DE102019116357A1 - System for technical support of a manual picking process - Google Patents

Abstract

A system (10) is disclosed for the technical support of a manual picking process by a human user (12) in a picking warehouse (14), the user (12) during the picking process along a picking route (32) through the warehouse (14 ) runs to remove articles according to a picking order from storage locations (16) and / or deliver them to storage locations (16), the system (10) having at least one mobile module (24) and one navigation module (26); wherein the mobile module (24) has: an output device (18) which is set up to be carried by the user (12) and which outputs a signpost (20) based on signpost information (30), in particular by using a directional arrow ( 22) is projected onto a floor of the store (14) and / or onto objects (40) within the store (14) in a field of view (66) of the user (12); a fastening device (60) which the user (12) can put on and take off, wherein the fastening device (60) is set up to hold the output device (18) in a tightened state during the picking process on the body of the user (12), the Output device (18) can be oriented in particular along a preferred direction in the field of view (66) of the user (12); a position sensor (46) which generates and outputs location information (52) and location information (54) of the user (12) as position information (28); and wherein the navigation module (26) has: a position determination device (56) which is set up to receive the position information (28) from the position sensor (46) and based on the position information (52) a current location (S) of the user (12) to determine a current orientation (A) of the user (12) at the current location (S) in the warehouse (14) within the warehouse (14) and based on the location information (54) and to output it to a signpost determination device (58); and the signpost determining device (58), which is set up to generate the signpost information (30) based on the current location (S), the current orientation (A) and the picking route (32) and to output it to the output device (18).

Description

The present disclosure relates to a system for the technical support (visual and / or auditory) of a work process, in particular a manual order picking process, which is carried out by a human user (order picker) in a order picking warehouse, wherein the user especially after the person-to- Goods principle (formerly "man-to-goods") works. During the picking process, the user walks through the warehouse along a picking route, which is essentially determined by a picking order, in order to remove articles from storage locations and / or deliver them to storage locations in accordance with the picking order.

Various types of technical support are already known. "Pick-by-Light" presses e.g. that a picking location is illuminated in order to visually support picking. “Put-by-Light” visually emphasizes a delivery location with lighting. The "Pick-by-Vision" principle is an augmented reality application in which the order picker is shown supporting virtual information in data glasses, where the virtual information is superimposed on the image of the real world. “Pick-by-Voice” refers to voice support (input and output).

The document WO 2018/091208 A1 discloses a visual aid lighting system in an intralogistics environment. The lighting system comprises a lighting device BE and a control device SE, which are mounted, for example, on a forklift truck to show an operator (driver) a location of an article removal source, for example by illuminating a shelf from which an article is to be removed. As in 7th As shown, a lighting device BE can alternatively be mounted on a self-propelled vehicle SF in order to show a traveling order picker (not illustrated) the way to an article pick-up location or to an article drop-off location (not illustrated), for example by projecting a pointing arrow PF onto the floor .

The document EP 2 161 219 A1 discloses a method and a device for visual technical support which represents an augmented reality solution (pick-by-vision) and which is based on a development by the Technical University of Munich. The order picker, who has to be guided to a picking or drop off point, carries a mobile data terminal (e.g. handheld device with camera and display) on which navigation arrows (e.g. left, right, straight ahead, reverse, depending on the current position of the order picker) etc.) are displayed optically. A stationary computer processes a picking order into a picking route by extracting a route through the (known) warehouse to the associated picking locations. The route includes several waypoints (starting point, junctions, picking locations and end point) and associated actions (e.g. turning, walking straight ahead, picking, dropping off, etc.), which the picker has to run through and carry out successively. The totality of the waypoints represents the picking route. Here, too, the picker is shown arrows that guide him to his current destination. The current position of the order picker, which is required to determine the navigation arrows, is obtained by comparing image data. The camera of the mobile unit delivers images of the current location of the order picker to the stationary computer, which then calculates the current location of the order picker based on image recognition by comparing it with stored storage data (eg layout of the shelf arrangement). To make the process easier, two- or three-dimensional codes can be attached to the shelves (removal locations), the locations of which are known to the stationary computer. An orientation of the order picker can be determined with rotation sensors. If, instead of a mobile data terminal, a headset with camera and screen (e.g. data helmet or data glasses) is used, the item to be removed can also be visually highlighted in addition to the navigation arrows.

The disadvantage of data glasses is that pickers often feel bad because their vision - and thus the organ of equilibrium - is negatively affected.

The disadvantage of mobile data terminals is that they have to be held by the order picker so that the order picker cannot use both hands for manual order picking. In addition, the screens are bulky and large in order to display the required information (navigation arrows, information on the picking location and the picking item, the next item to be picked, etc.).

If the lighting device is attached to a vehicle traveling with it, the order picker has free hands. In this case, however, it must be ensured that the routes for the vehicle are always free of obstacles. This is not always the case in order picking warehouses. It is also important to ensure that vehicles do not collide with one another or have to move around, which is often not possible due to the limited space available.

It is therefore an object of the invention to provide an improved method and system for technical support of manual Provide picking processes (person-to-goods principle) that overcomes the disadvantages mentioned above.

This object is achieved by a system for the technical support of a manual picking process by a human user in a picking warehouse, the user walking along a picking route through the warehouse during the picking process in order to remove items from storage locations and / or deliver them to storage locations according to a picking order the system comprising at least a mobile module and a navigation module; wherein the mobile module has: an output device which is set up to be carried by the user and which outputs a signpost based on signpost information, in particular by placing a directional arrow pointing to a floor of the warehouse and / or to objects within the warehouse in a field of view of the user is projected; a fastening device which the user can put on and take off, the fastening device being configured to hold the output device in an attracted state during the picking process on the body of the user, the output device being orientable in particular along a preferred direction in the user's field of vision; a position sensor that generates and outputs location information and location information of the user as position information; and wherein the navigation module comprises: a position determination device which is set up to receive the position information from the position sensor and to determine a current location of the user within the warehouse based on the location information and a current orientation of the user at the current location in the warehouse based on the location information and to output to a signpost determination device; and the signpost determination device which is set up to generate the signpost information based on the current location, the current orientation and the picking route and to output it to the output device.

The mobile module is so lightweight and compact that the user or order picker can carry the mobile module with him through the order picking warehouse during an entire work shift. The mobile module supports the user in finding a destination within the sometimes quite complex warehouse. The user can concentrate exclusively on the removal and delivery of the articles. This reduces picking errors. The cognitive load is lower because the user does not have to orientate himself within the complex camp.

The groundbreaking information is transmitted to the user visually and / or audibly. There is no overlaying of the information with the real world, as is the case with an augmented reality solution, for example. This prevents the user from feeling sick while picking. This also increases the efficiency of the order picker.

The order picker still has his hands free to carry out the order picking process. This in turn increases the picking efficiency.

The system preferably further comprises a picking route planning module that is set up to plan the picking route along waypoints based on a layout of the warehouse and based on the picking order, the waypoints defining possible routes of the user through the warehouse in order to get from a location to another location in the camp.

The route planning module defines the route along which the user is guided through the warehouse in order to complete the picking order. If necessary, it also defines the order in which the items in the order are picked. The route planning module is set up in particular to carry out the planning in an optimized manner. The optimization can be aimed at the shortest possible path length, the shortest possible picking time and / or the like.

It is also advantageous if the picking route also includes a starting point and a destination point.

The picking route is therefore not only made up of action locations where the user has to carry out actions (removal / delivery) according to the picking order. The picking route can also include certain areas, for example the goods issue or a shipping area, e.g. include as a destination point where the collected items can be delivered.

In a preferred embodiment, the signpost determination device is also set up, starting from the current location, to determine a spatially closest waypoint that is part of the picking route, and wherein the signpost information represents a route, in particular a direction, to the closest waypoint.

The user can move freely through the warehouse. Even if the user deviates from the actually intended picking route, for example because he has taken the wrong turn, the system is able to always lead the user back to the picking route. In other words, this means that even in a case where the user repeatedly defies directional instructions, but is always guided back to the nearest point on the actual route. The return takes place in the shortest possible way.

It has proven particularly advantageous if the signpost information is generated in real time.

This increases the response time of the system. As soon as the user deviates from the actually intended path, the system can take corrective action. The pioneering information is generated almost instantaneously and output as a guide via the output device. The user receives an immediate response if he goes astray.

In a further preferred embodiment, the fastening device has a head, shoulder and / or chest strap and a holder for the output device.

The straps allow the user to put on and take off the mobile module quickly and easily. When pulled on, the remaining components of the mobile module are securely attached to the user's body. In particular, a desired initial alignment of the output device can be ensured in this way.

The output direction preferably comprises a projector.

In this case, the support is provided visually. The visual support is the preferred embodiment. Experience shows that the visual support is the least disturbing to the user. The visual support is permanently available, but can be perceived selectively by the user. In other words, this means that the user can decide for himself when and whether or not he wants to perceive the (preferably always present) visual support.

Furthermore, the output device can comprise a loudspeaker or a headset.

In this case the support is audible. Directional information is conveyed via speech that the user hears. This type of support is particularly suitable at critical points. Until the user has reached the neuralgic point, the support can preferably be provided primarily visually. In the immediate vicinity of a neuralgic point (e.g. a turn), acoustic support can also be provided through spoken words. This increases the attention (and readiness) of the user.

It is also advantageous if the mobile module also has an actively driven position control for the output device, in particular for the projector.

The actively driven position control enables the output device, in particular in the case of a visual configuration, to present the information in a preferred perception area of the user.

Even if the user moves in the wrong direction, the signpost information can alternatively be offered in a perception area where the actual destination is located.

In particular, the mobile module also has an input direction, cabling and / or an energy supply.

The input device enables an acknowledgment or confirmation of the reaching of a waypoint of the route route or the execution of an action to be carried out along the route.

The cabling connects the individual components of the system that require data exchange with each other if communication is not wireless.

The energy supply ensures that the data processing components of the mobile module are supplied with energy.

The signpost information preferably also includes a removal quantity and / or a removal location identifier.

In this case, the user is not only guided to the desired locations, but at the same time also receives information on the action to be carried out, such as, for example, the removal quantity and / or the removal location identifier. This reduces picking errors and increases picking efficiency.

In addition, the mobile module can also include a camera for monitoring the removal location and the removal amount and for updating a warehouse layout.

It goes without saying that the features of the invention mentioned above and those yet to be explained below can be used not only in the respectively specified combination, but also in other combinations or on their own without departing from the scope of the invention.

• 1 zeigt ein Blockdiagramm des Systems der vorliegenden Offenbarung;
• 2 zeigt Beispiele für eine Ausgabe von wegweisenden Informationen;
• 3 zeigt eine Anzeige von zusätzlichen Informationen, die einen Kommissioniervorgang neben der Navigation zusätzlich unterstützen;
• 4 zeigt ein exemplarisches Lagelayout und eine exemplarische Kommissionierroute;
• 5 verdeutlicht eine Position, die sich aus einem Standort und einer Ausrichtung zusammensetzt, wobei gleichzeitig ein Sichtfeld des Benutzers dargestellt ist;
• 6 zeigt verschiedene Ausführungen eines Befestigungssystems für eine Ausgabeeinrichtung; und
• 7 zeigt ein konventionelles Unterstützungssystem.

Further features and advantages of the invention emerge from the following description of preferred exemplary embodiments with reference to the drawings. Show it:

• 1 Figure 3 shows a block diagram of the system of the present disclosure;
• 2 shows examples of the output of guiding information;
• 3 shows a display of additional information that additionally supports a picking process in addition to navigation;
• 4th shows an exemplary location layout and an exemplary picking route;
• 5 illustrates a position which is composed of a location and an orientation, with a field of view of the user being shown at the same time;
• 6th shows various embodiments of a fastening system for a dispenser; and
• 7th shows a conventional support system.

The present disclosure relates to a system 10 (see. 1 ) for technical support of a manual picking process carried out by a human user (picker) 12 in a picking warehouse 14th (see. 4th ) is performed with the user 12 during the picking process along a picking route 32 through the camp 14th runs to items (not shown) according to a picking order 38 (see. 1 ) from storage locations 16 (e.g. shelf, cf. 3 ) and / or items at storage locations 16 submit (action). Technical support is provided visually and / or audibly.

2 shows schematically a user 12 , which by means of an output device 18th (e.g. by means of a projector 19th , not shown), for example on the user's shoulder 12 (fixed) is arranged and which is directed to the front, a signpost 20th on a floor (not shown) of the warehouse 14th and / or on other objects (e.g. shelves 42 , see. 3 ) gets projected.

A general guide 20th is in 2 illustrated as a circle. A special guide 20th can e.g. in the form of (visually) pointing directional arrows (navigation arrows) 22nd being represented. The direction arrow 22-1 clarified in 2 exemplary that the user 12 should go straight ahead. The alternative directional arrow 22-2 makes it clear that the user 22nd first go straight and then to the left. The alternative directional arrow 22-3 makes it clear that the user 22nd go straight first and then right. Other direction arrows (e.g. left, right, backwards, reverse, etc.) are possible.

The Guide 20th can be used as an alternative or in addition to the direction arrows 20th contain additional information such as text, numbers, symbols, colors or the like. The text could be projected onto the floor using the appropriate words (e.g. “STRAIGHT AHEAD”) or location information (e.g. “third corridor on the left”). The text could also be spoken in addition or as an alternative. A colored dot could be in front of the user 12 projected (e.g. green for the right direction or the right path and red for the wrong direction). Different users 12 could be navigated with different colors. Speech could also be used, preferably in addition, provided it is also a loudspeaker 21st (see. 1 ) available.

The Guide 20th is primarily used to help the user 12 a (walking) path from one location to another location (e.g. to the next storage location 16 which is specified according to a picking order) within the warehouse 14th to assign (rough navigation).

In the immediate vicinity of the storage location 16 can be the signpost 20th can also be used for detailed navigation. For example, the identifier ("Aisle 5, Shelf 8, Level 2, Compartment 1") can be specified. In this case the signpost can 20th display the landmark information differently, as mentioned above. The desired shelf compartment can be illuminated, for example, as in 3A shown, assuming the projector 19th is equipped with appropriate sensors and actuators (see position control in 1 ) fitted. Furthermore, the withdrawal or delivery quantity (eg "2 pieces") could be displayed, as in 3B shown.

As in 1 illustrates includes the system 10 essentially a mobile module 24 and navigation module 26th . The mobile module 24 the user carries 12 with him through the camp 14th . The mobile module 24 essentially comprises the output of the signpost 20th required hardware, ie the output device 18th such as the projector 19th and or a speaker 21st . The navigation module 26th in turn serves the purpose of providing position information 28 to process and a signpost information 30th to generate that in the signpost 20th to be converted. The navigation module 26th is essentially implemented by a data processing device or a computing system that is operated by appropriate software. It goes without saying that the navigation module 26th by the user 12 could be carried (carried). In this case the module would be 26th part of the mobile module 24 .

The one from the navigation module 26th generated signpost information 30th based on the position information 28 and a picking route 32 . The (picking) route 32 can from a conventional route planning module 34 can be generated and output. The route planning module 34 can be part of the system 10 , especially the module 26th , or it can be with an operator of the warehouse 10 already exist.

The system 10 can be used as an "add-on" to existing warehouses 14th be purchased or in a new warehouse 14th to get integrated.

The route planning module 34 generates the picking route 32 based on a plan (layout) 36 of the camp 14th as well as based on a picking order 38 . The picking route 32 and the warehouse layout 36 are referring to 4th will be explained in more detail.

The warehouse layout 36 includes information about positions of storage facilities (e.g. shelves 42 ), Obstacles for the user 12 (Walls, stairs, doors, the course of a conveyor system, etc.), functional areas (incoming goods, outgoing goods, storage areas, offices, etc.), waypoints WP , Distances WS and other items and areas that make planning a route 32 could influence. The warehouse layout 32 provides a three-dimensional image of the user's work environment 12 in stock 14th The warehouse layout 36 corresponds to a "card" of the camp 14th .

Optionally, the mobile module 24 also include a camera (not shown), the current image data of the camp 14th generated with which the warehouse layout 36 can be (permanently) updated. Mobile obstacles, such as a pallet that is temporarily buffered in a rack aisle, can be recorded, registered and taken into account in future planning.

A picking order 38 generally defines a group or list of items that are out of stock 14th can be found, namely according to article type and quantity. Each item type of the picking order 38 is through the picking order 38 assigned a specific withdrawal quantity. The associated storage locations 16 are in a warehouse management system 40 (Computer) stored by the operator of the warehouse 14th usually already exists. The warehouse management system 40 also includes order management 41 that coordinates the receipt, preparation and processing of the picking orders.

The route planning module 34 is usually also part of the warehouse management system 40 , especially the order management system 41 . The route planning system 34 generated with knowledge of the picking order 38 and the warehouse layout 36 the route 32 as explained in more detail below.

An exemplary warehouse 14th and an exemplary picking route 32 are in 4th illustrated. The warehouse 14th the 4th has, for example, three shelves 42-1 to 42-3 on. The shelves 42 are aligned parallel to each other. To the shelves 42 around there are rooms that are free of obstacles. The order picker can use this space 12 use to get through the camp 14th to move.

The warehouse 12 the 4th has a Cartesian coordinate system 44 whose origin is e.g. in the lower right corner of the warehouse 14th lies. A longitudinal direction is denoted by X. A transverse direction is denoted by Z. A height direction (not shown, perpendicular to the plane of the drawing) is denoted by Y. The warehouse 14th provides the reference system for the order picker 14th or its location S. the location S. represents a (mathematical) point P (Coordinate) in the reference system "warehouse".

The order picker 12 takes a position P in stock 14th the 4th a. Under a "position P “Is subsequently a (location) S (ie point / coordinate) and a position A. (i.e. vector / orientation) understood. The order picker 12 is at the location at time t S. , ie in the example of 4th between the first and second shelf 42-1 and 42-2 , and looks roughly in the positive X direction of the bearing 14th what its orientation A. clarified. Successful navigation requires both the location S. as well as the location or orientation A. of the order picker 12 to get to know him to a desired point or place in the warehouse 14th to direct.

The relationship between the location S. (Point) and the position or orientation A. (Vector) is in 5 again generally clarified. The alignment A. can be expressed by an angle in the (XZ) area or in space. The alignment A. can be at different points in the body K of the order picker 12 be anchored. As will be explained in more detail below, it makes a difference whether the orientation A. is anchored in the torso (human body without arms, legs and head) or in the head. The head is moved more often and more strongly than the torso, so anchoring in the torso is recommended. The torso often remains aligned relatively constant, e.g. when the order picker 12 runs through a rack aisle to a target point while the head is moving because the order picker 12 looking around while running.

The position P (Location S. and alignment A. ) comes with a position sensor 46 (see. 1 measured by the mobile module 24 is included. The position sensor 46 generates the position information (data) 28 and outputs it.

The position sensor 46 includes a location sensor 48 to determine the location S. and a position sensor 50 to determine the orientation A. . The location sensor 48 generates location information (location data S. ) 52 and the position sensor 50 generates position information (data for alignment A. ) 54 . The location information 52 and the location information 54 together form the position information 28 . The location sensor 48 and the position sensor 50 can be provided separately or integrated.

A provider of such position sensors 46 to determine an absolute position in space is the company Kinexon (www.konexon-industries.com), which both the location sensors 48 as well as the position sensors 50 as well as offering a software platform that is suitable for localizing objects in the age of the "Internet of Things" (loT) under real-time conditions. The positional accuracy that can be achieved is specified as 0.2 m. The technology used is based on ultra-broadband technology and is suitable for indoor use, especially if GPS positioning outside the home is not possible. The position can be measured with acceleration sensors known per se.

Other providers of industrial position sensors and position determination systems are Eliko (www.eliko.ee) and Insoft (www.insoft.com).

The position sensor 46 gives the position information 28 to a position determination device 56 from how it is in 1 is shown. The position determination device 56 is part of the navigation module 26th . The position determination device 56 is set up the position information 28 from the position sensor 46 to receive and based on the location information 52 the current location S. of the user 12 inside the warehouse 14th and based on the location information 54 a current orientation of the user 12 at the current location S. in stock 14th to determine and output. The position determination device 56 is thus set up a current position (location and orientation) of the user 12 to determine.

The location is shown under the "current location" S. understood at the current time. The "current alignment" is the alignment A. understood at this point. The combination of the current location is shown under the "current position" S. and the current orientation A. Understood. Since the user 12 constantly moving, the location change S. and the alignment A. permanent. Therefore it is beneficial if the location S. and the alignment A. can be determined with a high position determination rate (position / time unit). Real-time determination of the position is ideal P .

In the following, “real time” is understood to mean that the computer system involved in which the programs (eg for position determination) process the data, ie the position information 28 , are always ready for operation, the processing results (position P of the user 12 ) delivers within a specified period of time. This time span is preferably 10s, 9s, 8s, 7s, 5s, 4s, 3s, 2s or 1s. The term "real time" says something about the ability of the computer system involved to respond to an event (change of location or movement of the user 12 ) to respond within the specified time by based on the determined position P a current signpost information 30th is generated and output. The term does not say anything about the speed or processing power of the computing system.

The above-mentioned computing system is essentially made up of the navigation module 26th implemented. The navigation module 26th comprises at least one processor and a data memory (not shown), where the programs for position determination and for direction sign determination and the associated data can be stored.

As already mentioned, the navigation module 26th completely into the mobile module 24 be integrated. The navigation module 26th can alternatively be used separately from the mobile module 24 are provided. The navigation module 26th can in the warehouse management system 40 be integrated (and vice versa).

The navigation module 26th but can also be partially installed in the mobile module 24 and into the warehouse management system 40 be integrated. There are no limits to the expert.

The same applies to the route planning module 34 . The route planning module 34 can in the navigation module 26th and / or in the warehouse management system 40 be integrated. The route planning module 34 can be provided as a separate module.

In general, the modules mentioned here are set up to exchange information or data with one another. Communication between the individual modules (and their components) is preferably wireless, but it can also be wired. The individual communication channels are not all explicitly in 1 shown. The A person skilled in the art knows how to exchange data.

The navigation module 26th comprises in addition to the above-mentioned position determining device 56 also a signpost determination device 58 . The signpost determination device 58 is set up based on the current location S. , the current orientation A. and the picking route 32 the signpost information 30th to generate and output.

As explained above and in 4th shown defines the picking route 32 a path through the camp 14th the order picker 12 must expire to the picking order 38 to work off. The picking order 38 thus defines the picking route 32 that conventionally according to certain optimization criteria (e.g. distance, time, order priority, etc.) by the route planning module 34 is determined.

The exemplary (picking) route 32 the 4th starts at a starting point SP and then leads via a first waypoint WP1 to a first removal point EP1, where the order picker 12 a first item type in one by the order 38 given amount from the shelf 42-2 should be removed (see dashed arrow). Then the order picker has to 12 Go via waypoints WP2 and WP3 to the second removal point EP2 in order to get another type of article in an order-specific amount from the back of the shelf 42-2 remove. Then the order picker should 12 via waypoint WP4 to the destination ZP go to where he returns the collected articles and where his route 32 (and thus his order picking 38 ) ends.

The route 32 sits in 4th from several stretches WS1 to WS7 together, which connect neighboring points with each other. It goes without saying that the route 32 depending on the order 38 is different. The route 32 can be more or less waypoints WP (and thus distances WS ) include. It is also understood that the routes WS do not necessarily have to be implemented by straight lines. There is also no right-angled alignment of the routes WS imperative. This depends on the warehouse layout 36 , especially the obstacles (e.g. location and orientation of the shelves 42 ), from.

The different points (starting point SP , Waypoint WP , Extraction point EP and target point ZP ) the route 32 are aligned along an imaginary grid (not shown) that defines the bearing 14th divided into a plurality of (preferably regularly arranged) points, which the order picker 12 to process an order 38 can start.

As explained above, the signpost information 30th by the signpost determination device 58 knowing the current position P (Location S. and alignment A. ) and knowing the route 32 certainly. Also has the signpost determination facility 58 also knowledge of which point according to the order 38 is to be controlled next. The signpost determination device can use this knowledge 58 by attaining that position P is tracked and / or by feedback from the order picker 12 .

When tracking the position, the signpost determining device recognizes 58 independently that the order picker 12 a desired point on the route 32 has reached because the current position P corresponds to the desired position within a predefinable tolerance (e.g. +/- 1m). The signpost determination device 58 then jumps to the next desired point, the one through the route 32 is given.

In addition, the order picker 12 reaching a specific waypoint WP the route 32 or actively confirm the execution of an action (e.g. article removal or delivery), for example by using an optionally provided input device 62 (see. 1 ) generates confirmation information (not shown) which is sent to the signpost determination device 58 is sent. The input device 62 is part of the mobile module 24 and can for example be implemented by a push button, a keyboard, a scanner or the like (not shown). Alternatively, the confirmation information can also consist of spoken words by the operator 12 , through a microphone on the input device 62 or by evaluating images from a camera on the input device 62 recorded, won.

The signpost information 30th can for example be determined by the signpost determining device 58 identifies the nearest waypoint or removal point. The closest point is a point on the route 32 which is the shortest distance to your current location S. of the order picker 12 having. Based on the current orientation A. can the signpost determination device 58 now a pioneering piece of information (signpost information) 30th determine who the order picker 12 indicates the direction that the order picker will take 12 leads to the next waypoint or action point.

In the 4th this means, for example, that the order picker 12 has already passed the waypoint WP1 and is currently on the way to the removal point EP1. The order pickers 12 is also already aligned with the extraction point EP1 (A points directly to EP1), so that the Signpost information 30th only contains the information or directional information "straight ahead".

The situation would be different if the order picker 12 in position P '(top right corner of the bearing 12 in 4th ), which is indicated by a dashed line, it being further assumed that the next one is through the route 32 predetermined point is the withdrawal point EP1. In this case, the waypoint WP3 would be the (locally) closest point to which the order picker is 12 to be directed. The route information 30th would in this case involve the picker 12 must turn to the right and then walk (straight ahead) to waypoint WP3, in order then to get to the removal point EP1 via waypoint WP2.

It goes without saying that the type of navigation described here is only exemplary. In the (error) case described above, it would also be possible to use the route 32 to change so that the picker 12 is first passed to the second extraction point EP2 and then only to the first extraction point EP1. This makes the navigation task to be solved somewhat more complex, the solution of which is only limited by the dynamics of the computing system involved.

The signpost information 30th includes data received from the output device 18th in the signpost 20th is converted. The output device 18th includes a controller (not shown) (for example a microprocessor). The output device 18th is preferably a portable projector 18th showing the signpost 20th in the form of the directional arrows 22nd represents. In addition or as an alternative, the (optional) loudspeaker 21st can be used for acoustic support in navigation. The Guide 20th can be output as language.

It has proven to be particularly advantageous if the directional navigation is in the form of visual directional arrows 22nd is issued. The arrows 22nd are especially issued permanently so that the user 12 always sees where to go. Optionally, the visual guidance can be supplemented by voice instructions, especially if the user approaches a neuralgic point (e.g. a waypoint that initiates a change of direction WP ) approaches. Up to the neuralgic point, the guidance is preferably exclusively visual.

Updating the signpost 20th , and especially the visual arrows 22nd , takes place at predetermined time intervals and preferably in real time, as explained above. Optionally, the update can also be carried out by the user 12 be initiated. When the user 12 eg not moved (intentionally) for a long time, this can be done by the navigation module 26th be understood as a request to update. In this context it is advantageous if the position sensor 46 on a part of the body of the user 12 is attached, which moves as little as possible even during normal movements. The same applies to the output device 18th especially if this is through the projector 19th is realized. The user's chest or shoulder 12 represents such a place of attachment.

The position sensor 46 is preferably sent directly to the output device 18th coupled or integrated into them. The integrated variant has the advantage that the position information 28 both information about the position of the user 12 as well as the position of the output device 18th supplies. It goes without saying that this information can also be provided independently of one another by two position sensors 46 can be obtained, with a first sensor on the body of the user 12 and a second sensor on the dispenser 18th is attached. This is particularly advantageous when the output device 18th has its own actuators that control the output device 18th regardless of the location of the user 12 aligns. In this case the output device is 12 with an actively driven position control (cf. 1 ) fitted.

In this way it can be guaranteed, for example, that the projector 19th the arrow 22nd always with a sufficient distance in front of the feet of the user 12 projected onto the ground. In this way, an (accidental and unintended) movement of the user can also be avoided 12 of the desired (directed) representation of the arrow 22nd decouple. In this case, for example, the arrow is always projected onto the floor in the middle of the corridor, even when the user is 12 e.g. (briefly) one of the shelves arranged on the side 42 which in this case do not represent his actual goal.

The output device 18th is generally about a bracket 64 to a fastening device 60 connectable. The fastening device 60 is part of the mobile module 24 .

The fastening device 60 is customized by the user 12 to be put on and taken off. The fastening device 60 can be one or more straps 63 or elastic bands (not shown). The fastening device 60 is set up, the output device 18th in an attracted state on the body of the user during the order picking process 12 to keep. The fastening device 60 includes the bracket for this purpose 64 that is set up in particular, the projector 19th (passive) along a preferred direction in a field of view 66 of the user 12 (see. 5 ) to keep them oriented.

The field of vision 66 of the user 12 is usually perpendicular to the longitudinal axis of the user's body 12 perpendicular to the plane of the drawing 5 is oriented, oriented forward. The alignment A. of the user 12 is in particular identical to the above-mentioned preferred direction along which the projector 19th is oriented.

The 6A to 6F show different versions of the fastening device 60 .

6A shows a shoulder strap 63-1 with the bracket 64 so that the projector 19th essentially rigid on the user's shoulder 12 sits and forward, parallel to the field of vision 66 (not shown) of the user 12 is aligned. With this version, the head can be moved independently of the torso. In other words, this means the orientation of the projector 19th remains unchanged as long as the user 12 his torso does not move even when the user 12 moving his head. In particular with such designs, the projector can also be actively steered 19th be waived.

6B shows an embodiment of the fastening device 60 in the form of a (head) bracket 68 that is placed on the back of the user's head. The projector 19th is eg. in the area of the ear on the temple 68 attached and is in turn facing forward. When doing this, the projector does 19th every movement of the head. Here it can be an advantage to have the project 19th actively to redirect to a given point or area.

6C shows an embodiment in which a chest strap 63-2 is used to the projector 19th in the area of the abdomen or chest of the user 12 to position and align to the front.

6D shows a head strap 63-3 to the projector 19th in the area of the user's forehead 12 to position and align to the front.

6E shows a wrist cuff 70 to the projector 19th on the user's hand 12 position without restricting its freedom of movement. In this version, too, an active redirection of the alignment of the projector 19th be an advantage because the hand is usually moved a lot.

6F shows an embodiment in which on straps 63 is omitted and the bracket 64 is designed as a clip, for example to be inserted into a breast pocket or shirt pocket.

It goes without saying that the fastening device 60 in the executions according to 6th may have further components, in particular also around the position sensor 46 essentially immovable on the user's body 12 to fix.

The fastening device 60 is set up in particular, a self-sufficient energy supply (not shown) for the output device 18th as well as cabling (not shown) to be included.

It is also understood that the mobile module 24 additional computing systems, controls, interfaces and the like can have to the information with the navigation module 26th to exchange and for a signpost information 30th in corresponding signals for the output device 18th to walk.

As mentioned above, the signposts 20th can also only be output as language. The fastening system 60 is then adapted accordingly, with a button in the user's ear, for example 12 can already be enough to satisfy the user 12 eg exclusively auditory, ie without a projector 19th to direct. However, the combination of visual and auditory guidance is preferred.

Regarding the updating of the signpost information 30th should also be noted that the location S. and / or the alignment A. of the user 12 can also be averaged over a certain period of time (update rate) to indicate excessive and uncoordinated movements by the user 12 to compensate as well as possible. The update rate of the signpost information 30th can then be selected lower, so that no real-time update is achieved.

In addition to order picking, the solution proposed here can also be used in the area of assembly, construction or repair work to provide technical support for other work processes. The use in the area of manual order picking (person-to-goods) is preferred, just as visual support has priority over auditory support.

List of reference symbols

10

system

12

User / order picker

14th

(Picking) warehouse

16

Storage location

18th

Output device

19th

projector

20th

signpost

21st

speaker

22nd

Directional arrows / navigation arrows

24

mobile module

26th

Navigation module

28

Position information

30th

Signpost information

32

Picking route

34

Route planning module

36

Plan / layout from 14

38

Picking order

40

Warehouse management system

41

Order management

42

shelf

44

Coordinate system

S.

Location

P

position

A.

Orientation / location

46

Position sensor

48

Location sensor

50

Position sensor

52

Location information

54

Location information

56

Position determination device

58

Signpost determination device

SP

Starting point from 32

EP

Extraction point

WP

Waypoint

ZP

Target point of 32

WS

Distance from 32

60

Fastening device

62

Input device

63

belt

64

bracket

66

Field of view from 12

68

Headband

70

Wrist cuff

QUOTES INCLUDED IN THE DESCRIPTION

This list of the documents listed by the applicant was 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.

Patent literature cited

• WO 2018/091208 A1 [0003]
• EP 2161219 A1 [0004]

Claims (12)

System (10) for the technical support of a manual picking process by a human user (12) in a picking warehouse (14), the user (12) walking along a picking route (32) through the warehouse (14) during the picking process To remove articles from storage locations (16) according to a picking order and / or to deliver them to storage locations (16), the system (10) having at least one mobile module (24) and one navigation module (26); wherein the mobile module (24) comprises: an output device (18) which is set up to be carried by the user (12) and which outputs a signpost (20) based on signpost information (30), in particular by placing a directional arrow (22) on a floor of the warehouse (14 ) and / or is projected onto objects (40) within the store (14) in a field of view (66) of the user (12); a fastening device (60) which the user (12) can put on and take off, wherein the fastening device (60) is set up to hold the output device (18) in a tightened state during the picking process on the body of the user (12), the Output device (18) can be oriented in particular along a preferred direction in the field of view (66) of the user (12); a position sensor (46) which generates and outputs location information (52) and location information (54) of the user (12) as position information (28); and wherein the navigation module (26) comprises: a position determination device (56) which is set up to receive the position information (28) from the position sensor (46) and based on the location information (52) a current location (S) of the user (12) within the warehouse (14) and based on the location information (54) to determine a current orientation (A) of the user (12) at the current location (S) in the warehouse (14) and to output it to a signpost determination device (58); and the signpost determination device (58) which is set up to generate the signpost information (30) based on the current location (S), the current orientation (A) and the picking route (32) and to output it to the output device (18). System (10) Claim 1 which further comprises a picking route planning module (34) which is set up to plan the picking route (32) along waypoints (WP) based on a layout (36) of the warehouse (14) and based on the picking order (38), wherein the waypoints (WP) define possible routes of the user (12) through the warehouse (14) in order to get from one location to another location in the warehouse (14). System (10) Claim 2 wherein the picking route (32) further comprises a starting point (SP) and a destination point (ZP). System (10) according to one of the Claims 1 to 3 , wherein the signpost determination device (58) is further set up, starting from the current location (S), to determine a spatially closest waypoint (WP) which is part of the picking route (32), and wherein the signpost information (30) indicates a route, in particular a direction , to the nearest waypoint (WP). System (10) according to one of the Claims 1 to 4th wherein the signpost information (30) is generated in real time. System (10) according to one of the Claims 1 to 5 wherein the fastening device (60) has a head, shoulder and / or chest strap (63) and a holder (64) for the output device (18). System (10) according to one of the Claims 1 to 6th wherein the output device (18) comprises a projector (19). System (10) according to one of the Claims 1 to 7th wherein the output device (18) comprises a loudspeaker. System (10) according to one of the Claims 1 to 8th wherein the mobile module (24) also has an actively driven position control for the output device (18). System (10) according to one of the Claims 1 to 9 wherein the mobile module (24) furthermore has an input device (62), cabling and / or a power supply. System (10) according to one of the Claims 1 to 10 , wherein the signpost information (30) further comprises a removal quantity and / or a removal location identifier. System (10) according to one of the Claims 1 to 11 wherein the mobile module (24) further comprises a camera for monitoring the removal location and the removal amount and for updating a warehouse layout (36).

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