DE102015216482A1 - Control device and method for controlling a material handling vehicle, operating device and method for operating a material handling vehicle and picking system - Google Patents

Abstract

The invention relates to a method for controlling an industrial truck (110). In this case, the method can be carried out in conjunction with a control device (130) which can be attached to an arm of an operator of the industrial truck (110) separately from the industrial truck (110). The method comprises a step of detecting movement data (140) of at least one predefined movement pattern of the control device (130). Each predefined movement pattern represents a control command for controlling an industrial truck (110). The method also has a step of generating at least one control signal (145) for controlling an industrial truck (110) using the acquired movement data (140). Furthermore, the method has a step of providing the at least one control signal (145) for output to a wireless interface to an industrial truck (110).

Description

State of the art

The invention is based on a device or a method according to the preamble of the independent claims. The subject of the present invention is also a computer program.

In particular, floor vehicles for picking goods can usually be controlled and controlled from the driver's cab. This activity can change, for example, with a loading activity. In particular, for forklift trucks can be used to avoid the constant change, for example, remotes similar to a TV remote control or in the form of a glove with integrated buttons, by means of which the vehicle can be moved remotely.

The CN-102915111 A describes a wrist-worn gesture control system for controlling e.g. B. an electronic product.

Disclosure of the invention

Against this background, with the approach presented here, a method, a device which uses this method, and finally a corresponding computer program according to the main claims are presented. The measures listed in the dependent claims advantageous refinements and improvements of the independent claim device are possible.

According to embodiments of the present invention, for example, an operating unit can be provided, in particular for industrial trucks, which can enable remote control of a vehicle without having to carry a device in the hand or to use a glove. For example, a bracelet is proposed for the remote control of the vehicle, which can detect, for example by means of an acceleration sensor in a housing, in particular knocking with the hand on the housing and additionally or alternatively freehand gestures in space. Thus, methods and apparatus for interacting with a picking vehicle may be provided.

Advantageously, according to embodiments of the present invention, for example, a remote operation of a vehicle, in particular a material handling vehicle, in a simple, reliable, safe and comfortable way. Such a control device or remote control device, in particular in the form of a bracelet, can always be worn on the wrist, for example, without disturbing the gripping sensation of the user. In a loading operation by the operator of the vehicle can thus be prevented that a hand-held remote control would interfere and should be set aside, for example, or a remote control in the form of a glove would interfere with a sensitivity when gripping.

A method for controlling an industrial truck is presented, wherein the method is executable in connection with a control device that can be attached to a body part of an operator of the industrial truck separately from the industrial truck, the method comprising the following steps:
Acquiring movement data of at least one predefined movement pattern of the control device, each predefined movement pattern representing a control command for controlling the material handling vehicle;
Generating at least one control signal for controlling the industrial truck using the acquired movement data; and
Providing the at least one control signal for output to a wireless interface to the industrial truck.

This method can be implemented, for example, in software or hardware or in a mixed form of software and hardware, for example in a control unit. The industrial truck can be used for example in a warehouse. The control device may be designed as a bracelet. In this case, the control device may have at least one detection device for detecting an acceleration of the control device. A movement pattern may include a gesture. The method can be carried out simultaneously in each case in conjunction with a maximum of a single industrial truck. In particular, the body part may be an arm, but may also be, for example, a foot, a leg or a head of the operator.

According to one embodiment, first movement data of a first movement pattern may be detected in the step of acquiring. Here, the first movement pattern may represent a first control command for activating and additionally or alternatively deactivating a remote control operating mode of the industrial truck. In this case, in the step of generating using the first movement data, a first control signal for activating and additionally or alternatively deactivating the remote control operating mode of the industrial truck can be generated. The first movement pattern may represent, for example, a double tapping on the control device. So a first Occurrence of the first movement data and thus of the first movement pattern represent a first control command for activation. Accordingly, a second occurrence of the first movement data and thus of the first movement pattern may represent a first control command for deactivation. Such an embodiment offers the advantage that an actual presence of a remote control intent can be reliably detected and implemented, so that the reliability can be increased.

Also, in the step of acquiring, second movement data of a second movement pattern representing a second control command for controlling a movement of the industrial vehicle and additionally or alternatively at least third movement data of a third movement pattern representing a third control command for controlling a movement of the industrial truck may be detected. In this case, in the step of generating using the second movement data, a second control signal for controlling a movement of the industrial truck and additionally or alternatively using at least the third movement data at least a third control signal for controlling a movement of the industrial truck can be generated. The second movement pattern and the third movement pattern as well as optionally at least one further movement pattern may represent, for example, gestures. In this case, movements of the industrial truck which can be triggered by the second control signal and the third control signal and optionally at least one further control signal, for example, predefined routes, represent directions, positions and additionally or alternatively orientations of the industrial vehicle relative to at least one reference feature. Such an embodiment has the advantage that a remote control of the industrial truck can be done safely, easily and quickly by an association between predefined movement patterns and predefined movements.

Furthermore, in the providing step, an identification signal, which represents identification data for uniquely identifying the control device, can be provided for output to the wireless interface to the industrial truck. Such an embodiment offers the advantage that a reliable control relationship between the control device and a material handling vehicle can be established, wherein the control device for a material handling vehicle can be safely and clearly recognizable.

The approach presented here also creates a control device which is designed to execute, to control or to implement the steps of a variant of a method presented here in corresponding devices. In this case, the control device can be designed in particular as a bracelet. The control device can be designed to control a single industrial truck of a plurality of industrial trucks in succession. Also by this embodiment of the invention in the form of a control device, the object underlying the invention can be solved quickly and efficiently.

In the present case, a control device can be understood as meaning an electrical device which processes sensor signals and outputs control and / or data signals in dependence thereon. The control device may have an interface, which may be formed in hardware and / or software. In the case of a hardware-based design, the interfaces can be part of a so-called system ASIC, for example, which contains various functions of the control device. However, it is also possible that the interfaces are their own integrated circuits or at least partially consist of discrete components. In a software training, the interfaces may be software modules that are present, for example, on a microcontroller in addition to other software modules.

A method is also presented for operating an industrial truck, the method being executable in connection with an operating device that can be arranged or arranged in the industrial truck, the method having the following steps:
Reading at least one control signal generated according to one embodiment of the above method via a wireless interface to a control device; and
Generating at least one drive signal for operating the industrial truck using the at least one read control signal.

This method can be implemented, for example, in software or hardware or in a mixed form of software and hardware, for example in a control unit. The method can be carried out simultaneously in each case in conjunction with a maximum of a single control device.

According to one embodiment, in the step of reading a first control signal for activating and additionally or alternatively deactivating a remote control operating mode of the industrial truck and additionally or alternatively at least one further control signal for controlling a movement of the industrial truck can be read. In this case, in the step of generating using the first control signal, a first drive signal can be generated, which activates and additionally or alternatively deactivates the remote control operating mode of the industrial truck causes, and additionally or alternatively, at least one further control signal can be generated using the at least one further control signal, which causes a movement of the industrial truck. The at least one further control signal may represent the second control signal and additionally or alternatively the third control signal, which may be generated according to an embodiment of the aforementioned method. Such an embodiment offers the advantage that a material handling vehicle can be remotely controlled in a simple and secure manner.

In this case, in the step of generating, the at least one further drive signal, which causes a movement of the industrial truck, can be generated when the remote control operating mode is activated. In other words, in the step of generating, the at least one further drive signal that causes a movement of the industrial truck can be generated if a first drive signal for activating a remote control operating mode of the industrial truck was previously read in the step of reading. Such an embodiment has the advantage that a remote control of the movement of the industrial truck is only possible, the remote control operating mode is actually activated. Thus, a reliability of a remote-controlled industrial vehicle can be increased.

Also, the method may include a step of managing a communication connection with a controller via the wireless interface. In this case, in the management step, the communication connection can be managed in such a way that at most a maximum of one communication connection is established with a single control device. In the administering step, the communication connection can be established, terminated and additionally or alternatively confirmed or checked at least once. Such an embodiment offers the advantage that a material handling vehicle can be controlled remotely safely and reliably only by means of a single control device.

In addition, in the step of generating a Sicherheitsansteuersignal can be generated, which causes a deactivation of the remote control operating mode of the industrial vehicle when the at least one read control signal has a signal strength that is less than a predefined threshold, and additionally or alternatively, if a predefined period of time no Control signal is read in, and additionally or alternatively when an obstacle object is detected for a movement of the industrial truck. Such an embodiment offers the advantage that the remote control of industrial trucks can be made even safer. For example, the remote control mode of operation may be exited if certain safety criteria are not met.

Furthermore, the method may have a step of signaling an operating mode and additionally or alternatively a movement of the industrial truck. In this case, in the step of signaling, the operating mode and additionally or alternatively the movement can be signaled acoustically and additionally or alternatively acoustically. Such an embodiment offers the advantage that an operational safety of a remote-controlled industrial truck can be further increased. Thus, for example, it can be clearly recognizable in which state the industrial truck is or which remote-controlled action is carried out next.

The approach presented here also creates an operating device which is designed to execute, to implement or to implement the steps of a variant of a method presented here in corresponding devices. Also by this embodiment of the invention in the form of an operating device, the object underlying the invention can be solved quickly and efficiently.

In the present case, an operating device can be understood as meaning an electrical device which processes sensor signals and outputs control and / or data signals in dependence thereon. The operating device may have an interface, which may be formed in hardware and / or software. In the case of a hardware-based design, the interfaces can be part of a so-called system ASIC, for example, which contains a wide variety of functions of the operating device. However, it is also possible that the interfaces are their own integrated circuits or at least partially consist of discrete components. In a software training, the interfaces may be software modules that are present, for example, on a microcontroller in addition to other software modules.

Furthermore, a picking system, in particular for a warehouse, is presented, wherein the picking system has the following features:
at least one industrial truck having an embodiment of the aforementioned operating device; and
at least one embodiment of the aforementioned control device for controlling an industrial truck.

In connection with the picking system, an embodiment of the above said control device and an embodiment of the aforementioned operating device are used or used.

Also of advantage is a computer program product or computer program with program code which can be stored on a machine-readable carrier or storage medium such as a semiconductor memory, a hard disk memory or an optical memory and for carrying out, implementing and / or controlling the steps of the method according to one of the embodiments described above is used, especially when the program product or program is executed on a computer or a device.

Embodiments of the invention are illustrated in the drawings and explained in more detail in the following description. It shows:

1 a schematic representation of a picking system according to an embodiment;

2 a flowchart of a method for controlling according to an embodiment;

3 a flowchart of a method of operation according to an embodiment;

4 a schematic representation of a picking system according to an embodiment;

5 a schematic representation of a material handling vehicle according to an embodiment;

6 a schematic representation of two industrial trucks according to an embodiment;

7 a schematic representation of an interaction zone to a material handling vehicle according to an embodiment; and

8th a schematic representation of a sequence of a remote control in a picking system according to an embodiment.

In the following description of favorable embodiments of the present invention, the same or similar reference numerals are used for the elements shown in the various figures and similar acting, wherein a repeated description of these elements is omitted.

1 shows a schematic representation of a picking system 100 according to an embodiment. The picking system 100 is intended in particular for a warehouse. In this case, the picking system 100 at least one industrial truck 110 with an operating device 120 and at least one control device 130 for controlling a material handling vehicle 110 on.

According to the in 1 illustrated embodiment, the order-picking system 100 by way of example only an industrial truck 110 and by way of example only a control device 130 on. The industrial truck 110 This is an example of a vehicle. The control device 130 is according to the in 1 shown and described embodiment executed in the form of a bracelet.

The control device 130 is trained to be an industrial truck 110 to control. In a picking system 100 with a plurality of industrial trucks 110 is the control device 130 trained to each an industrial truck 110 to control at a time. According to the in 1 illustrated embodiment is the control device 130 trained to the industrial truck 110 to control.

The control device 130 is separate from the industrial truck 110 arranged. Here, the example executed here as a bracelet control device 130 on an arm of an operator of the industrial truck 110 mountable. The control device 130 has a detection device 132 , a generating device 134 and a provisioning device 136 on.

The detection device 132 the control device 130 is trained to handle movement data 140 at least one predefined movement pattern of the control device 130 capture. Each predefined movement pattern represents a control command for controlling the industrial truck 110 , In this case, the detection device 132 For example, executed as an acceleration sensor with three detection axes.

The generating device 134 the control device 130 is configured to use the acquired motion data 140 at least one control signal 145 for controlling the industrial truck 110 to create. Here are by means of the generating device 134 depending on different predefined movement patterns different control signals 145 produced.

The provisioning device 136 is formed to the at least one generated control signal 145 for output to a wireless interface to the industrial truck 110 provide.

The industrial truck 110 indicates the operating device 120 on. Here is the operating device 120 in the industrial truck 110 arranged. The operating device 120 is designed to be the industrial truck 110 to operate.

The operating device 120 has a read-in device 122 and a generator 124 on. Here is the read-in device 122 formed to the at least one control signal 145 via the wireless interface to the controller 130 read. In other words, the read-in device 120 formed to the at least one of the control device 130 generated and provided control signal 145 read. The generating device 124 is configured to use the at least one read control signal 145 at least one drive signal for operating the industrial truck 110 to generate.

According to one embodiment, the operating device 120 a management facility 126 on. The administrative facility 126 is configured to communicate with the control device 130 to manage over the wireless interface. Here is the administrative facility 126 designed to manage the communication link so that at most a maximum of one communication link with a single control device 130 is made.

According to one embodiment, the operating device 120 also a signaling device 128 on. In this case, the signaling device 128 trained to receive one by the control signal 145 caused operating mode and / or one by the control signal 145 caused movement of the industrial truck 110 to signal. The signaling device 128 has, for example, a flashing light and / or a loudspeaker or the like.

2 shows a flowchart of a method 200 for controlling according to an embodiment. The procedure 200 for controlling is executable to control an industrial truck. Here is the procedure 200 for controlling in conjunction with the control device 1 or a similar control device executable. Thus, the procedure 200 also executable to control the forklift truck 1 or to control a similar industrial truck.

The procedure 200 to control has one step 210 detecting movement data of at least one predefined movement pattern of the control device. Each predefined movement pattern represents a control command for controlling the industrial truck. In a subsequent step 220 of the generating is in the process 200 generated using the detected movement data at least one control signal for controlling the industrial truck. In an again executable step below 230 the provision is in the process 200 the at least one control signal provided for output to a wireless interface to the industrial truck.

According to one embodiment, in step 210 detecting first movement data of a first movement pattern. In this case, the first movement pattern represents a first control command for activating and / or deactivating a remote control operating mode of the industrial truck. Then this is in the step 220 generating using the first movement data generates a first control signal for activating and / or deactivating the remote control operating mode of the industrial truck.

According to one embodiment, in step 210 detecting second movement data of a second movement pattern, which represents a second control command for controlling a movement of the industrial vehicle. Additionally or alternatively, in step 210 detecting at least third movement data of a third movement pattern, which represents a third control command for controlling a movement of the industrial vehicle. Then in step 220 the generating here using the second movement data, a second control signal for controlling a movement of the industrial truck and / or generates at least a third control signal for controlling a movement of the industrial vehicle using at least the third movement data.

Optionally, in step 230 providing an identification signal representing identification data for uniquely identifying the control device for output to the wireless interface to the industrial truck.

3 shows a flowchart of a method 300 to operate according to an embodiment. The procedure 300 to operate is executable to operate an industrial truck. Here is the procedure 300 to operate in conjunction with the operating device 1 or a similar operating device executable. Also, that's the procedure 300 to operate in conjunction with the method of controlling 2 or a similar method.

The procedure 300 to operate has a step 310 the reading of at least one control signal via a wireless interface to a Control device on. In this case, the at least one control signal is in accordance with the method for controlling 1 or generated according to a similar control method. In a subsequent step 320 of generating is used in the process 300 generates at least one drive signal for operating the industrial truck using the at least one read-in control signal.

According to one embodiment, in step 310 reading in a first control signal for activating and / or deactivating a remote control operating mode of the industrial truck. Additionally or alternatively, in step 310 reading in at least one further control signal for controlling a movement of the industrial truck. Then in step 320 generates a first drive signal using the first control signal, which activates and / or deactivates the remote control operating mode of the industrial truck, and / or generates at least one further control signal using the at least one further control signal, which effects a movement of the industrial truck. In step 320 the generation is the at least one further drive signal, which causes a movement of the industrial truck, then generated when the remote control operating mode is active or activated.

According to one embodiment, in step 320 generated generating a Sicherheitsansteuersignal, which causes a deactivation of the remote control operating mode of the industrial truck. In this case, the Sicherheitsansteuersignal in step 320 generating generated when the at least one read control signal has a signal strength that is less than a predefined threshold, and / or if no control signal is read for a predefined period of time, and / or if an obstacle object is detected for a movement of the industrial truck.

Additionally, the procedure points 300 for operating according to an embodiment, a step 330 managing a communication connection with a controller via the wireless interface. The step 330 managing is before, during, and / or after every other step of the procedure 300 to run. It is in the step 330 managing the communication link of the type that at most a maximum of one communication link is established with a single control device.

Further, the method has 300 to operate according to an embodiment, a step 340 signaling an operating mode and / or a movement of the industrial truck. the step 340 signaling is responsive to at least one embodiment of the step 320 of generating executable.

4 shows a schematic representation of a picking system 100 according to an embodiment. In the picking system 100 it is the picking system 1 or a similar picking system. Here are in the representation of 4 the industrial truck 110 , the control device 130 and the control signal 145 shown that over the wireless interface of the control device 130 to the industrial truck 110 is transmitted. The control signal 145 hereby represents gesture commands. Only symbolic is in 4 illustrates that the control device 130 is arranged on an arm of an operator.

Also only symbolic in 4 Operations, functions and facilities of the control device 130 illustrated. In a first block 402 Sensor data acquisition takes place by means of an inertial sensor with, for example, nine degrees of freedom, a 3-axis accelerometer, a 3-axis gyroscope and a 3-axis earth magnetic field sensor. This is also in a symbolic representation adjacent to the first block 402 illustrated. The block 402 corresponds to the detection means of the control device 130 , In a second block 404 a motion feature extraction takes place with respect to alignment by means of gravity as well as with respect to a direction of movement. The orientation may correspond, for example, to a raised arm and the movement of a downward movement, as in two symbolic representations adjacent to the second block 404 is illustrated. In a third block 406 A gesture classification is based on a trajectory of an alignment in combination with a movement. This is also adjacent to the third block 406 illustrated in a symbolic representation of a gesture of a gesture with a raised arm.

5 shows a schematic representation of a material handling vehicle 110 according to an embodiment. The industrial truck corresponds to this 110 the forklift truck 1 respectively. 4 or a similar industrial truck.

In a left area of the illustration in 5 is the industrial truck 110 in a state with remote control mode of operation disabled. In other words, an automatic mode is turned off, waiting for a trigger. Through a so-called trigger 545 , which represents a special form of the control signal, is the industrial truck 110 in a right in the representation of 5 shown state with enabled remote control operating mode. When the remote control operating mode is activated by means of the signaling device of the industrial truck 110 an example optical signaling 528 can be generated in the form of a flashing light. In other words, the automatic mode is now switched on, responding to gestures or movement patterns. By another trigger 545 For example, in the case of time lapse or timeout or danger, the industrial truck is 110 again in the in the presentation of 5 on the left with disabled remote control operating mode.

The industrial truck 110 or vehicle 110 thus has two defined modes or operating modes: automatic mode ON and automatic mode OFF. The operating modes are by means of signaling 528 clearly reported, for example visually and possibly acoustically. A user can react to the operating modes and is thus aware of a system response to gesture commands. The vehicle 110 is intended and clearly put into automatic mode. The first trigger 545 represents a unique action for activating the automatic mode, with corresponding feedback via signaling 528 , The trigger 545 can be triggered eg by a button, a gesture, a voice command, etc. For example, can be tapped twice on the control device of the picking system. Thus, a reliable fast and clear activation of the automatic mode can be achieved. The automatic mode is deactivated by means of command, timeout or danger, a user command or again the trigger 545 to turn off the automatic mode. Thus, the trigger inverts 545 the operating modes. There is no interaction over a defined period of time when the vehicle is moving 110 is at a standstill, this requires a so-called timeout or timeout, preferably a short timeout, eg 2 s. Thus, inadvertent execution of gestures after forgetting activation of the automatic mode can be prevented. The vehicle 110 is designed to detect an unscheduled situation or a danger. This may for example be the case when a pedestrian enters the driving corridor, the automatic mode being deactivated immediately, or when a static obstacle is detected, the vehicle being 110 stops and if necessary waits for a time lapse.

6 shows a schematic representation of two industrial trucks 110 . 610 according to an embodiment. Here is also an operator with a control device 130 presented as a bracelet. In particular, in 6 a symbolically represented by an arrow vehicle change shown by the operator. Here, a communication connection between the control device 130 and a first industrial truck 110 terminated and a communication link between the control device 130 and a second industrial truck 610 produced. This corresponds to the first industrial truck 110 and the second industrial truck 610 each of the industrial truck from one of 1 . 4 and 5 , Thus, a vehicle change in each case concerns the administrative facilities of the industrial trucks 110 . 610 ,

Users or operators do not have a dedicated vehicle, but can an industrial truck 110 . 610 select and if necessary also change, z. B. after break, order change, etc. For a vehicle change needs no change of the control device 130 , so no bracelet change to take place.

The driver is about his control device 130 each clearly a material handling vehicle 110 . 610 assigned. For this purpose, a coupling, a so-called pairing, between a control device 130 and one of the industrial trucks 110 . 610 take place, in each case a communication connection is established. It can thus be ensured that each of the industrial trucks 110 . 610 only one control device at a time 130 is assigned at a time. A new user or another control device 130 automatically decouples a previous user or previously with a vehicle 110 or 610 coupled control device 130 and takes over the vehicle management. Alternatively and / or apart from this, a manual deregistration or a conscious so-called unpairing may be provided.

For example, automatic unpairing prevents a fake interaction, including when a new user takes the lead when a user is no longer in an interaction room or the like. The interaction space is explained below with reference to 7 discussed in more detail. Optionally, a feedback to a user or previous user, more specifically to at least one control device 130 ,

The pairing can be done quickly and reliably, with a pairing process with feedback to a user or a control device 130 is provided. For example, the pairing can be done by bringing the sensor to the receiver, in this case bringing the control device to the front 130 to the operating device of a material handling vehicle 110 . 610 to be triggered. Optionally, for activating the pairing, for example, a so-called out-of-band pairing without Pineingabe, eg by means of RFID, pressing a button or the like, in particular on a material handling vehicle 110 . 610 , a wipe with the control device 130 over a defined point with fixed magnetic coding on a forklift truck 110 . 610 , holding the control device 130 to a defined location with coded dynamic E-field on an industrial truck 110 . 610 or the like can be used.

7 shows a schematic representation of an interaction zone 750 to an industrial truck 110 according to an embodiment. Further, an operator is a control device worn as a bracelet 130 shown. In the industrial truck 110 For example, this is the industrial truck from one of the 1 . 4 . 5 and 6 or a similar industrial truck. In the presentation of 7 is the operator with the control device 130 within the adjacent to the industrial truck 110 arranged interaction zone 750 , In the interaction zone 750 is an interaction between the control device 130 and the industrial truck 110 enables or activates. Outside the interaction zone 750 is an outdoor area 760 arranged in which an interaction between the control device 130 and the industrial truck 110 is disabled.

The representation in 7 thus concerns safety requirements for the picking system. The industrial truck 110 is designed with safety devices. For example, the industrial truck 110 designed to at least partially drive autonomously and to detect a danger.

For controlling the industrial truck 110 should the worn by the user as a bracelet control device 130 in the interaction zone 750 are located. The user should ask himself before a driving command of a safety for the operation of the industrial truck 110 to convince. The interaction zone 750 is defined, for example, by a maximum radio communication range between the control device 130 and industrial truck 110 , eg Bluetooth, BTLE or the like, or an estimate of distance based on signal intensity (RSSI).

The communication or communication connection can by means of the management device of the operating device of the industrial truck 110 and be reliably managed through secure pairing. For example, it is provided that in case of lack of communication the industrial truck 110 automatically stops and the automatic mode is ended, the user via his control device 130 receives a feedback on a faulty communication, a check of the communication is carried out by continuous hand shake, eg high frequency while activated automatic mode and low frequency in the waiting mode or with deactivated automatic mode, etc.

Furthermore, a. Stop function to be provided for emergencies. This is, for example, also via an emergency stop button on the industrial truck 110 realized.

8th shows a schematic representation of a sequence of a remote control in a picking system 100 according to an embodiment. In the picking system 100 it is the picking system 1 or a similar picking system. The sequence of remote control in the picking system 100 For example, by executing the method for controlling 2 and the method of operation 3 or similar procedures. To illustrate the process of remote control includes 8th a sequence of partial representations.

A first partial representation here resembles the change from the state with the remote control operating mode deactivated, wherein an automatic mode is switched off and a trigger is waited for, in the state with the remote control operating mode of the industrial truck activated 110 through a trigger 545 like the trigger 5 , triggered by a first movement pattern, for example, twice tapping the control device 130 , When the remote control operating mode is activated by means of the signaling device of the industrial truck 110 turn the signaling 528 for example, in the form of a flashing light generated. The automatic mode is switched on, according to the in 8th illustrated embodiment, a movement of the industrial truck 110 is controlled, in which an increment is driven. This is done by the first trigger 545 causes. In this case, by means of the signaling device of the industrial truck 110 another signaling 828 for displaying a movement path of the industrial truck 110 be generated. The signaling 828 indicates a projection of the increment to be continued on the ground in the direction of travel in front of the industrial truck 110 on.

In a second partial representation, in which the first partial representation passes, is a movement control of the industrial truck 110 by another control signal 845 shown having a gesture or a second movement pattern, which means driving, with the control device 130 represents. Here, for example, with the control device 130 waved on the raised arm to increase the increment to drive or to expand a route.

Here are the signaling 528 as well as the further signaling 828 active.

In a third partial view, in which the second partial representation passes, is another movement control of the industrial truck 110 through yet another control signal 845 shown that another gesture or a third movement pattern 845 , which means stop or stop, with the control device 130 represents. Here, for example, the arm with the control device 130 moved down. This is still the signaling 528 active.

A fourth partial representation into which the third partial representation passes corresponds in this case to FIG 5 shown change from the state with activated remote control operating mode in the state with deactivated remote control operating mode of the industrial truck 110 through the trigger 545 , triggered by the first movement pattern, for example, twice tapping the control device 130 ,

The first trigger 545 or start trigger activates the automatic mode and starts the travel by one increment. For efficiency and ergonomics reasons, the trigger starts 545 according to the in 8th illustrated embodiment, the drive automatically to an increment. Normally or by default, the industrial truck 110 move to the next position.

The user receives via the control device 130 optional feedback during the journey. The acoustic and / or visual signaling 528 under 828 can be trained to signal: "Attention: vehicle drives autonomously". It can also be the driving route via the control device 130 be reported to the user or visualized, such as by means of further signaling 828 in the form of a light signal on the ground.

In automatic mode the industrial truck responds 110 on control signals for motion control. The automatic mode remains activated, for example, during driving and at standstill before any time normally. It is advantageous to transmit only a few control signals for motion control, for example: driving or driving increase by one increment, wherein the industrial truck 110 the journey starts or increases the travel distance by one increment, stops or stops driving, whereby the journey is terminated at the current position. Optionally, by means of further control signals also a page change, overtaking, classification or the like can be triggered. The further trigger 545 terminates or deactivates the automatic mode and terminates the drive if necessary.

With reference to the 1 to 8th An exemplary embodiment is explained in summary below and in other words.

An evaluation or the detection device 132 the bracelet designed as a control device 130 is designed to detect one or more previously defined characteristic hand movements or gestures or movement patterns by evaluation of an acceleration sensor signal. The gestures generated by the sensor or detector 132 and the generator 134 are recognized as valid operating commands are via a radio link to the industrial truck 110 transmitted and there by means of the operating device 120 implemented in respective actions, for example, enable / disable the automatic mode and / or motion control. For example, at least a 2-fold knock or tapping on the detection device 132 or the control device 130 as a command or trigger 545 recognized and to the vehicle 110 or industrial truck 110 transfer.

Among other things, the following actions can be done by the control signals 145 . 545 and 845 For example, starting the drive by a predetermined increment, stopping the vehicle, changing sides of the vehicle 110 in a rack aisle or the like, overtaking another vehicle, increasing the travel distance during a drive by one increment, etc.

The control device 130 is logically fixed to the vehicle via an identification 110 coupled, so only one vehicle 110 with a specific control device 130 can be controlled. It can also be any control device 130 by so-called "pairing" with any vehicle 110 be firmly connected so that each operator has his own personal control device 130 can use.

A feedback to the operator can be made by means of the signaling device 128 done, eg as signaling 528 via a luminaire which signals the readiness for operation by continuous lighting and flashes several times when receiving and executing a command. As further feedback to the user, a destination point can be where the vehicle is going 110 driving, by projecting a stop line on the ground in front of the vehicle 110 as further signaling 828 are displayed.

The remote control of the vehicle 110 can by detecting a signal strength of the communication link or radio link to a specific security area or an interaction zone 760 be limited to an operation of the vehicle 110 without visual contact with the vehicle 110 to prevent, for example, an impermissible operation over two shelves.

If an exemplary embodiment comprises a "and / or" link between a first feature and a second feature, then this is to be read so that the embodiment according to one embodiment, both the first feature and the second feature and according to another embodiment either only first feature or only the second feature.

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited patent literature

• CN 102915111 A [0003]

Claims (15)

Procedure ( 200 ) for controlling an industrial truck ( 110 ), the process ( 200 ) in conjunction with a control device ( 130 ) which is separate from the industrial truck ( 110 ) on a body part of an operator of the industrial truck ( 110 ), the method ( 200 ) comprises the following steps: 210 ) of transaction data ( 140 ) at least one predefined movement pattern of the control device ( 130 ), wherein each predefined movement pattern is a control command for controlling the industrial truck ( 110 represents; Produce ( 220 ) at least one control signal ( 145 ; 545 ; 845 ) for controlling the industrial truck ( 110 ) using the acquired movement data ( 140 ); and deploy ( 230 ) of the at least one control signal ( 145 ; 545 ; 845 ) for output to a wireless interface to the industrial truck ( 110 ). Procedure ( 200 ) according to claim 1, wherein in step ( 210 ) of acquiring first movement data ( 140 ) of a first movement pattern, the first movement pattern having a first control command for activating and / or deactivating a remote control operating mode of the industrial truck ( 110 ), wherein in step ( 220 ) of generating using the first movement data ( 140 ) a first control signal ( 145 ; 545 ) for activating and / or deactivating the remote control operating mode of the industrial truck ( 110 ) is produced. Procedure ( 200 ) according to one of the preceding claims, wherein in step ( 210 ) of capturing second movement data ( 140 ) a second movement pattern, the second control command for controlling a movement of the industrial truck ( 110 ), and / or at least third movement data ( 140 ) a third movement pattern, the third control command for controlling a movement of the industrial vehicle ( 110 ), in step ( 220 ) of generating using the second movement data ( 140 ) a second control signal ( 145 ; 845 ) for controlling a movement of the industrial truck ( 110 ) and / or using at least the third movement data ( 140 ) at least a third control signal ( 145 ; 845 ) for controlling a movement of the industrial truck ( 110 ) be generated. Procedure ( 200 ) according to one of the preceding claims, wherein in step ( 230 ) of providing an identification signal, the identification data for uniquely identifying the control device ( 130 ) for output to the wireless interface to the industrial truck ( 110 ) provided. Control device ( 130 ), which is set up, the procedure ( 200 ) according to one of the preceding claims. Procedure ( 300 ) for operating an industrial truck ( 110 ), the process ( 300 ) in conjunction with an operating device ( 120 ) which is in the industrial truck ( 110 ) is arranged or arranged, the method ( 300 ) has the following steps: reading in ( 310 ) at least one according to the method ( 200 ) according to one of the preceding claims generated control signal ( 145 ; 545 ; 845 ) via a wireless interface to a control device ( 130 ); and generate ( 320 ) at least one drive signal for operating the industrial truck ( 110 ) using the at least one read control signal ( 145 ; 545 ; 845 ). Procedure ( 300 ) according to claim 6, wherein in step ( 310 ) of reading a first control signal ( 145 ; 545 ) for activating and / or deactivating a remote control operating mode of the industrial truck ( 110 ) and / or at least one further control signal ( 145 ; 845 ) for controlling a movement of the industrial truck ( 110 ), in step ( 320 ) of generating using the first control signal ( 145 ; 545 ) a first drive signal is generated, which activates and / or deactivates the remote control operating mode of the industrial truck ( 110 ), and / or by using the at least one further control signal ( 145 ; 845 ) at least one further drive signal is generated, which is a movement of the industrial vehicle ( 110 ) causes. Procedure ( 300 ) according to claim 7, wherein in step ( 320 ) of generating the at least one further drive signal which is a movement of the industrial truck ( 110 ) is generated when the remote control operating mode is activated. Procedure ( 300 ) according to one of claims 6 to 8, with a step ( 330 ) of managing a communication connection with a control device ( 130 ) via the wireless interface, wherein in step ( 330 ) of managing the communication link is managed so that at any time a maximum of one communication link with a single control device ( 130 ) is made. Procedure ( 300 ) according to one of claims 6 to 9, wherein in step ( 320 ) generating a Sicherheitsansteuersignal is generated, which deactivates the remote control operating mode of the industrial truck ( 110 ) causes, if that at least an imported control signal ( 145 ; 545 ; 845 ) has a signal strength which is less than a predefined threshold value and / or if a control signal is not present for a predefined period of time ( 145 ; 545 ; 845 ) and / or if an obstacle object for a movement of the industrial truck ( 110 ) is recognized. Procedure ( 300 ) according to one of claims 6 to 10, with a step ( 340 ) of signaling an operating mode and / or a movement of the industrial truck ( 110 ). Operating device ( 120 ), which is set up, the procedure ( 300 ) according to one of the preceding claims. Picking system ( 100 ), in particular for a warehouse, the order-picking system ( 100 ) has the following features: at least one industrial truck ( 110 ), which is an operating device ( 120 ) according to claim 12; and at least one control device ( 130 ) according to claim 5 for controlling an industrial truck ( 110 ). Computer program adapted to perform a procedure ( 200 ; 300 ) according to one of the preceding claims. A machine readable storage medium storing the computer program of claim 14.

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