DE102021210525A1 - Method and device for organizing a storage area of a warehouse and for operating a warehouse - Google Patents

Abstract

The invention relates to a method (2600) for organizing a storage area (110) of a warehouse (115), the method (2600) having a step of reading in (2610) a position signal (125) and an environment signal (127), the position signal (125) represents a position of an industrial truck (100) in the warehouse (115) and the environmental signal (127) represents an environment of the industrial truck (100) in the warehouse (115) captured by a camera unit (130). The method (2600) also includes a step of recognizing (2620) areas (142) free of objects (135) in the storage area (110) of the warehouse (115) using the surrounding signal (127). Finally, the method (2600) includes a step of creating (2630) a digital map (147) of the warehouse (115), taking into account the position signal (125) and the recognized areas (142) free of objects (135) as a route (200) and/or as a storage place (210) in order to organize the storage area (110) for handling goods as storage goods (150).

Description

State of the art

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

Especially as a result of the increasing mail-order trade and the expansion of business relationships as part of globalization, there is an increased effort for transporting and/or storing goods in a logistics chain. For this purpose, goods are stored in partly large warehouses and commissioned for dispatch. In order to be able to use this warehouse as efficiently as possible, the space available in the warehouse should be divided up or used as favorably as possible.

Disclosure of Invention

Against this background, with the approach presented here, a method, furthermore a device that uses this method, and finally a corresponding computer program according to the main claims are presented. Advantageous developments and improvements of the device specified in the independent claim are possible as a result of the measures listed in the dependent claims.

• - Einlesen eines Positionssignals und eines Umgebungssignals, wobei das Positionssignal eine Position eines Flurförderzeugs in dem Warenlager repräsentiert und das Umgebungssignal eine von einer, insbesondere fahrzeugseitigen bzw. an dem Fahrzeug angeordneten, Kameraeinheit erfasste Umgebung des Flurförderzeugs im Warenlager repräsentiert;
• - Erkennen von von Objekten freien Bereichen im Lagerbereich des Warenlagers unter Verwendung des Umgebungssignals; und
• - Erstellen einer digitalen Karte des Warenlagers unter Berücksichtigung des Positionssignals und der erkannten von Objekten freien Bereiche als Fahrweg und/oder als Lagerplatz, um den Lagerbereich zur Handhabung von Waren zu organisieren.

With the approach presented here, a method for organizing a storage area of a warehouse is presented, with the method having the following steps:

• - Reading in a position signal and an environment signal, the position signal representing a position of an industrial truck in the warehouse and the environment signal representing an environment of the industrial truck in the warehouse captured by a camera unit, in particular on the vehicle side or arranged on the vehicle;
• - detecting areas free of objects in the storage area of the warehouse using the environmental signal; and
• - Creation of a digital map of the warehouse, taking into account the position signal and the detected areas free of objects as a route and/or as a storage place, in order to organize the storage area for handling goods.

In the present case, a warehouse can be understood to mean a warehouse which is suitable for storing goods or goods, for example in a warehouse or in the open air. In this case, the goods can be transported or handled in a storage area of the warehouse, for example on roadways or in storage locations, for example repacked, commissioned or dispatched.

A position signal can be understood to mean a signal which depicts a (for example geographic) position of an industrial truck in the storage area and/or in the warehouse. Such an industrial truck can be, for example, a forklift truck, a lift truck or a high-bay stacker truck, which is particularly suitable for transporting goods on one or more lanes of the storage area and can deposit or pick up the goods at a storage location in the storage area.

An environment signal can be understood as a signal from a camera unit, from which an optical image of an environment around the industrial truck in the storage area of the warehouse can be derived. Free areas and/or objects in the vicinity of the industrial truck can be detected based on the surroundings signal. This means that the surroundings signal can in particular represent an arrangement of at least one object in the surroundings of the industrial truck in the warehouse detected by a camera unit, in particular on the vehicle or arranged on the vehicle. The camera unit can include at least one monocular camera or a stereo camera and/or a plurality of camera modules that represent optical images of the surroundings of the industrial truck in different viewing directions with respect to a direction of travel of the industrial truck (e.g. to the front and to the rear).

Such an object can be understood, for example, as an object that impedes travel of the industrial truck on a possible route or prevents the goods from being deposited in a storage location without the goods or the object being damaged or destroyed. For example, such an object can be a person, a shelf for storing goods, an infrastructure element of the warehouse such as a traffic sign for traffic control of industrial trucks in the storage area or a pillar to support a roof of the warehouse or an object in general that is unintentionally or structurally intended at a certain position in the storage area. An object can also be a floor marking such as a zebra crossing, for example, or an uneven floor or a damaged area in a floor of the storage area that impedes or makes it impossible for the industrial truck to drive on this position.

A digital map can be understood, for example, as a file in which an assignment of specific sections of the storage area is stored as a route and/or as a storage location. This digital map can, for example, be stored on a central computer and loaded or used and/or modified by one or more industrial trucks and stored back on the central computer.

A route can be understood to mean a section of the storage area in which the industrial truck can be moved to transport goods with as little hindrance as possible. A storage area can be understood to mean a section of the storage area where goods can be set down and picked up by the industrial truck, for example to be handled, repacked, commissioned and/or prepared for shipping at this storage area.

The areas in the storage area of the warehouse that are free of objects can be detected directly or indirectly using the surrounding signal. It is conceivable for the free areas to be identified using an algorithm, in particular an artificial neural network, which is set up to determine areas or free areas in the environmental signal that are free of objects, in particular in an optical image or camera image of the area or to recognize. It is also conceivable that using an algorithm, in particular an artificial neural network, based on the surrounding signal, objects in the surrounding area that are different from the free areas are first recognized and then areas not recognized as objects are determined or recognized as free areas.

The approach presented here offers the advantage of defining a location of one or more routes as a "route" in the digital map and/or defining a location of one or more storage locations as a "storage location" by defining an area of the storage area that is free of objects to be able to create a digital map through which the storage area can be used very flexibly. There is therefore no need for a previously defined allocation of travel routes and storage locations in the storage area, so that flexible handling of the goods in the warehouse can be implemented. For example, the distance traveled by an industrial truck can be shortened as a result, or appropriate occupational health and safety measures can be improved if corresponding routes or storage locations are situationally identified or relocated accordingly for the handling of other goods.

One embodiment of the approach proposed here is favorable, in which the position signal is read in the reading step, which was determined using a satellite navigation system and/or a wireless locating unit and/or using the camera unit, in particular the position signal in combination with a digital position map of the warehouse was determined, the digital position map depicting a spatial arrangement of structural infrastructure elements of the warehouse. A satellite navigation system can be understood, for example, as the well-known American GPS system, but also as the GALILEO system or the GLONASS system, which evaluates corresponding satellite signals to determine a geographic position. A wireless locating unit can be understood to mean, for example, a receiving system which evaluates the geographic position in the storage area on the basis of propagation times of transmitter units positioned at known locations in the warehouse. The position signal can also be determined using images from the camera unit, for example if a comparison of structures or objects from the camera unit with structures or objects recorded on a digital position map provides an indication of the current position of the industrial truck in the warehouse. A digital position map can be understood here as the digital map or also a simplified digital map in which only non-mobile objects or infrastructure elements of the warehouse are recorded. Such an embodiment of the approach proposed here offers the advantage of being able to determine the current position of the industrial truck as precisely as possible, so that the digital map to be created can also be created as precisely as possible.

An embodiment of the approach presented here is also advantageous in which a position and/or a type of at least one recognized object and/or a spatial arrangement of structural infrastructure elements of the warehouse is stored in the digital map in the creation step. A position of a detected object can be understood, for example, as a relative distance of the object from the industrial truck and/or a distance of the object from elements or structures of the warehouse. Allocation of the object to a type of object can be understood, for example, as allocation of the object to one of a number of object classes such as people, goods or goods, damage to the floor of the storage area or the like. Such an embodiment of the approach presented here offers the advantage of defining a security area around the object, for example depending on the position and/or type, in order to protect this security area rich when assigning this section of the storage area as a driveway and / or storage space. For example, this safety area can be larger if the object is assigned as a person, in order to avoid, as far as possible, injury to a person who may be moving when goods are being transported by an industrial truck. On the other hand, when recognizing the type of object as a damaged area in the floor of the warehouse, for example, a definition of this section of the storage area as a route can be subordinate if, for example, a route tube is laid in such a way that such a damaged area can pass between the wheels of the industrial truck (lane) .

According to a further embodiment of the approach presented here, at least one industrial truck parameter of the industrial truck, in particular a spatial dimension and/or a turning circle of the industrial truck, can also be read in the reading step, with the digital map being stored using the at least one industrial truck parameter in the creating step . An industrial truck parameter can be understood, for example, as a spatial (external) dimension, a length and/or height of a lifting boom of the industrial truck and/or a turning circle of the industrial truck. Such an embodiment of the approach proposed here offers the advantage of being able to tailor the handling of the goods specifically to the industrial trucks used, so that, for example, when using different industrial trucks and/or the use of industrial trucks, the design of the storage area as a route and/or storage space can be very flexible can be done. A distance from adjacent storage locations can also be defined, for example, by taking into account turning radii of the industrial trucks used, which contributes to flexible, efficient use of an available storage area.

Advantageously, according to a further embodiment of the approach proposed here, a step of transmitting the created digital map to a central computer unit and/or to at least one additional industrial truck can also be provided. Such an embodiment of the approach proposed here offers the advantage of being able to make a created digital map available quickly and efficiently to other industrial trucks that are also intended to transport goods in the storage area. In this way, the assignments of the storage area as a route and/or storage location can be disseminated flexibly and quickly, so that, for example, people in the storage area can be taken into account in as real time as possible.

According to another embodiment of the approach proposed here, in the reading step, a container with the external dimensions of a storage item to be stored in the storage area can be read in, with the digital map, in particular a storage location for the stored goods, also being created in the creation step using the container with external dimensions. Such an embodiment of the approach proposed here offers the advantage of being able to flexibly define a storage location and/or a route, also depending on the spatial external size of a storage item, so that storage items of different sizes can be handled quickly and efficiently with the approach presented here.

An embodiment is particularly favorable in which in the reading step at least two different orientation variants of the stored goods in a storage location are determined on the basis of the external container dimensions, wherein in the creating step a recognized free area of the storage area to be determined as a storage location is determined using one of the orientation variants and /or where a sequence is defined in the creation step, with which free areas of the storage area defined as storage space are to be occupied. Such an alignment variant can be understood, for example, as a variant in which different dimensions of the stored goods in the longitudinal direction and/or transverse direction of the stored goods are taken into account in relation to a direction of travel of the industrial truck. For example, in a first orientation variant, the longer dimension of the stored goods can be oriented in the direction of travel, while in a second orientation variant the shorter dimension of the stored goods is oriented in the direction of travel. Such an embodiment offers the advantage of being able to find different storage locations in the storage area even for identical stored goods, so that the handling of these stored goods can become even more efficient. For example, the different storage locations can be due to the fact that fixed infrastructure elements of the warehouse, such as roof pillars, prevent the storage goods from being placed in a first orientation variant with a longer dimension in the direction of travel of the industrial truck, whereas the placement of these stored goods in the second orientation variant with a longer dimension in the direction of travel of the truck with shorter dimensions is still possible. The section of the storage area in front of this infrastructure element can thus still be used to handle the stored goods, at least in the second variant. In addition, a sequence can also be defined in the digital map, with which free areas of the storage area defined as storage space are to be occupied to prevent, for example, that the handling of stored goods that were delivered first can be avoided as far as possible due to an unfavorable delivery of stored goods.

Also conceivable is an embodiment of the approach proposed here, in which, in the reading step, the ambient signal is read in by a camera unit that has at least two cameras that are independent of one another and/or that is designed to view objects at a spatial angle of at least 160 degrees, in particular in a solid angle of at least 270 degrees to detect the industrial truck, in particular the solid angle is made up of several partial solid angles. Such an embodiment of the approach proposed here offers the advantage of being able to obtain the most comprehensive possible overview of objects located in the surroundings of the industrial truck using inexpensive camera modules that are often already available. As a result, certain areas can be defined very quickly and efficiently as a route and/or storage location in the storage area of the warehouse.

• - Einlesen einer digitalen Karte eines Warenlagers, in der erkannte freie Bereiche als Fahrweg und/oder als Lagerplatz abgespeichert sind und insbesondere eines Positionssignals, das eine Position des Flurförderzeugs in dem Warenlager repräsentiert; und
• - Ausgeben eines Steuersignals zum Transportieren eines Lagerguts mit dem Flurförderzeug bzw. mittels des Flurförderzeugs auf einem als Fahrweg in der digitalen Karte abgespeicherten freien Bereich und/oder zum Absetzen oder Aufnehmen des Lagerguts an einem als Lagerplatz in der digitalen Karte abgespeicherten freien Bereich, insbesondere wobei das Transportieren und/oder das Absetzen oder Aufnehmen des Lagerguts unter Verwendung des Positionssignals erfolgt.

Another advantage is an embodiment of the approach proposed here as a method for operating a warehouse, the method for operating a warehouse using an industrial truck, the method having the following steps:

• - Reading in a digital map of a warehouse in which recognized free areas are stored as a route and/or as a storage location and in particular a position signal which represents a position of the industrial truck in the warehouse; and
• - Outputting a control signal for transporting stored goods with the industrial truck or by means of the industrial truck on a free area stored as a route on the digital map and/or for setting down or picking up the stored goods at a free area stored as a storage location on the digital map, in particular where the transport and/or the setting down or picking up of the stored goods takes place using the position signal.

Advantageously, the digital map can have been created according to an embodiment of the approach presented here. Such an embodiment of the approach proposed here offers the advantage of being able to organize the handling of goods in a storage area of the warehouse very efficiently and quickly, for example to react quickly and precisely to situational circumstances by adapting or reloading an updated digital map can.

According to a further embodiment of the approach proposed here, in the reading step, a container with the external dimensions of the storage goods to be stored in the storage area can be read in, wherein in the transport step, using the container with external dimensions, a storage location is selected from the digital map, at which the storage goods are transported by the truck is picked up or set down. With such an embodiment, the proposed approach offers the advantage of being able to handle stored goods efficiently and quickly in the warehouse.

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 approach presented here also creates a device that is designed to carry out, control or implement the steps of a variant of a method presented here in corresponding devices.

The object on which the invention is based can also be achieved quickly and efficiently by this embodiment variant of the invention in the form of a device.

For this purpose, the device can have at least one computing unit for processing signals or data, at least one memory unit for storing signals or data, at least one interface to a sensor or an actuator for reading in sensor signals from the sensor or for outputting data or control signals to the Have actuator and / or at least one communication interface for reading or outputting data that are embedded in a communication protocol. The arithmetic unit can be, for example, a signal processor, a microcontroller or the like, with the memory unit being able to be a flash memory, an EEPROM or a magnetic memory unit. The communication interface can be designed to read in or output data wirelessly and/or by wire, wherein a communication interface that can read in or output wire-bound data can, for example, read this data electrically or optically from a corresponding data transmission line or can output it to a corresponding data transmission line.

In the present case, a device can be understood to mean an electrical device that processes sensor signals and, depending thereon, outputs control and/or data signals. The device may have an interface that is hard- and/or can be designed in terms of software. In the case of a hardware design, the interfaces can be part of a so-called system ASIC, for example, which contains a wide variety of functions of the device. However, it is also possible for the interfaces to be separate integrated circuits or to consist at least partially of discrete components. In the case of a software design, the interfaces can be software modules which are present, for example, on a microcontroller alongside other software modules.

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 also advantageous used, especially when the program product or program is run on a computer or device.

• 1 eine schematische Darstellung eines Flurförderzeugs, welches mit einer Vorrichtung gemäß einem Ausführungsbeispiel zum Organisieren eines Lagerbereichs eines Warenlagers ausgestattet ist;
• 2 eine schematische Darstellung eines Warenlagers, welches beispielsweise als Lagerhaus ausgestaltet ist;
• 3 eine schematische Darstellung eines weiteren Warenlagers, welches beispielsweise als Lagerhaus ausgestaltet ist und in welchem mehrere Flurförderzeuge unterwegs sind;
• 4 ein schematisches Flussdiagramm eine Lokalisierungsfunktion mittels eines (Multi-) Kamerasystems;
• 5A und 5B zeigen Darstellungen eines Wendekreises eines 4-Rad-Staplers bzw. 3-Rad-Staplers als Flurförderzeug 100 aus kinematischer Sicht;
• 6 bis 24 Vorgehensweisen eines Anfahrens und Absetzens von Paletten als Lagergut auf einem Lagerplatz;
• 25 ein Ablaufdiagramm eines Ausführungsbeispiels eines Verfahrens zum Organisieren eines Lagerbereichs eines Warenlagers; und
• 26 ein Ablaufdiagramm eines Ausführungsbeispiels eines Verfahrens zum Betreiben eines Warenlagers mittels eines Flurförderzeugs.

Exemplary embodiments of the approach presented here are shown in the drawings and explained in more detail in the following description. It shows:

• 1 a schematic representation of an industrial truck, which is equipped with a device according to an embodiment for organizing a storage area of a warehouse;
• 2 a schematic representation of a warehouse, which is designed for example as a warehouse;
• 3 a schematic representation of another warehouse, which is designed, for example, as a warehouse and in which several industrial trucks are traveling;
• 4 a schematic flowchart of a localization function using a (multi) camera system;
• 5A and 5B show representations of a turning circle of a 4-wheel truck or 3-wheel truck as industrial truck 100 from a kinematic point of view;
• 6 until 24 Procedures for approaching and setting down pallets as storage goods in a storage area;
• 25 a flowchart of an embodiment of a method for organizing a storage area of a warehouse; and
• 26 a flowchart of an embodiment of a method for operating a warehouse using an industrial truck.

In the following description of favorable exemplary embodiments of the present invention, the same or similar reference symbols are used for the elements which are shown in the various figures and have a similar effect, with a repeated description of these elements being dispensed with.

1 shows a schematic representation of an industrial truck 100, which is equipped with a device 105 according to an embodiment for organizing a storage area 110 of a warehouse 115. Device 105 includes a read-in unit 120 for reading in a position signal 125 and an environment signal 127 from a camera unit 130. Camera unit 130 includes a first camera sub-unit 130 a and a second camera sub-unit 130 b, with the first camera sub-unit 130 a is oriented in the direction of travel of industrial truck 100 looking backwards and provides a first partial signal 127 a of surroundings as a first part of surrounding signal 127 to read-in interface 120, and wherein the second camera sub-unit 130 b detects a viewing direction oriented in the direction of travel of industrial truck 100 and as a second part of the surrounding signal 127 provides a second partial signal 127 b of the surrounding area to the read-in interface 120 . To this extent, the surroundings around the industrial truck 100 are mapped by the surroundings signal 127, in which case, for example, an arrangement of at least one object 135 in the surroundings of the industrial truck 100 can then also be detected. The position signal 125 can be read in, for example, via a receiving unit 137, the position of the industrial truck 100 using satellite navigation data or wireless location data (such as a WLAN-based location system in the warehouse 115) or using data from the camera unit 130 (which is that in the 1 shown embodiment is not shown explicitly). An area 142 of the storage area 110 free of objects 135 can then be identified in a detection unit 140 using the surrounding signal 127, and a digital map 147 of the warehouse 115 can be identified in a creation unit 145, taking into account the position signal 125 and the areas 142 free of objects 135 as a route and/or defined as a storage location to organize storage area 110 for handling goods 150. These goods 150 can, for example, be transported between different positions in the goods store 115 by the industrial truck 100 on forks 152 of a lifting device 155 of the industrial truck 100 become. It is also conceivable for industrial truck parameters 159, such as spatial dimensions and/or a turning circle of industrial truck 100, to be read from a memory 157 in the read-in interface of read-in unit 120, with digital map 147 in creation unit 145 specifically defining or specifying a location one or more routes and/or the definition or specification of a location for one or more storage locations is created and saved using the at least one industrial truck parameter 159.

With such a procedure, the movement space required for the transport of the storage goods 150, which is available, for example, as a pallet or container with predetermined external dimensions, can be estimated very flexibly and accordingly compared with the areas 142 of the storage area 110 free of objects 135, so that the safest possible The industrial truck 100 can be guided through the storage area 110 using the routes or storage locations to be defined. Here, for example, the industrial truck 100 can also be an industrial truck 100 that moves autonomously or at least semi-autonomously.

Furthermore, the industrial truck can include a device 160 for operating a warehouse 115 by means of an industrial truck 100 . The device 160 has a read-in interface 165 via which a digital map of the warehouse 115 can be read in, in which recognized free areas 142 are stored as a route and/or as a storage location. A position signal 125 , which represents a position of the industrial truck 100 in the warehouse 115 , can also be read in via the read-in interface 165 . Device 160 also includes a transport control unit 167, via which the transport of stored goods 150 with industrial truck 100 on a free area 142 stored as a route on digital map 147 and/or the depositing or picking up of stored goods 150 at a storage location on the digital map 147 stored free area, in particular wherein the transport and/or the setting down or picking up of the storage goods 150 takes place using the position signal 125. The transport control unit 167 then controls, for example, the wheels 170 of the industrial truck 100 and/or the lifting device 155 together with the forks 152, so that the stored goods can be transported along the route or picked up or set down at the storage location.

In order to be able to implement the approach presented here as efficiently as possible, it can be used particularly well in driverless transport systems or automated industrial trucks. The driverless transport vehicles (AGV) are the heart of an automated warehouse - controlled by intelligent software. With special automation components, for example, standard vehicles can be automated and individually adapted to your storage requirements. Automated high-rack stackers can also be used as industrial trucks, which are particularly high performers in automated narrow-aisle warehouses, which also include shelves, software and supply systems such as conveyor technology. A gradual automation for manual vehicles can also take place in order to equip narrow aisle warehouses for the future. In the case of semi-automation, in conjunction with warehouse management software, an increase in handling capacity of 25% can be achieved and/or the driver's workload is relieved and the stored goods 150 are precisely transported and positioned at the storage location. In fully automatic mode, the automated high-rack stacker moves independently in the storage aisles and reliably carries out the transport and storage tasks assigned to it.

The approach presented here can therefore optimize the use of the mostly already existing multi-camera system as a camera unit 130 for better and best possible use of space in the storage area 100, as well as for merging the camera information with the warehouse management system (WMS). A particularly important aspect of the approach presented here can be seen in the use of a semantic map as a digital map 147, with camera-based recognition and displaying (also augmented/virtual reality) of open spaces, additional drop-off points and/or transfer points and/or or necessary driving hoses and the current information can be compared with a warehouse management system (WMS). The information flows into the coordination of the blockage-free, prioritized or optimized navigation of several lifting conveyor vehicles in the digital map 147. In order to implement this aspect, a mostly existing multi-camera system 130 can be used as a basis for the method presented here, in which a 360° view of the surroundings is generated by means of 4 close-up cameras and fish-eye lenses by 4 individual images or by stitching the 4 images. Subsequently, a plane or free space recognition is carried out by means of a 2-level CNN (Convolutional Neural Network) and the method of "semantic segmentation".

Furthermore, a localization system is, for example, an RTLS (Real Time Localization System) based on UWB (Ultra Wide Band) and/or a video and/or laser SLAM (Simultaneous Localization and mapping) system on the industrial truck 100 for delivery of the position of the industrial truck 100 in the warehouse 115 provided or available. The existing multi-camera system is advantageously used for this purpose in combination with a display and communication unit.

The dynamic semantic map available for this purpose as a digital map 147 of the warehouse 115 with its recognized levels or open spaces that can be driven on is continuously updated for this purpose, for example by all lifting conveyor vehicles 100 and/or cameras 130 in the infrastructure equipped with this system.

2 a schematic representation of a warehouse 115, which is designed, for example, as a warehouse. Here, a roof of the warehouse 115 covers a storage area 110, which can be divided into different sections. For example, a route 200 can be provided or defined in a first section, on which there is no object 135, for example no person or no object, so that this route 200 can be traveled by the industrial truck 100. Furthermore, one or more storage locations 210 can be provided or specified in a section of a logistics area, at which a storage item 150, which is transported by the industrial truck 100 on the route 200, can be set down or picked up again. This storage location 210 can also be used, for example, for handling, for example repackaging, order picking or shipping or another treatment of this storage item 150 . Furthermore, shelves 215 are also provided in the storage area 110, which are designed, for example, as part of a high-bay warehouse, so that as many stored goods 150 as possible can be stored in the storage area 110 as efficiently as possible.

Furthermore, the dimensions of the transported goods loaded as storage goods 150 are recorded and calculated, for example by means of the camera 130a of the respective lifting conveyor vehicle 100, which is directed in particular forwards. For this purpose, the known camera position and focus and image processing methods such as e.g. B. the "Structure from Motion" used.

The determined dimensions of the goods to be transported as storage goods 150 together with the known dimensions and known kinematics and steering angle etc. of the lift truck 100, which can be read in as industrial truck parameters 159, result in a necessary driving path (trajectory) as a route 200 for collision-free continued travel above the recognized level or open space of the storage area 110. There is no risk of collision only if this travel path or travel path 200 lies within the recognized plane or open space. Different lifting conveyor vehicles 100 can require different travel hoses or travel routes 200 .

With this knowledge, a collision-free route can be sought from the start or the current position and pose to the destination and navigated there.

The travel areas or travel routes 200 required above the levels or open spaces can also be marked in the semantic map or digital map 147 . As a result, remaining free areas 142 can be identified. According to a variant of the approach presented here for flexible segments, these can be used, for example, to obtain additional set-down points or storage locations 210 and/or transfer points etc. for pallets etc. as storage goods 150 in logistics areas 212. This can be used to advantage, especially in wholesale and retail, during peak times before holidays, for example.

The semantic map 147 can be transmitted from the industrial truck 100 to a central computer 220, which is part of a warehouse management system (WMS), for example, or the occupancy of the semantic map (free spaces, additional set-down points and/or transfer points, driving hoses, etc. ) are compared/verified/validated etc. with the Warehouse Management System (WMS). As a result, the WMS can then also manage the sold and/or received goods as stored goods at the additional set-off points and/or transfer points or the storage locations 210. At the same time, the central computer unit 220, for example as a cloud, transmits the digital map 147 to other industrial trucks 100 that are in the 2 are not explicitly shown, so that the organization of the warehouse 115 can be further improved by the multiple use of the digital card 147 in several industrial trucks 100. The transmission of the digital map 147 to other industrial trucks 100 is in 2 not shown in more detail solely for reasons of clarity.

3 shows a schematic representation of a further warehouse 115, which is designed, for example, as a warehouse and in which several industrial trucks 100 are now traveling. Going further, it is therefore also necessary, in particular, to manage encountering traffic when operating a plurality of lifting conveyor vehicles 100 in one map. This means that if the travel path of a lift truck allows only one vehicle over the respective open space, one of the two vehicles should wait, provided that the location is not on the route of the other vehicle or in one Avoid the area of nearby plains or open spaces that are not on the route of the other vehicle. The decision as to which of the vehicles waits or takes evasive action can be subject to prioritization and/or certain optimization criteria (energy and/or time and/or wear and tear, etc.) and/or a "heat map" in which areas are critical for the efficient processing of the handling of the stored goods of the storage area are marked accordingly. Here, for example, a traffic jam should be avoided as a matter of urgency. Depending on the number of lift trucks in the map, it is also conceivable to reserve a number of stopping or parking areas in order to be able to switch to them if necessary.

In the representation of 3 a so-called "heat map" is shown as a map in which areas with a lot of traffic (strongly dotted areas) on industrial trucks 100 face off areas with little traffic (weakly dotted areas) on industrial trucks 100. The "heat map" is created on the basis of the speeds, positions and detected objects transmitted by the industrial trucks. At busy places (intersections), for example, automatic speed reductions can be applied to the vehicles, other vehicles can be warned by detected objects and routes can be intelligently optimized if they are temporarily blocked.

The additional set-down points and/or transfer points (i.e. storage locations 210) and/or necessary driving hoses 200 can also be shown on displays of the vehicles and/or a control center using “augmented reality” or “virtual reality”. As a result, a mixed operation of manually operated and automated lift trucks is better coordinated.

Compared to a conventional solution, in which localization in material handling is made possible via transponder systems, a system based on object recognition is currently unknown. With the approach presented here, several aspects can be addressed.

1. Localization

Localization of vehicles in material handling has so far been based on transponders installed on vehicles and receivers in the infrastructure. These transmit vehicle data and, if necessary, the position to the receiver (no GPS possible indoors). The localization using a multi-camera system can be displayed in parallel with the view assistant of the camera system and thus represents a value-added function or extension of the camera system.

2nd warning

The warning of objects 135 such as objects or people currently only exists with camera systems that are aligned in the forward or reverse driving direction. There is no complete environment monitoring, there is no warning for objects that have been detected in other places by other systems. There are systems that warn or intervene in the vehicle through transponder systems, the transponders are on clothing, objects or infrastructure.

3.Navigation

The vehicle's route to the destination can be adjusted based on obstacles (people, blockages or traffic jams).

4. Increase in efficiency

The route taken by the vehicle can be adjusted in a targeted manner in order to ensure that the routes are evenly used and thus reduce the travel times of all vehicles. Goods that are used frequently in the warehouse or in production can be determined statistically using the routes and the location can be optimized (shortening of routes).

5. Visualization

The data collected from the vehicles can be used in a control center for monitoring manually or automatically operated vehicles. People can be warned of approaching vehicles at crossings. Routes with a lot of traffic can be optimized with regard to routes (width, obstacles).

1. 1. Es ist keine zusätzliche Investition des Betreibers von Fahrzeugen oder Flurförderzeugen(FFz)- Herstellers beim Einsatz entsprechend optimierten Kamerasystemen notwendig. Es brauchen auch keine weiteren Sensoren (Lidar, Radar) oder Eingriffe an der Infrastruktur des Warenlagers 115 vorgenommen werden (ausgenommen Kommunikationsschnittstelle im Fahrzeug und beispielsweise Zentrale/Cloud zum Datenaustausch). Die hier vorgestellten Vorrichtungen 105 bzw. 160 günstigerweise mit einem (Multi-)Kamerasystem 130 können mit entsprechender Software neben der Anzeige der Kameradaten als Assistenzsystem auch den Fahreingriff zur Kollisionsverhütung und Navigation übernehmen.
2. 2. Es sind nicht mehrere parallele Systeme (Lidar, Radar, Kamera, mechanische Systeme) notwendig, alle Funktionen können mit dem (Multi-)Kamerasystem abgedeckt werden.
3. 3. Die Navigation kann auf Basis von Hindernissen als den erkannten Objekten 135 angepasst werden.
4. 4. Use-Case des Multikamerasystems Off-Road kann durch Anpassung bereits vorhandener Algorithmik erweitert werden.
5. 5. Feature/Funktion kann durch Software-Update in bestehende MCS-OR (Multikamerasystem Off-Road) Serienprojekte kann auch beispielsweise gegen Lizenzgebühr nachgeliefert werden.
6. 6. Durch eine Objekterkennung von beliebigen Objekten/Hindernissen (Beispielsweise aus dem Regal gefallene Ware als Objekt 135) kann vor Zusammenstößen gewarnt werden (auch andere Fahrzeuge).
7. 7. Visualisierung hilft Betreibern bei Effizienzmaßnahmen und Personen im Umfeld zur Warnung (Unfall- Reduktion).
8. 8. Überwachung des Betriebsraums auf Basis der Kartendaten ist möglich, damit kann beispielsweise der Zugang zu zugangsbeschränkten Bereichen überwacht werden. Sollte eine Person in einem dieser Bereiche erkannt werden, kann eine Warnung der anderen Fahrzeuge und Mitteilung an die Zentrale erfolgen.
9. 9. Werden Hindernisse erkannt, können diese über die Zentrale oder Fahrzeugzu-Fahrzeug Kommunikation weitergegeben werden.
10. 10. Integration der Daten in bestehende Warehouse-Management SW möglich (Navigation, Auslastung, Optimierung Artikelstandorte).

The individual variants of the approach presented here enable several advantages.

1. 1. No additional investment is required by the operator of the vehicle or the manufacturer of industrial trucks when using appropriately optimized camera systems. No further sensors (lidar, radar) or interventions in the infrastructure of the warehouse 115 need to be made (except for the communication interface in the vehicle and, for example, the control center/cloud for data exchange). The devices 105 or 160 presented here, favorably with a (multi-)camera system 130, can, with the appropriate software, not only display the camera data as an assistance system but also take over the driving intervention for collision prevention and navigation.
2. 2. Several parallel systems (lidar, radar, camera, mechanical systems) are not necessary, all functions can be covered with the (multi) camera system.
3. 3. Navigation can be adjusted based on obstacles as the detected objects 135.
4. 4. Use case of the off-road multi-camera system can be expanded by adapting existing algorithms.
5. 5. Feature/function can be added to existing MCS-OR (multi-camera system off-road) series projects by means of a software update, for example for a license fee.
6. 6. Object recognition of any objects/obstacles (e.g. goods that have fallen off the shelf as object 135) can be used to warn of collisions (including other vehicles).
7. 7. Visualization helps operators with efficiency measures and people in the area to warn (accident reduction).
8. 8. Monitoring of the operating room based on the card data is possible, for example access to restricted areas can be monitored. If a person is detected in one of these areas, the other vehicles can be warned and the control center informed.
9. 9. If obstacles are detected, they can be passed on via the control center or vehicle-to-vehicle communication.
10. 10. Integration of the data into existing warehouse management SW possible (navigation, utilization, optimization of item locations).

1. 1. Durch die Eigenbewegung des Fahrzeugs und die kamerabasierte Ermittlung von Daten beispielsweise optischem Fluss sowie Aufzeichnung dieser Daten kann eine Karte 147 des Umfelds erstellt werden (Structure from Motion). Werden diese Daten von mehreren Systemen oder Fahrzeugen zusammengeführt kann die Präzision noch weiter erhöht werden.
2. 2. Durch Abgleich dieser aufgenommenen Kartendaten mit den aktuell vorhandenen Kameradaten und der Historie kann die Position bestimmt werden. Diese Position kann dann an eine Zentrale zurückgemeldet und von dort anderen Systemen zur Verfügung gestellt werden.
3. 3. Zur Erhöhung der Präzision ist die Einbindung von Fahrzeugsensoren (Geschwindigkeit, Lenkwinkel) oder Bosch „Vehicle Motion Position Sensor“ (VMPS) möglich.
4. 4. Die Verwendung des Bosch „Vehicle Motion Position Sensor“ (VMPS) stellt eine Alternative zur kamerabasierten Lokalisierungsfunktion dar, diese kann insbesondere im Außenbereich (GPS, GLONASS Empfang) zum Einsatz kommen, wobei sich die kamerabasierte Lösung primär an den Indoor-Bereich richtet.

The approach presented here can have or realize several functionalities.

1. 1. A map 147 of the surroundings can be created (structure from motion) by the vehicle's own movement and the camera-based determination of data, for example optical flow, and recording of this data. If this data from several systems or vehicles is combined, the precision can be increased even further.
2. 2. The position can be determined by comparing this recorded map data with the currently available camera data and the history. This position can then be reported back to a control center and made available to other systems from there.
3. 3. To increase precision, vehicle sensors (speed, steering angle) or Bosch "Vehicle Motion Position Sensor" (VMPS) can be integrated.
4. 4. The use of the Bosch "Vehicle Motion Position Sensor" (VMPS) represents an alternative to the camera-based localization function, which can be used in particular outdoors (GPS, GLONASS reception), whereby the camera-based solution is primarily aimed at indoor areas .

4 shows a schematic flowchart of a localization function using a (multi) camera system such as the camera unit 130 and a procedure for data transmission or reception. In a first step 400 it is detected that the industrial truck 100 is in motion. Following this, in a further step 405, an object detection is carried out by means of the camera system in order to detect shelves or intersections, for example. Then, in a further step 410, a virtual map is created as the digital map 147. In a further step 415, this virtual or digital card 147 can be transmitted to a central vehicle or to other vehicles. Furthermore, proceeding from step 410, in a further step 420 a selection can be made as to whether localization data is available externally. If this is the case, in a step 425 the data can be retrieved from the control center, such as the computing unit 220, for example, in order to obtain information about obstacles or navigation information, for example. If it is recognized in step 420 that localization data is not externally available, localization can be carried out in step 430 by comparing with objects preferably repeating features of stationary objects in the area, for example shelves, intersections, traffic signs or the like. Furthermore, the precision can be expanded or increased by integrating signals from vehicle sensors, such as taking into account a speed or a steering angle. Finally, in a subsequent step 435, the vehicle is localized by comparing it with map data, for example from the control center or other vehicles. Then, in a step 440, the position of the industrial truck 100 is transmitted to the central computer 220, for example a cloud. If an obstacle or an object is detected in a subsequent step 445, the type and/or position of the obstacle or object 135 can be transmitted to the central computer 220 in a subsequent step 450. If the object 135, specifically the position and/or the nature or type of the object 135, it will not detected, in a subsequent step 455, data regarding possible warnings and/or route information can be received. If it is recognized in a subsequent checking step 460 that a warning is present, a simple intervention can take place in a subsequent step 465 or a warning can be output to a driver. If it is recognized in step 460 that there is no warning, it can be checked in a subsequent step 470 whether the data contains a route information. If this is the case, in a further step 475 an optimized navigation can be carried out as a supplement to the warehouse management system, for example by skilful control of picking up or unloading of stored goods at certain points or activation of a vehicle service routine. If no route information is found in step 470, just like after step 475 has been carried out, the procedure presented here is ended in a final step 480.

The object of the invention is the dynamic search and generation of the maximum possible additional storage space for pallets on recognized open spaces, taking into account necessary passages, tramlines, turning circles, etc., in order to be able to dynamically use reserve spaces during peak load times for goods storage.

The approach presented here shows a method that, after open space detection, e.g. B. by means of computer vision on a forklift or industrial truck in a semantic or digital map 147, for example a hall as a warehouse 115, finds the maximum possible number of additional storage spaces for pallets and defines it in the semantic map.

Embodiments of the approach presented here are particularly favorable as a method for searching for and generating the maximum possible additional storage space or storage locations 210 for pallets in open spaces, taking into account the necessary passageways, driving lanes, turning circles, etc.

For this purpose, some industrial truck parameters 159 can also be taken into account. For example, it can be determined first which type of machine / forklift truck will drive on the open space. Accordingly, further parameters can be taken into account.

5A shows a representation of a turning circle of a 4-wheel truck as an industrial truck 100 from a kinematic point of view.

5B shows a representation of a turning circle of a 3-wheel truck as an industrial truck 100 from a kinematic point of view.

How from the 5A and 5B can be seen, results from the dimensions and the kinematics of the machine or the forklift truck or industrial truck 100 including its permissible or intended loading dimensions z. B. a pallet as storage goods 150, a minimally necessary travel tube as a travel route 200 and a turning circle to set down the pallet, to extend, turn and drive away with the forks 155 at right angles or, conversely, to approach the area, turn and approach the pallet at right angles, into the retract and pick up the pallet

6 shows a procedure for a one-sided approach of individual/single-row pallets as storage goods 150 on a storage location 210 of a 4-wheel forklift. As in 6 As can be seen, necessary areas are thus automatically defined that geometrically describe a direct (right-angled), a right-hand, a left-hand or all approach and departure options to a single pallet 150 on an open area 210 from one side

7 shows a procedure for approaching individual / single-row pallets from both sides at a storage location of a 4-wheel forklift. As in 7 As can be seen, necessary areas are automatically defined that geometrically describe a direct (right-angled), a right-hand, a left-hand or all approach and departure options to a single / single-row pallet on an open space from both sides.

8th shows a procedure for approaching two-row pallets as storage goods 150 from both sides at a storage location of a 4-wheel forklift. As in 8th As can be seen, necessary areas are automatically defined that geometrically describe a direct (right-angled), a right-hand, a left-hand or all approach and departure options to a single / double-row pallet on an open space from both sides.

For the search procedure for the maximum possible additional storage space for pallets on open spaces as storage location 210, the above-mentioned areas of the machine / forklift with the largest necessary area are used. It is also conceivable to superimpose the specific surfaces of different machines in order to cover different geometric shapes.

9 shows a procedure for example turning and driving a 4-wheel forklift truck with two-row pallets in a warehouse place 150. In the following, the procedure is assumed to be simplified, provided that there is enough space for pallets on open spaces, for example taking into account necessary passages, tramlines, turning circles, etc., the pallets directly next to each other in one or two rows; unilateral or bilateral; can be approached straight, right and left.

By means of imaging sensors and image processing algorithms, for example, an open space detection and detection of passages, gates, driving lanes as infrastructure elements of the warehouse 115 are also carried out. These can either already be entered in the semantic map 147 (e.g. hall plan) and/or also with imaging sensors on the machines and algorithms of the image processing (e.g. classifiers for passages, gates, tramlines between the shelves, etc. ) can be detected and localized. The delimited area is marked in a semantic map from the service provider of the map, to which all machines / forklifts driving / working in the hall have access via connectivity units

10 shows a schematic view of the free areas 142 of the storage area 110, which were recognized as open areas with passageways, gates or driving lanes or driveways 200.

11 shows the procedure in the next step, in which the necessary approach and turning areas are occupied in the semantic map 147 and marked accordingly for existing shelves, which are therefore no longer available as additional space for placing pallets. For this purpose, the shelves can either already be entered in the semantic map 147 (e.g. hall plan) and/or be recognized and localized with imaging sensors on the machines and algorithms of the image processing (e.g. classifiers for shelf recognition).

12 shows the procedure in the next step, in which the necessary approach and turning areas are occupied in the semantic map in front of the passages, gates, driving lanes, etc. and marked accordingly, which are therefore omitted as additional space for placing pallets, i.e. no Storage bins 210 can form. Approach and turning areas that are already occupied can (also partially) overlap (e.g. in front of the shelves).

13 shows the procedure in the next step. The areas of the previously necessary approach and turning areas on the open space are occupied with additional approach and turning areas to form driveways between the passages. Since, for example, rectangular areas and buildings are generally assumed, the previously necessary approach and turning areas only need to be connected horizontally and/or vertically by means of additional approach and turning areas. For this purpose, the next vertical or horizontal approach and turning area that is already occupied is always searched for from an approach and turning area and the free space in between is covered with further approach and turning areas throughout (possibly overlapping).

In addition, the remaining open space 142 is checked, for example, to see whether it can be connected to one of the geometric surfaces automatically defined above for a direct (rectangular) or a right-hand or a left-hand or all approach and departure options to a single or two-row pallet on an open space of a or both sides can be occupied. In doing so, an attempt is made to cover the necessary approach and turning area of the respective defined geometric area with the route. Since only horizontal and vertical routes are involved, the search process can start either with a horizontal or vertical route and at the same time on the right or left in the open space.

If only one or none of these defined geometric areas can be placed, the method ends.

Otherwise, several allocation strategies are run through in the following, as a result of which the one with the most placeable pallets is selected for the semantic map. For example, as a strategy, occupancy can first take place on the right and bottom, starting with horizontal rows of pallets on the horizontal travel path.

In the first step, for example, an allocation pattern "pallet in two rows on both sides right and left and can be approached straight" was successfully placed on the right edge of the horizontal travel path. The turning circles connect to the right wall of the hall.

14 shows how to proceed in this step.

14 shows the procedure for a next allocation pattern "pallet in double rows on both sides right and left and can be approached straight", which is now directly connected to the already first two pallet places (area 1500) on the left. The process continues until turning circles would encounter or overlap solid obstacles or pallets of the allocation pattern to be placed would protrude into travel routes or turning circles.

If this is the case, an attempt is made to continue with the next smaller occupancy pattern in the row, etc. If this is not possible in the row, an attempt is made to find a vertical route on the open space.

If this is no longer possible (the remaining space in 15 is not enough for another single pallet across the two pallets to the left of the first row), the procedure is repeated on the remaining free space. (Furthermore, the remaining free area (area 142) is checked to see whether it is connected to one of the geometric areas automatically defined above for a direct (right-angled) or a right-hand or a left-hand or all approach and departure options to a single or double-row pallet on a Open space can be occupied from one or both sides.

15 shows the procedure for a next occupancy pattern of the free area 142. In this case, this is a “right, left, just one-sided approachable” occupancy pattern. In doing so, an attempt is made to cover the necessary approach and turning area of the respective defined geometric area with the route or turning circle assignments.
If this is not possible in the row, an attempt is made to find a vertical route in the open space and to continue the process.

16 shows the procedure for a next occupancy pattern, only one occupancy pattern "pallet one-sided right and straight approachable" can be placed in the remaining free area 142 on the vertical route, the remaining free area 142 no longer has a connection to a route or turning circle. The process has ended, 40 pallet spaces have been found.

As an example of a strategy, an assignment can first be made on the right and at the top, starting with vertical rows of pallets to the horizontal travel path.
In the first step, for example, an allocation pattern "pallet in two rows on both sides right and left and can be approached straight" was successfully placed on the right edge of the upper and right wall. The turning circles connect to the right and upper hall wall.

The next allocation pattern "pallet in double rows on both sides right and left and can be approached straight" now follows directly on the first two pallet places (dark blue) at the top. The process is continued until turning circles hit fixed obstacles or these would overlap or pallets of the occupancy pattern to be placed would protrude into travel paths or turning circles.

17 shows the procedure for such an allocation pattern

If this is the case, an attempt is made to continue with the next smaller occupancy pattern in the series.
If this is not possible in the row, an attempt is made to find a horizontal route in the open space and to continue the process.

18 shows the procedure for a next assignment pattern. Only one assignment pattern "pallet one-sided right and left and straight approachable" can then be placed in the remaining free area 142 (without turning circles and without tramlines) on the horizontal travel path.

The procedure is repeated, whereby the last row of pallets cannot begin on the upper wall, but on the upper driveway or the associated turning area of the passage

19 shows the procedure for such an allocation pattern. The process ends with 33 pallet locations found.

An exemplary strategy can then be referred to as occupancy first on the horizontal and vertical walls and then in horizontal rows to the horizontal driveway.

In the first step, for example, an allocation pattern "pallet one-sided right and left and can be approached straight" was successfully placed in the upper right corner (horizontal and vertical wall). The turning circles connect to the right wall of the hall.

The next allocation pattern "pallet on one side right and left and can be approached straight" now follows directly on the first pallet place on the left. The process is continued until turning circles hit fixed obstacles or these would overlap or pallets of the occupancy pattern to be placed would protrude into travel paths or turning circles

20 shows the procedure for such an allocation pattern.

If this is the case, an attempt is made to continue with the next smaller allocation pattern in the row, etc.
If this is not possible in the row, an attempt is made to find a vertical route in the open space
If this is no longer possible (the remaining space according to the 21 is not enough for another single pallet across the pallet to the left of the first row), the same procedure is continued on the vertical wall from top to bottom with the layout pattern "pallet can be approached on one side on the right and left and straight".

21 shows the procedure for such an allocation pattern.

If the walls are ordered with pallets, the process is continued on the remaining open space. In addition, the remaining free space is checked (to determine whether it is connected to one of the geometric surfaces automatically defined above for a direct (right-angled) or a right-hand or a left-hand side or all approaches and departures to a single or double-row pallet on a free space from the top right can be placed beginning.

22 shows the procedure for such an allocation pattern.

In the exemplary 22 this is a "right, left, straight two-row approachable from both sides" horizontal occupancy pattern. In doing so, an attempt is made to cover the necessary approach and turning area of the respective defined geometric area with the route or turning circle assignments.

The next assignment pattern "pallet in double rows on both sides right and left and can be approached straight" now follows directly on the first two pallet places. The process is continued until turning circles hit fixed obstacles or these would overlap or pallets of the occupancy pattern to be placed would protrude into travel paths or turning circles.

If this is the case, an attempt is made to continue with the next smaller occupancy pattern in the series.
If this is not possible in the row, an attempt is made to find a vertical route in the open space and to continue the process.

In 22 no further occupancy pattern can be placed in the remaining free area on the vertical driveway.

Since there is no other free space, the procedure ends with the right, left, straight, two-row horizontal occupancy pattern that can be approached from both sides with 38 pallet spaces found.

An exemplary strategy can be implemented in a layout first on the horizontal and vertical walls and then vertical rows to the horizontal driveway.

In analogy to the previous procedure, another assignment procedure can also be carried out. The process ends with 40 pallet locations found

23 and 24 shows the procedure for such an allocation pattern.

The procedure described as an example ends with 2 variants with 40 pallet spaces in the open area. In order to make a selection, it can still be determined which result has the largest drivable area, with which the strategy: assignment first on the horizontal and vertical walls and then vertical rows to the horizontal roadway wins.

The result is noted in the semantic or digital map 147 with the possible pallet positions as storage locations 210, the autonomous forklifts can now approach the free possible pallet positions. For example, a short route with regard to arrival and (future) departure and the associated pallet position for unloading can be searched for.

The method is executed in software on a control device on the forklift truck and/or the backend server of the provider of the semantic or digital map 147 map. It can be carried out particularly advantageously if the occupancy or use of areas changes or if areas are partially occupied, free pallet parking areas with sufficient turning areas and driveways are to be found.

25 FIG. 26 shows a flow diagram of an embodiment of a method 2600 for organizing a storage area of a warehouse. The method 2600 includes a step 2610 of reading in a position signal and an environment signal, the position signal representing a position of an industrial truck in the warehouse and the environment signal representing an environment of the industrial truck in the warehouse captured by a camera unit. Furthermore, the method 2600 includes a step 2620 of recognizing objects in free areas in the storage area of the warehouse using the surrounding signal. Finally, the method 2600 includes a step 2630 of creating a digital map of the warehouse, taking into account the position signal and the recognized areas free of objects as a route and/or as a storage location, to organize the storage area for handling goods.

26 shows a flowchart of a method 2700 for operating a warehouse using an industrial truck. The method 2700 includes a step 2710 of reading in a digital map of a warehouse in which identified free areas are stored as a route and/or as a storage location. Method 2700 also includes a step 2720 of transporting stored goods with the industrial truck on a free area stored as a route on the digital map and/or depositing or picking up the stored goods at a storage location stored on the digital map.

If an embodiment includes an "and/or" link between a first feature and a second feature, this should be read in such a way that the embodiment according to one embodiment includes both the first feature and the second feature and according to a further embodiment either only that having the first feature or only the second feature.

Claims (14)

A method (2600) for organizing a storage area (110) of a warehouse (115), the method (2600) comprising the following steps: - Reading in (2610) a position signal (125) and an environment signal (127), the position signal (125) representing a position of an industrial truck (100) in the warehouse (115) and the environment signal (127) representing a camera unit (130) detected surroundings of the industrial truck (100) in the warehouse (115); - Recognizing (2620) of objects (135) free areas (142) in the storage area (110) of the warehouse (115) using the environmental signal (127); and - Creation (2630) of a digital map (147) of the warehouse (115), taking into account the position signal (125) and the identified areas (142) free of objects (135) as a route (200) and/or as a storage location (210) to organize the storage area (110) for handling goods as storage goods (150). Method (2600) according to claim 1 , wherein in the step (2610) of reading in the position signal (125) is read in, which was determined using a satellite navigation system, a wireless locating unit and/or using the camera unit (130), in particular the position signal (125) in combination was determined using a digital position map of the warehouse (115), the digital position map depicting a spatial arrangement of structural infrastructure elements (215) of the warehouse (115). Method (2600) according to one of the preceding claims, in which in the step (2630) of creating a position and/or a type of at least one recognized object (135) and/or a spatial arrangement of structural infrastructure elements (215) of the warehouse (115) is stored in the digital card (147). Method (2600) according to one of the preceding claims, in which, in step (2610) of reading in, at least one industrial truck parameter (159) of the industrial truck (100), in particular a spatial dimension and/or a turning circle of the industrial truck (100), is also read in, wherein in the step (2630) of creating, the digital map (147) is created and/or stored using the at least one industrial truck parameter (159). Method (2600) according to one of the preceding claims, with a step of transmitting the created digital map (147) to a central computer unit (220) and/or to at least one further industrial truck. Method (2600) according to one of the preceding claims, wherein in the step (2610) of reading in, a package external dimension of a storage item (150) to be stored in the storage area (110) is read in, wherein further in the step (2630) of creating the digital map (147 ), in particular a storage location (210) for the stored goods (150), is created using the external dimensions of the container. Method (2600) according to claim 6 , wherein in the step of reading in at least two different alignment variants of the storage goods (150) at a storage location (210) are determined based on the external dimensions of the container, wherein in the step (2630) of creating a recognized free area (142) to be determined as a storage location (210) of the Storage area (110) is determined using one of the orientation variants and/or wherein in step (2630) of creating a sequence is defined with which the free area (142) of the storage area (110) defined as storage location (210) is to be occupied. Method (2600) according to one of the preceding claims, in which, in the step (2610) of reading in, the ambient signal (127) is read in by a camera unit (130) which has at least two independent cameras (130a, 130b) and/or which is formed is to objects (130) in a solid angle of at least 160 degrees, in particular in a solid angle of at least 270 degrees around the industrial truck (100), in particular the solid angle being made up of a number of sub-solid angles. Method (2700) for operating a warehouse (115) using an industrial truck (100), the method (2600) having the following steps: - Reading in (2710) a digital map (147) of a warehouse (115) in which recognized free areas (142) are stored as a route (200) and/or as a storage location (210); and - Outputting a control signal for transporting (2720) stored goods (150) with the industrial truck (100) on a free area (142) stored as a route (200) in the digital map (147) and/or for depositing or picking up the stored goods ( 150) in a free area (142) stored as a storage location (210) in the digital map (147). Method (2700) according to claim 9 , wherein in the step (2710) of reading in a container with external dimensions of the storage goods (150) to be stored in the storage area (110) is read in, wherein in the step (2720) of transporting using the container with external dimensions from the digital map (147) a storage location ( 210) is selected at which the stored goods (150) are picked up or set down by the industrial truck (100). Device (105, 160), which is set up to carry out the steps (2610, 2620, 2630; 2710, 2720) of one of the methods (2600, 2700) according to one of the preceding ones Claims 1 until 8th or 9 until 10 to be carried out and/or controlled in corresponding units (120, 140, 145; 165, 167). Industrial truck (100) with a device (105, 160) according to claim 11 ) In particular, wherein the industrial truck (100) is designed to drive autonomously or semi-autonomously in the warehouse (115). Computer program that is set up to carry out the steps (2610, 2620, 2630; 2710, 2720) of one of the methods (2600, 2700) according to one of the preceding ones Claims 1 until 8th or 9 until 10 execute and/or control. Machine-readable storage medium on which the computer program Claim 13 is saved.

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