinations of radar systems, e.g. primary radar and secondary radar
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02Storage devices
    • B65G1/04Storage devices mechanical
    • B65G1/0407Storage devices mechanical using stacker cranes
    • B65G1/0421Storage devices mechanical using stacker cranes with control for stacker crane operations
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/02Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
    • G01S13/06Systems determining position data of a target
    • G01S13/46Indirect determination of position data
    • G01S2013/466Indirect determination of position data by Trilateration, i.e. two antennas or two sensors determine separately the distance to a target, whereby with the knowledge of the baseline length, i.e. the distance between the antennas or sensors, the position data of the target is determined
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2201/00Application
    • G05D2201/02Control of position of land vehicles
    • G05D2201/0216Vehicle for transporting goods in a warehouse, factory or similar

Abstract

Method for managing a warehouse with a plurality of autonomously controlled transport devices (16, 20, 26, 28, 30, 32, 36, 38, 40) for transporting and storing storage objects, wherein the transport devices (16, 20, 26, 28, 30 , 32, 36, 38, 40) by means of locally based position determining means determine their position during the driving operation and when storing storage objects and communicate to a central, wherein the position determination during storage is carried out with a higher accuracy than during the driving operation.

Description

  • The The invention relates to methods of managing a warehouse with a plurality of autonomously controlled transport devices for Transportation and storage of storage objects, the transport devices by means of locally based position determining means their position during driving and when storing storage objects determine and communicate to a central office.
  • A efficient management, especially large stock provides a significant logistical problem dar Increased efficiency in this area a high potential for savings For companies. Modern warehouse management systems are therefore usually computerized, using a variety of procedures to optimize complex processes, such as the assignment of Orders for storage and retrieval of storage objects individual transport devices, position detection and storage stored objects, error monitoring, etc. are known.
  • Of the Concept of "warehouse" is within the scope of the present description far to understand and includes both classic shelf storage, at which storage objects are provided for this purpose and the storage location storage devices, as well as open space storage, where the storage objects themselves define the storage location by their position. Also, the term in the local context includes both camps in closed or semi-closed buildings, as well as open air storage.
  • Of the Concept of "transport device" is also widely understood and concerns any type of device that is suitable to the position of a warehouse object within the warehouse. However, the present description refers only to autonomous controlled transport devices, d. H. those whose individual Movement actions on locally made decisions based on local conditions the basis for all parties agreed and valid Rules are taken. A classic example of such Autonomically controlled transport device is one of a human Driver controlled forklift.
  • From the DE 199 38 345 C1 a generic warehouse management method is known. Individual orders are created by a central office, in particular a central computer, and communicated via radio communication to individual forklifts of a forklift fleet. The concrete rules of the order creation and award, which are not the subject of the present invention are based, inter alia, significantly on the fact that the headquarters has knowledge of the respective whereabouts of the individual forklifts of the fleet. Since, as explained above, it is autonomously controlled stacker, the position determination has to be carried out at least partially locally and communicated to the control center.
  • Out the aforementioned document is the position determination by the so-called "coupling" known. When coupling, starting from a known reference point, all movements of the truck vectorially detected by means of suitable, local sensors and the each current position as a vector sum from the reference point calculated. This results in the problem that the errors, which attach to each individual sensor measurement, when determining the position Add up so that increases with distance from the reference point Setting a growing error that quickly scales The expansion of the storage objects can achieve, so a reliable retrieval stored objects is no longer possible. The named This paper addresses this problem with a sporadic update of the Points of reference, in particular whenever the truck has one of a plurality of predetermined fixed points for the stacker are clearly marked, happens. Each time passing a Such fixed point this becomes the new reference point of the truck, so that the coupling error is reset with each update becomes.
  • adversely In this method, the high computational or communication effort. In order to obtain sufficient accuracy, i. H. in particular an accuracy in the centimeter range, to achieve a variety performed by highly accurate sensor measurements and with each other be combined. If this is done locally in the stacker this must be with be equipped with a data processing device of high capacity, which is especially at large fleets with adverse costs connected is. On the other hand, the calculation on the central computer Relocate, a variety of sensor data to the central computer and the determined positions are communicated back to the forklifts become. This requires especially for high accuracy requirements the position determination a considerable radio traffic volume. There anyway already by the order communication between forklifts and headquarters a relatively high volume of radio traffic unavoidable is the system through the positioning radio communication additionally loaded and must be correspondingly larger be interpreted, which in turn leads to disadvantageous additional costs.
  • To avoid the above-mentioned disadvantages of the coupling method, GPS-based positioning systems are known. Special receivers of the forklifts receive signals from satellites of the Global Positioning System (GPS) and detect them from this their position through trilateration. However, the GPS typically does not provide sufficient resolution, so the accuracy of position determinations required for efficient inventory management is not achieved. In addition, the GPS signals in closed buildings are difficult or impossible to receive.
  • From the DE 197 20 828 B4 For example, a method is known which addresses these problems by occupying an area to be detected with a multiplicity of permanently installed, stationary transceivers which communicate with corresponding mobile, local transceivers at the objects to be located. At regular intervals, the local transceiver communicates with selected stationary transceivers and performs distance measurements thereon. The position is determined on the basis of trilateration or according to the principle of hyperbolic or pseudorange detection. This system, which is disclosed in the cited document for monitoring aircraft on an airfield, is suitable for constantly monitoring the aircraft positions with a constant accuracy which does not have to be better than several meters. A detection in the centimeter range is not required because the fine positioning, z. B. when docking at terminals, is done manually by the air and ground staff and due to the predefined, immutable position of the terminals no need for centimeter accurate position detection by the center exists.
  • in principle Although this system would also be applicable to warehouse management. However, it should be clear in terms of accuracy be improved, resulting in more frequent communication between mobile and stationary transceivers and communication the resulting location results could be achieved at the headquarters. However, this would lead to a considerable amount of radio traffic lead, which brings the above-mentioned disadvantages.
  • It is the object of the present invention, a generic Warehouse management system to improve such that the disadvantages of the prior art are overcome and that in particular the computing or radio traffic volume can be reduced.
  • These Task is combined with the features of the preamble of Claim 1 achieved in that the position determination when storing with a higher accuracy than during of the driving operation.
  • The basic idea The invention is the accuracy of the position determination needs to vary. While driving, z. From forklifts, is an exact knowledge of the position by the headquarters not required because steering, acceleration and deceleration decisions be made locally by the autonomously acting driver. The position knowledge through the central office is necessary only insofar as this (rough) Position when creating new storage or removal orders must be used. On the other hand, when storing storage objects a very precise knowledge of the position required because of this position corresponds to the storage location of the storage object and to retrieval the object must be approached very accurately again. this applies especially for bearings without defining the storage locations Device, such as fixed shelves. By use of the present invention can the computing or radio traffic during the comparatively long periods of driving can be reduced significantly without the Accuracy of position determination at the relevant times is reduced.
  • Basically, it does not matter which specific system is used to determine the position. Advantageously, however, the positioning means of each transport device comprise a local transceiver and the position determination by means of radio communication takes place between the local and a plurality of stationary reference transceivers. Such a kind of position determination is basically from the above already cited DE 197 20 828 B4 However, although advantageous developments of the technical design, in particular the position determination with different accuracies, will be explained in more detail below.
  • An application of the present invention to that of DE 197 20 828 B4 known system has a non-optimized aspect. Unlike the airfields disclosed in the cited document, the area of a typical warehouse is not necessarily static. On the contrary, typical bearings "breathe" during the day or season, depending on production cycles or cyclical conditions. This means that at certain times a much larger storage area is required than at other times. With the known system, this phenomenon can only be counteracted by illuminating the maximum possible storage area with a sufficient number of stationary reference transceivers. This leads to considerable investment costs, with some of the stationary transceivers being used at peak times at most.
  • A development of the present invention therefore provides that the local transceivers of at least some transport devices in their idle state serve as reference transceivers for other transport devices. This can reduce the number of stationary transceivers to a mini mum - in the best case on two transceivers - be reduced. If a local transceiver has determined its position relative to the stationary transceivers, communicates with the control center and is in a dormant state, eg. During a paging or paging operation, additional transport devices may be instructed to determine their own position using this dormant, local transceiver as the new reference transceiver. In this way, the storage area equipped with reference transceivers can be expanded or reduced as required, in particular as required.
  • Preferably is provided that before a release of a local transceiver as a reference transceiver, a positioning of the transceiver carrying transport device with high accuracy, d. H. With one against the position determinations during the driving increased accuracy occurs. Is, as preferred, a local transceiver during a putaway process Released as a reference transceiver, its position is as above already explained, already detected with high accuracy. However, cases are also conceivable in which the exact Position determination specifically for the purpose of release as a reference transceiver he follows.
  • As already indicated, the position determination is preferably carried out by distance determination based on distance measurements between the local and multiple reference transceivers and subsequent Trilateration. Such a procedure typically requires at least three ("tri") distance measurements. In the present case However, as explained in more detail below, also two distance measurements be sufficient. It is advantageously applied a method in which any distance measurement by emitting a radio spectrum through the local transceiver, receiving the emitted spectrum through a reference transceiver, retransmission of the received spectrum by the reference transceiver, Re-receiving the re-transmitted spectrum through the local transceiver and determining the distance between the local and reference transceivers by comparing the emitted spectrum with the received spectrum he follows. Is the time delay in receiving and re-sending the Radio signal known by the reference transceiver, lets go through Analysis of the sent and received by the local transceiver Spectrum to determine the distance to the reference transceiver very accurately. By determining the distance to several reference transceivers the position of the local transceiver can be determined. The Setting the accuracy of the position determination is preferably carried out by selecting the number of used for position determination Reference transceiver. This means, among other things, that the radio traffic between local and reference transceivers for a rough one Position determination, as during driving, clearly is less than for a precise position determination, for example when storing storage objects and / or before releasing a local transceivers as a reference transceiver.
  • Preferably is in the headquarters based on positions and recorded locally Lanes that are communicated by the transport devices, an actual road network of the camp reconstructed to compare with to recognize a predetermined target road network warehouse management error. Especially the position data collected by the transport devices during of the driving operation and communicated to the control center, In the synopsis they represent those ways that the transport devices in the fulfillment of their orders typically driving along. Will the data be a variety of Transport devices summarized, for example, by an appropriate averaging can be done results in an actual road network high accuracy, although the individual position data used to Structure of road network information contribute, a comparatively low accuracy to have. Especially with an open space warehouse without permanently installed Storage devices, the road network is not structurally predetermined, but results from the actually realized storage locations and can change over time. By constant regular or sporadic comparison of positional data by individual Transport devices are transmitted with the like above explained statistically reconstructed road network to recognize changes easily. These changes can either be from intended changes in the structure of the warehouse or by errors. As a cause of the error come z. B. Disturbance of position determination, Add new or removal of known objects or accidental shifts of storage objects and thus of storage locations in question. Although allowed the described measure is not the immediate recognition the cause of the error; but it leads to very rapid detection the mistake itself and thus opens up the possibility a timely investigation and correction.
  • As already mentioned, an important part of a warehouse management system is to store the specific storage locations centrally. In connection with the present invention, it is proposed to be advantageous to store the positions determined during the storage of storage objects in an inventory file. Although the position determination in many cases does not capture the actual position of the storage object but rather the position of the transport device. When using a fleet However, preferably identical transport devices can be closed from the position of the transport device readily to the precise storage location.
  • Preferably will be in the inventory file in addition to the items also the respective storage objects individualizing data stored. This can preferably take place in that data which the Individualize storage objects, based on the transport devices recorded by markings of the storage objects and communicated to headquarters become. This can be used to build an inventory file that for each individual storage object can specify exactly which concrete Storage location is assigned to the object. This is especially important if, unlike, for example, only generically distinguishable Stock objects, an individually different treatment of Stock objects is required.
  • So far were only three situations in which position data to the Central transmitted, distinguished, namely during storage of storage objects, while driving and before releasing a local transceiver as a reference transceiver, the latter case overlapping with the former can. In an advantageous embodiment of the invention is further provided that when outsourcing storage objects the respective Position of the transport device determined with high accuracy and communicated to the central office. This has, especially in Connecting to an inventory file has the advantage of being recognized of errors a position that determines when an object is swapped out was used in the inventory file when storing the same warehouse object stored position can be compared. Communicated position deviations between the storage and the removal of the same storage object can either be based on errors of positioning or indicate unintentional movement of storage objects. In In any case, such error detection allows a fast Intervention and, if necessary, a correction of the error or an adjustment of the system, in particular the inventory file, to changed conditions.
  • It it can be seen that the communication between transport devices and the central office an essential feature of modern warehouse management systems in general and that of the present invention in particular is. An error or a collapse of the communication could have fatal consequences for the entire administrative system. In a further development of the invention is therefore intended that positions determined by a transport device before communication to the control center temporarily in a local Memory of the transport device can be cached. This means that in case of communication problems between transport devices and headquarters, the z. B. by a temporarily particularly high Radio traffic may be conditional, positional data stored locally and at a later date, though For example, a low radio traffic volume prevails at the control center can be communicated. This allows one "smaller" interpretation of the communication system, then with a largely constant utilization can be operated. This is advantageous compared to a "large" designed communication system, this is very low with high load peaks and long phases Utilization is operated.
  • in the The previous ones were storage objects and transport devices always treated as separate terms. In the context of the invention, however, is intended also be aware of the possibility that the Warehouse objects with the transporters structural units form. As an example serve here the new car warehouse of an automobile manufacturer. Here the storage objects, namely new cars, form their own own transport device, so that the case of a structural Unit between storage object and transport device is given. The for carrying out the invention Method required position determining means can fixed or reversible in or on the transporters / storage objects be installed.
  • Further Features and advantages of the invention will become apparent from the following, special description and the drawings.
  • It demonstrate:
  • 1 : a simplistic, schematic representation of a position determination with minimized number of reference transceivers.
  • 2 : A highly simplified, schematic representation of a position determination using a local transceiver as a reference transceiver.
  • 3 : a highly simplified, schematic representation of positional determinations of different accuracy.
  • 4 : a simplistic, schematic representation of the flexible extension of a storage area.
  • 1 shows in a highly simplified, schematic representation of a storage area 10 , at whose in 1 lower edge 10a a first stationary transceiver 12 and at their in 1 left edge 10b a second stationary transceiver 14 are installed. The transceivers 12 and 14 are set up to receive and transmit a transmitted radio spectrum. In this case, the spectrum can in each case be embedded in a more complex signal, which contains, for example, identification codes for identifying or addressing transmitters and / or receivers. With the help of such identification codes, it is possible to operate the transceiver 12 . 14 to reduce to cases where they are addressed individually. In this way, the radio traffic can be compared to cases where the transceivers 12 . 14 receive and retransmit each receivable radio signal, be significantly reduced. It should be noted that an identification code can also be realized by the specific structure of the spectrum, ie, for example, the relative distribution of its frequencies.
  • On the storage area 10 is still a forklift 16 shown. Note that for purposes of this specific part of the description, the term "stackers" is used for illustrative purposes only. This is not intended in any way to limit the generality of the present invention, which relates to any type of autonomously controlled transport devices. The truck 16 can get along in 1 not shown transport roads over the storage area 10 move and also in 1 Store stored items not shown at predetermined locations or outsource from there. The truck 16 is equipped with a local transceiver which is substantially equivalent to the previously discussed stationary transceivers 12 and 14 works, in contrast to these, however, with the truck 16 over the storage area 10 emotional.
  • To perform a position determination sends the transceiver of the truck 16 one radio signal each to the stationary transceiver, which always operates as a reference transceiver 12 . 14 and receives their re-transmitted signal. By comparing the transmitted and received again signal can be a local processing unit in the truck 16 the current distances of the truck 16 to the reference transceiver 12 and the reference transceiver 14 determine. This distance information is for an unambiguous position determination of the truck 16 unsatisfactory. Rather, one would be at the connection line 18 the stationary transceiver 12 . 14 mirrored position 16 ' give the same distance measurements. However, if the calculating system has suitable additional information, such as. B. the expansion of the storage area 10 , in the case shown, the theoretical position 16 ' , in the 1 dashed lines are discarded, so that the position of the truck 16 can be done clearly. This variant of the known trilateration method, which typically requires three distance measurements, reduces the number of stationary transceivers to a minimum, which brings significant cost advantages.
  • 2 shows the same scenario as 1 with an additional stacker 20 , The truck 20 is located approximately on the connecting line 18 the stationary transceiver 12 . 14 so that a position determination according to the simplified trilateration method explained above is not possible since both possible positions lie within the permissible area, so that no unambiguous position determination can be made on the basis of only two distance measurements. To the position of the truck 20 Nevertheless, the dormant forklift becomes still to be determined 16 whose position was previously according to 1 was determined to be used as an additional reference transceiver. To determine its position, the truck communicates 20 with the reference transceivers 12 . 14 . 16 in the manner described above, thus performing a "true" trilateration procedure.
  • Note that the representations of the 1 and 2 - As well as the following figures - not only in terms of the geometry of the bearing surface 10 are greatly simplified, but in particular for the sake of clarity, only an unrealistically small number of forklifts show. Typically, on the storage area 10 a whole fleet of several 10 to several 100 trucks or vehicles on the road, each of which can be used in their dormant state after a position determination as a (temporary) reference transceiver for determining the position of other forklifts. The decisions as to which stacker serves as reference transceiver for which other stackers at which time are made by a computer-aided control center, which also communicates these decisions to the relevant stackers.
  • As an example, assume that a stacker receives a specific deposit order. Together with the order, he receives the order to make himself available at the storage location as a reference transceiver for other forklifts. These are preferably forklifts that are in the vicinity of the notified storage location and require positioning at the time of storage. These are preferably transmitted an identifier of the intended as a reference transceiver truck so that they can connect with their position determination with this. In a typical scenario with a large number of stackers, it is realistic to assume that the majority of the position determination without the involvement of stationary transceivers 12 . 14 he follows. Rather, one or more trilateration calculations (with or without the use of additional geometric information) can be carried out to determine the position. There in the accuracy of the position determination by the number of carried out distance determinations, ie in particular the number used for determining position reference transceiver, be increased.
  • 3 shows in a highly simplified, schematic representation of the principle of the demand-based variation of the accuracy of position determinations to optimize the overall system. In the illustration shown, the bearing surface 10 several separate rows of warehouses 22a - 22e , between which transport routes 24a -F, on which forklifts can move, are created. In 3 are the schematics of two position determinations of a stacker 26 shown at different times.
  • For the example of 3 Let's assume that more forklifts 28 . 30 . 32 with warehousing work on the warehouse rows 22a respectively. 22e are busy and are there in a dormant state, with their position of the headquarters is known. Next, suppose that the dormant forklift 28 . 30 . 32 have been given the command to provide their local transceiver as a reference transceiver. At a first time (in 3 shown by solid lines) is the stacker 26 while driving, what by the movement arrow 34 is indicated. During driving, it is not necessary for the control panel to be informed of the stacker position with high accuracy, since it does not control the truck operation 26 has to take over. This is rather controlled autonomously by a driver who from the central office a specific order, eg. B. the collection of a special stored goods from the stock row 22e had received. Nevertheless, it is necessary for efficient warehouse management that the head office is at least roughly informed about the positions of moving forklifts. Therefore, the truck performs 26 during the driving operation, a trilateration measurement, whereby he the stationary transceiver 14 as well as the temporary reference transceivers of the stackers 28 and 30 for determining the position. Their ID and position had previously been submitted to him by the headquarters.
  • At a second time (in 3 shown in dashed lines) has the truck 26 his mission goal, namely a predetermined storage location in the storage row 22e reaches and goes into the dormant state to perform the arranged storage work. At this time, a precise position determination makes sense. On the one hand, the autonomously used storage location can be compared with the storage location registered in an inventory file, deviations indicating errors. On the other hand, the dormant forklift 26 serve as a reference transceiver for other trucks. However, his position must be known exactly. Consequently, at this time, highly accurate positioning is performed, except for the transceivers 14 . 28 and 30 also the stationary transceiver 12 and the temporary reference transceiver 32 to increase measurement accuracy. These transceivers were the forklift 26 preferably previously referred to by the center as to be addressed reference transceiver.
  • 4 shows in a highly simplified schematic representation of the possibility of flexible expansion of the storage area 10 , It is assumed the storage area 10 should be over its edges 10a and 10b beyond the extension area 10 ' be extended. As additional difficulty be assumed, the extension area 10 ' wise a radio communication restricting barrier 34 , z. As a wall or a building, on. Finally, assume the position of a stationary truck 36 in the original storage area 10 be the headquarters known exactly. If the central office now requires a forklift 38 to a storage location in the extension area 10 ' The difficulty may arise that the forklift 38 can not or not accurately determine its position at the given storage location due to lack of communication with reference transceivers. In the example shown is about the communication between the truck 38 and the stationary transceiver 12 ' (dash-dotted line) through the barrier 34 with special needs. To remedy this situation, the head office therefore sends another stacker 40 into an area of the extension area 10 ' , in which a precise position determination - in the example by distance measurement to the stationary transceivers 12 . 14 and the temporary reference transceiver 36 - can be determined with sufficient accuracy. Preferably, this posting is associated with a specific warehouse order. At the given place, the stacker 40 available as a reference transceiver. The truck 38 now finds with the stationary transceiver 14 as well as the temporary reference transceivers 36 and 40 a sufficient number of reference transceivers to determine its position.
  • In this example as well, it should be expressly noted that the advantages of the system manifest themselves above all in the case of a large number of forklifts or vehicles, and the representation of 4 and the associated description represent an actually unrealistic oversimplification for purely illustrative purposes.
  • Of course, the embodiments discussed in the specific description and shown in the figures represent only illustrative embodiments of the present invention. Those skilled in the art will appreciate from the disclosure herein Tes Variation spectrum given. In particular, the special technique of the distance measurements can be modified as needed. Nor is it necessary that the transport devices are stackers in the strict sense. Rather, the possibility should also be recognized that transport devices and laboratory objects form structural units. Further improvements of the system, for example, in an individual marking of storage objects, their capture by the truck and their use by the control center, z. B. in an inventory file, may exist, of course, also be realized. Finally, the further use of the determined position data is not limited to the use described in the examples. In particular, the position data can be used to detect actual travel paths of the forklifts and to compare them with a desired route network which, for example, corresponds to an actual route network thus detected at an earlier point in time.
  • QUOTES INCLUDE IN THE DESCRIPTION
  • This list The documents listed by the applicant have been automated generated and is solely for better information recorded by the reader. The list is not part of the German Patent or utility model application. The DPMA takes over no liability for any errors or omissions.
  • Cited patent literature
    • - DE 19938345 C1 [0005]
    • - DE 19720828 B4 [0009, 0014, 0015]

Claims (15)

  1. Method for managing a warehouse with a plurality of autonomously controlled transport devices ( 16 . 20 . 26 . 28 . 30 . 32 . 36 . 38 . 40 ) for transporting and storing storage objects, the transport devices ( 16 . 20 . 26 . 28 . 30 . 32 . 36 . 38 . 40 ) Determine their position during driving and storage of storage objects by means of locally based position determining means and communicate to a central, characterized in that the position determination during storage is carried out with a higher accuracy than during driving.
  2. Method according to claim 1, characterized in that the position determining means of each transport device ( 16 . 20 . 26 . 28 . 30 . 32 . 36 . 38 . 40 ) comprise a local transceiver and the position determination by means of radio communication between the local and a plurality of stationary reference transceivers ( 12 . 14 ) he follows.
  3. Method according to one of the preceding claims, characterized in that the local transceivers of at least some transport devices ( 16 . 28 . 30 . 32 . 36 . 40 ) in their dormant state serve as a reference transceiver for other transport devices.
  4. A method according to claim 3, characterized in that prior to a release of a local transceiver as a reference transceiver, a position determination of the transceiver carrying transport device ( 16 . 28 . 30 . 32 . 36 . 40 ) with high accuracy.
  5. Method according to one of the preceding claims, characterized in that the position determination by means of distance comparison based on distance measurements between the local and several Reference transceivers takes place.
  6. Method according to claim 5, characterized in that that each distance measurement by emitting a radio spectrum by the local transceiver, receiving the emitted spectrum a reference transceiver, retransmitting the received spectrum through the reference transceiver, receiving the resent Spectrum through the local transceiver and determining the distance between the local and the reference transceiver by comparing the emitted spectrum with the re-received spectrum.
  7. Method according to one of the preceding claims, characterized in that an adjustment of the accuracy of Position determination by selecting the number of position determination referenced reference transceiver takes place.
  8. Method according to one of the preceding claims, characterized in that in the control center on the basis of the transport devices ( 16 . 20 . 26 . 28 . 30 . 32 . 36 . 38 . 40 ) an actual route network of the warehouse is reconstructed in order to detect warehouse management errors by comparison with a predetermined set route network.
  9. Method according to one of the preceding claims, characterized in that the storage of warehouse objects determined positions are stored in an inventory file.
  10. Method according to claim 9, characterized that in the inventory file in addition to the positions also the respective storage objects individualizing data stored become.
  11. Method according to claim 10, characterized in that that data, which individualize the storage objects, from the transport devices recorded on the basis of markings of the storage objects and to the central office be communicated.
  12. Method according to one of the preceding claims, characterized in that during the removal of storage objects, the respective position of the transport device ( 16 . 20 . 26 . 28 . 30 . 32 . 36 . 38 . 40 ) is determined with high accuracy and communicated to the central office.
  13. Process according to claims 9 and 12, characterized characterized in that for detecting errors, a position, the during the removal of a storage object was determined with the in the Inventory file stored when storing the same warehouse object Position is compared.
  14. Method according to one of the preceding claims, characterized in that positions determined by a transport device ( 16 . 20 . 26 . 28 . 30 . 32 . 36 . 38 . 40 ) are temporarily stored in a local memory of the transport device before communication to the control center ( 16 . 20 . 26 . 28 . 30 . 32 . 36 . 38 . 40 ) are cached.
  15. Method according to one of the preceding claims, characterized in that the storage objects with the transport devices form structural units.
DE102007039026A 2007-08-17 2007-08-17 Stock managing method for warehouse management system, involves determining position of set of autonomous-controlled transport devices with higher accuracy during storage than during drive operation of devices Ceased DE102007039026A1 (en)

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Citations (4)

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DE19938345C1 (en) 1999-08-13 2001-02-15 Isocom Automationssysteme Gmbh Method and apparatus for detecting the position of a vehicle within a predetermined range, especially a storage facility, as well as storage management method and system
DE10342767A1 (en) * 2003-09-16 2005-04-14 Indyon Gmbh Transponder-supported positioning system
DE19720828B4 (en) 1997-05-17 2006-05-04 Form, Peter, Prof.Dr.-Ing. Fixed antenna system for guidance and control of aircraft on airport surfaces and in the control zone based on Mode S.
DE102006004400A1 (en) * 2006-01-31 2007-08-09 Infineon Technologies Ag Navigation system, comprising matrix shape local markings, indicating spatial positions, and alignment measuring device, and computing unit for computing driving information from gathered information

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE19720828B4 (en) 1997-05-17 2006-05-04 Form, Peter, Prof.Dr.-Ing. Fixed antenna system for guidance and control of aircraft on airport surfaces and in the control zone based on Mode S.
DE19938345C1 (en) 1999-08-13 2001-02-15 Isocom Automationssysteme Gmbh Method and apparatus for detecting the position of a vehicle within a predetermined range, especially a storage facility, as well as storage management method and system
DE10342767A1 (en) * 2003-09-16 2005-04-14 Indyon Gmbh Transponder-supported positioning system
DE102006004400A1 (en) * 2006-01-31 2007-08-09 Infineon Technologies Ag Navigation system, comprising matrix shape local markings, indicating spatial positions, and alignment measuring device, and computing unit for computing driving information from gathered information

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