DE112019005557T5 - Electronic pallet with electromagnet and method of controlling the operation of the electromagnet - Google Patents

Abstract

The present description relates to techniques related to vehicles and an electronic pallet for transporting items thereon. According to a first embodiment, the description relates to an electronic pallet (90) which is set up to be loaded onto a vehicle (1). The electronic pallet (90) has an electromagnet (92), an energy storage device (95) and a control device (96). When activated, the electromagnet (92) is designed to exert a magnetic force on a surface (2) which contains ferromagnetic material, the electronic pallet (90) being deposited on the surface (2). The energy storage device (95) is set up to supply energy for activating the electromagnet (92) and the control device (96) is set up to control the activation of the electromagnet (92). The description also relates to a corresponding method and a computer program for carrying out the proposed method.

Description

TECHNICAL AREA

The present description relates to vehicle-related techniques and an electronic pallet for transporting stacked items. The description also relates to a corresponding method, a computer program and a computer program product for carrying out the proposed method.

BACKGROUND

When transporting with vehicles, pallets are usually used to move goods from place to place (e.g. from a warehouse to shops). If a desired amount of goods is deposited or stacked on the pallet, a forklift, a hand winch or other device is usually pushed under and / or through the pallet in such a way that the pallet can be lifted vertically from the floor. When raised, the pallet and the products stacked on it can be transported to a storage area in a warehouse, loaded onto a truck for distribution of the goods, or moved to another location, depending on the task at hand. The use of pallets enables a wide variety of products to be easily moved and stored in groups to improve the effectiveness of shipping and transport.

During transport, pallets usually have to be secured on the transporting vehicle. This is conventionally done by using tapes, elastic film or shrink film, each of which requires manual labor, for example on the part of a driver. With the increasing use of autonomous vehicles, however, situations arise in which no driver can secure the pallets on the vehicle by hand. In the technical area of transportation, other methods of securing pallets to a vehicle have been proposed. For example, describes the DE 10 2007 018 908 A1 a method in which loaded objects and / or at least one carrier for objects are held or is held in the cargo space by magnetic force. According to the DE 10 2007 018 908 A1 Magnetic power sources are integrated in the cargo space to generate the magnetic forces. However, there will be an increased need for the type of securing of a load during transport.

Furthermore, loss of goods due to theft during transportation by vehicles is a known problem because pallets can be unloaded relatively easily using a forklift or the like. If there is no driver present to prevent theft, further measures are required to prevent theft.

SHORT DESCRIPTION

It is an aim of the description to mitigate at least some of the disadvantages of the prior art. Thus, one aim is to provide a solution which prevents a pallet loaded on a vehicle from being moved undesirably during transport, with less effort being required on the part of a driver, for example. Furthermore, an aim of some embodiments is to provide a solution that prevents an electronic pallet from being stolen.

According to a first embodiment, this description relates to an electronic pallet which is adapted to be loaded onto a vehicle. The electronic pallet has an electromagnet, an energy storage device and a control device. When activated, the electromagnet is configured to apply a magnetic force to a surface which has a ferromagnetic material, the electronic pallet being arranged on the surface. The energy storage device is set up to supply energy that is required to activate the electromagnet and the control device is set up to control the activation of the electromagnet. In this way, the electronic pallet can be held on the surface on which it is arranged in order, for example, to prevent the electronic pallet from moving during transport.

In some exemplary embodiments, the control device is designed to control the strength and / or the direction of the magnetic force. The magnetic force can thus be used for various purposes, for example to facilitate the loading process, to secure the electronic pallet during transport or to prevent theft. Furthermore, energy can be saved, since the force can be adapted to the respective circumstances.

In some exemplary embodiments, the control device is configured to control the electromagnet to generate a force which holds the electronic pallet on the surface. This means that the electronic pallet can be secured on the vehicle during transport or it can be secured on a floor when it is stored in order to prevent theft.

In some exemplary embodiments, the control device is configured to control the electromagnet to generate a force which tends to lift the electronic pallet from the surface. This will move the pallet relieved as the force can assist in lifting and moving the pallet.

In some exemplary embodiments, the control device is configured to receive control data from a remote device and to control the activation of the electromagnet in accordance with the received control data. A user, such as a driver, can thus control the electromagnet (e.g. by using a user-side connection (terminal)) in order to achieve the effects mentioned above and below.

In some exemplary embodiments, the control data includes driving status data indicating the driving status of the vehicle in which the electronic pallet is loaded. In this way, the force generated by the electromagnet can be automatically adapted to the driving situation.

In some exemplary embodiments, the control device is set up to hold the electronic pallet on the surface when the driving status data indicate a turning maneuver, an acceleration, a deceleration and / or a suspension status which exceeds a respectively predetermined threshold value. In this way, undesired movement of the electronic pallet during transport can be avoided.

According to a second embodiment, this description relates to a corresponding method which is carried out by a control device in an electronic pallet, the latter can be loaded onto a vehicle, and which has an electromagnet which is set up to apply a magnetic force to a surface when activated, which contains a ferromagnetic material, the electronic pallet being arranged on this surface. The method includes receiving control data and controlling activation of the electromagnet in accordance with the control data.

In some embodiments, the method includes controlling the strength of the magnetic force and / or the direction of the magnetic force.

In some embodiments, the method includes controlling the electromagnet to generate a force that holds the electronic pallet on the surface.

In some embodiments, the method includes controlling the electromagnet to generate a force that urges the electronic pallet away from the ferromagnetic material.

In some exemplary embodiments, the control data include driving status data which indicate a driving status of the vehicle on which the electronic pallet is loaded, the method including a control of the activation of the electromagnet in accordance with the driving status data.

In some exemplary embodiments, the method is set up to hold the electronic pallet on the surface when the driving state data indicate a rotation, an acceleration, a deceleration and / or a suspension state which correspond to a respectively predetermined threshold value.

According to a third embodiment, this description relates to a computer program with instructions which, when the program runs in a computer, cause the computer to carry out a method according to the second embodiment.

According to a fourth embodiment, this description relates to a computer-readable medium with instructions which, when executed by a computer, cause the computer to carry out a method according to the second embodiment.

Figure list

• 1 shows a vehicle carrying an electronic pallet.
• 2 shows an electronic palette.
• 3 shows a control device which is set up to implement the proposed method with further details.
• 4th shows a flow chart for a method which is carried out by a control device in an electronic pallet.

DESCRIPTION OF DETAILS

An "electronic pallet" here refers to a pallet that can not only support objects, but can also have other features, e.g. can carry communication information relating to the objects on the pallet. An electronic pallet typically has an energy store, such as a battery. The battery powers electronic circuits of the electronic pallet so that the electronic pallet can send and receive signals with a transmitter or a receiver.

The present description relates to an electronic pallet which can also secure itself on a surface on which it is placed, for example on the floor of a loading space of a commercial vehicle. In particular, this specification proposes an electronic pallet with an electromagnet that applies a magnetic force to a surface containing a ferromagnetic material. the electromagnetic force can be controlled in such a way that the electronic pallet is secured during transport on the vehicle and the force is released when the vehicle is unloaded. The magnetic force can also be used to facilitate the loading and unloading of the pallet. The proposed technique will now be described in more detail with reference to the figures.

1 shows a vehicle, here a truck, on which an electronic pallet is placed 90 with goods 70 is loaded. A vehicle usually transports a plurality of pallets, but for the sake of simplicity only one pallet is described in more detail here as an example. The vehicle 1 is realized here by a vice, however, it goes without saying that the electronic pallet 90 can also be deposited on any suitable vehicle, be it with or without a driver. The vehicle 1 can be operated autonomously or remotely. In other words, it doesn't need a driver. An autonomous vehicle, for example, is controlled by a system that is not on board, which instructs the vehicle to carry out certain tasks. One task is, for example, driving on a route between a first position and a second position.

The vehicle 1 has a variety of electronic systems and subsystems. For simplicity, in 1 only some components of the vehicle 1 associated with the technique proposed here. So the vehicle has 1 according to 1 an electric motor 21 , an energy storage device 22nd and a control unit 20th .

The electric motor 21 is set up to propel the vehicle 1 and, if necessary, also to slow it down. The energy storage device 22nd is set up to supply the electric motor 21 with electricity.

The control unit 20th (an electrical control unit, ECU) is essentially a digital computer that controls one or more electrical systems of the vehicle 1 controls, for example, according to information that is read out by sensors and devices, the various components and locations of the vehicle 1 are arranged. ECU is a general term for a control unit that is used in vehicle electronics for any embedded systems for controlling one or more functions of the respective electrical system or subsystem in a transport vehicle.

The control unit 20th according to 1 is set up to control the load of the vehicle 1 .

The control unit 20th has one or more communication interfaces. Typically the control unit 20th an interface, for example an area control network, CAN, which is used to carry out communication between different control units in the vehicle 1 . The CAN uses a message-based protocol. There are often several connected CAN networks in the vehicle 1 arranged.

In some embodiments, the control unit has 20th also an interface which is set up for communication with the electronic pallet 90 . For example, the electronic pallet leads 90 when loading (onto the vehicle) an initial communication ("hand-shake") with the control unit 20th of the vehicle. Energy can then be passed between the vehicle 1 and the electronic pallet 90 be exchanged, for example via an inductive interface (not shown).

2 shows the electronic palette 90 with more details. The electronic palette 90 has a structural frame 91 , which enables the handling and storage of goods. The electronic palette 90 is set up on a vehicle 1 to be loaded. The structural frame 91 is usually made of wood, but can also be made of plastic, metal, paper and / or other materials. Wooden pallets usually have three or four beams that support several boards on which objects can be placed. Other constructions are possible and the technique proposed here can generally be used with any type of electronic pallet 90 . That is why when displaying the electronic palette 90 according to 2 the structural frame 91 only general.

The electronic palette 90 has an electromagnet 92 , Fork openings 94 , an energy storage device 95 and a controller 96 .

The electromagnet 92 typically has a coil of wire wrapped around an iron core. In some embodiments, the solenoid is 92 composed of several coils, which over the structural frame 91 are distributed. The strength of the generated magnetic force increases with the strength of the current flowing through the wire. The strength of the generated magnetic field can also be varied with the iron core. The electromagnet 92 is arranged in such a way that when activated, the generated magnetic field creates a vertical magnetic force on the surface 2 generated on which the electronic pallet 90 is turned off, provided that the surface 2 contains a ferromagnetic material. For example, the electromagnet 92 into the structural frame 91 integrated. On the other hand, the Electromagnet 92 also in cavities in the structural frame 91 be arranged. In some embodiments, the solenoid is 92 in the lower part of the structural frame 91 positioned. For example, it is arranged so that it is flush with the surface 2 comes into contact or within a predetermined distance (e.g. 5 mm) from the surface 2 lies. If the electromagnet is at a distance from the surface that is greater than a predetermined distance, an extension pole can be used to expand the magnetic field in the direction of the surface. In other words: the electromagnet 92 can be at a greater distance from the surface 2 be placed when an extension pole between the electromagnet 92 and the surface 2 is positioned. The extension pole can then be arranged so that it is in contact with the surface 2 comes or within a specified distance (e.g. 5 mm) to the surface 2 lies. The electromagnet 92 is usually arranged in such a way that no further components, for example the energy storage device 95 or other metal parts, the magnetic field between the electromagnet 92 and the surface 2 shield.

In other words: the electromagnet 92 is arranged so that when activated, a magnetic force is applied to a surface 2 with ferromagnetic material is applied, the electronic pallet 90 on the surface 2 is arranged. In some embodiments, a magnetic force is also (or otherwise) applied to the wall of the hold where the electronic pallet is placed 90 is discontinued.

The energy storage device 95 is for example a battery. The energy storage device 95 is set up various components of the electronic range 90 to be supplied with electricity. In particular, the energy storage device 95 set up to provide the energy that is required to the electromagnet 92 to activate (put into operation). Thus, the energy storage device 95 usually connected or connectable to the electromagnet. In particular, the energy storage device is set up, the coil of the electromagnet 92 to be supplied with electricity. In some embodiments, the energy storage device is 95 also set up with the vehicle 1 Exchange energy.

The control device 96 is arranged to control the operation of the electronic pallet 90 and its components. 3 shows the control device 96 with their details. In some exemplary embodiments, it is the control device 96 about a "unit" in the functional sense. Thus, in some exemplary embodiments, it is the control device 96 a control circuit with several physical control units that work together. The control device 96 includes hardware and software. The hardware essentially has various electronic components on a printed circuit board, PCB. The most important of these components is usually a processor 961 , e.g. a microprocessor, together with a memory 962 , e.g. an EPROM or a flash memory chip. The software is usually written in a low-level programming language and runs in the microcontroller. The control device 96 is usually arranged to control the operation of the electronic pallet 90 by running the computer program (which is in the memory 962 is stored) in the processor 961 the control device 96 . In general, the controller is 96 set up to carry out all steps of the in connection with 4th described procedure.

In some embodiments, the controller has 96 a first communication interface 963a that is set up to communicate with a vehicle 1 on which the electronic pallet 90 is loaded. The first communication interface is set up, for example, for near-field communication, NFC, Bluetooth, WiFi. In some embodiments, the controller is 96 set up to send a deactivation signal to the vehicle 1 (a control device 20th same) using the first communication interface 963a , according to the determined distance.

In some embodiments, the controller has 96 a second communication interface 963b configured to communicate with an external device, such as an off-board system. The first communication interface is implemented, for example, according to 2G, 3G, 4G and the control device 96 is set up to send a warning to an external device via the second communication interface 963b according to the determined distance. In some exemplary embodiments, the second communication interface is integrated into or the same as the first communication interface.

Furthermore, the control device 96 - more precisely: the processor 961 the control device 96 - arranged to control the activation (operation) of the electromagnet 92 according to the tax data. The control data can be digital or analog. In particular, the control device 96 set up to control the by the electromagnet 92 flowing stream. For example, the control device sends 96 Data to a control device (not shown) which is set up to adjust the to the electromagnet 92 supplied electricity.

The magnetic force can be adjusted in different ways. For example, by changing the direction of the current flowing through the coil, whereby the magnetic force can be reversed. In other words, in some embodiments, the controller is 96 set up to adjust the direction of the magnetic force.

If a strong current is supplied, a strong force can be generated, which is basically the electronic palette 90 can lock on the floor. In other words: the electronic range can do power 90 prevent them from moving (for example, sliding or swinging) with respect to the surface 2 considered. In other words, in some embodiments, the controller is 96 set up the electromagnet 92 to control so that a force is generated which the electronic palette 90 on the surface 2 holds.

If the direction of the current is reversed, the force will instead lift the electronic pallet 90 opposite the surface 2 . This can make the pallet easier to move because of the friction between the electronic pallet 90 and the surface 2 is decreased. In other words, in some embodiments, the controller is 96 set up the electromagnet 92 to control so that a force is generated which the electronic palette 90 from the surface 2 pushes away.

In some embodiments, the controller is 96 arranged to control the strength of the magnetic force. Since electricity is required to generate the magnetic force, the aim should be to activate the magnetic force only when it is required. Thus, the strength and dimensions of the magnetic force can be adjusted so as not to use up battery charge unnecessarily. This is done, for example, by controlling the strength of the solenoid through the coil 92 flowing stream. The stronger the current, the greater the force and the more power is required.

In some embodiments, the controller is 96 arranged to receive control data from a remote device and to control activation of the solenoid 92 according to the received control data. For example, the control device receives 96 Control data from the vehicle on which it is loaded using the communication interface 963a . In some exemplary embodiments, the control data contain driving status data that describe the driving behavior of the vehicle 1 specify.

On the other hand, or likewise, the control device receives 96 Control data from another remote device, such as a user's device. The user's device can be a so-called software application (“application”) installed in a personal computer or in a so-called smartphone, or it can also be any other control device.

Receives the controller 96 Control data with driving status data, then the force generated by the electromagnet can be automatically adjusted according to the driving conditions. This allows the force to be increased in situations in which it would otherwise be likely (or possible) that the electronic range 90 on the surface 2 slips. In some embodiments, the controller is 96 set up the electronic range 90 to keep on the surface when the driving condition data indicate a turning maneuver, an acceleration, a deceleration and / or a suspension condition that meet a predetermined threshold value.

The proposed technique will now be described in more detail with reference to the flow chart of FIG 3 described in more detail. 3 shows a flowchart for a method which is carried out by a control device 96 in an electronic pallet 90 is executed, which is set up on a vehicle 1 to be charged and which an electromagnet 92 which is set up when activated, a magnetic force on a surface 2 exercise that contains ferromagnetic material, being on the surface 2 the electronic palette 90 is arranged, for example according to the in 1 shown vehicle. The method can be performed when the electronic pallet is with the vehicle 1 is transported (ie loaded onto the vehicle). In other words, the procedure is carried out when the electronic pallet 90 on the vehicle 1 is loaded for the transport of objects 70 ( 1 ). In some exemplary embodiments, there is an electrical and / or wireless connection between the electronic pallet 90 and the vehicle 1 when loading the pallet. On the other hand, the method can also be carried out when the electronic pallet 90 for example, is stored in a warehouse.

The method is usually implemented with a computer program which contains instructions which, when the program is running in a computer, cause the computer to carry out the method. According to some exemplary embodiments, the computer program is stored in a computer-readable medium which contains instructions which, when executed by the computer, cause the computer to execute the method.

In some embodiments, the electronic pallet 90 controlled by an external device, such as a user (e.g. the driver), by a vehicle 1 or by one not on board current system. However, it may be desirable not to use just any person to use the electronic pallet or the one with the electromagnet 92 to control generated force. Thus, some type of authentication that verifies that the external device is authorized is typically required. In other words: in some exemplary embodiments, the method includes an authentication SO of the external device. This is implemented, for example, by generally known methods, such as the exchange of reliability information or by encrypted data.

The process then includes extraction S1 of tax data. For example, control data indicate or define how the solenoid is controlled 92 is obtained through the external facility. The control data can come from the external device, for example from a vehicle 1 on which the electronic pallet 90 is charged, received from a user connection or from a system not located on board. The control data from internal components, such as sensors in the electronic pallet 90 to be received.

The method also includes the control S2 the activation of the electromagnet 92 based on the tax data. Thus, the force generated by the electromagnet is controlled for the various purposes as described above.

In some embodiments, the controller includes S2 a control of the strength of the magnetic force and / or the direction of the magnetic force. In some exemplary embodiments, the control data are, for example, sensor data. For example data relating to a speed or acceleration of the vehicle 1 specify which one is transporting the electronic pallet. The control then includes an analysis and evaluation of the control data and a determination of the magnetic force according to the control data.

On the other hand, the control data can directly indicate a magnitude and / or a direction of the magnetic force and the control S2 involves controlling the magnetic force accordingly.

In some embodiments, the controller includes S2 a control of the electromagnet 92 to generate a force which the electronic palette 90 holds on the surface. In other words, the power holds the electronic palette 90 in the same place on the surface. In some embodiments, the controller includes S2 a control of the electromagnet 92 to generate a force which the electronic palette 90 seeks to increase compared to the ferromagnetic material.

In some embodiments, the controller includes S2 a control of the electromagnet 92 to hold the electronic pallet 90 on the surface when the driving condition data indicate a rotation, an acceleration, a deceleration and / or a suspension condition which fulfills (exceeds) a respectively predetermined threshold value. The predefined threshold value is determined in each case for driving states in which there is a probability that the electronic pallet 90 begins to slide or move due to the forces generated during travel. The magnetic force is then used to avoid such movements.

Another possibility is the detection of a fault in the vehicle 1 . For example, the suspension (suspension) can be defective, which can result in vibrations that cause the electronic pallet 90 moves. In such a situation, a force can be generated to prevent this.

Another possibility is for the control data to show events in the area. For example, an accident (or an increased risk of an accident) nearby can result in the electronic pallet 90 on the surface 2 locked.

In certain situations, the magnetic force can be used to prevent theft. Will the electronic range 90 on a ferromagnetic surface in a vehicle 1 deposited or in a warehouse, then the electromagnet can be activated to prevent theft. This can be done by the driver authorized for this purpose or by a system that is not on board. In some exemplary embodiments, such a blockage is triggered by a burglar alarm. For example, if a burglar alarm is triggered, the electronic pallet is 90 controlled for a self-locking on the surface 2 so that it can no longer be moved. In systems with autonomous vehicles where there is no driver, this can be very useful as there is no driver present to prevent the theft. Then the electronic pallet can only be released from the surface by an authorized facility. With this the electromagnet can 92 also serve as theft protection.

The terms used in the description of the exemplary embodiments shown in the accompanying figures do not restrict the method described, nor do the control arrangement and the computer program. Various changes, substitutes and / or alterations are possible without the scope of To leave embodiments of the invention as defined in the accompanying claims.

The term "or" as used here is to be understood in the sense of a mathematical OR, i.e. as an inclusive relationship, not in the sense of a mathematically exclusive OR, unless expressly stated otherwise. The singular forms “a”, “one” and “der, die, das” are to be understood as “at least one ...”, meaning the possibility that several of the characteristics of the same kind are present, unless expressly otherwise detected. Furthermore, the terms “contains”, “has”, “containing” and / or “having” mean that the respectively mentioned features, actions, sizes, steps, measures, elements and / or components are given, but not the presence additional characteristics, actions, sizes, steps, measures, elements, components and / or groups thereof is excluded. A single unit, such as a processor, can perform the functions of several features recited in the claims.

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

• DE 102007018908 A1 [0003]

Claims (15)

Electronic pallet (90), set up for loading onto a vehicle (1), the electronic pallet (90) comprising: - an electromagnet (92) which is set up, when activated, to cause a magnetic force to act on a surface (2) which contains ferromagnetic material, the electronic pallet (90) being arranged on the surface (2), - An energy storage device (95) which is set up to supply energy that is required for activating the electromagnet (92), and - A control device (96) which is set up to control the activation of the electromagnet (92). Electronic pallet (90) according to Claim 1 wherein the control device (96) is set up to control the magnitude and / or the direction of the magnetic force. Electronic pallet (90) according to one of the preceding claims, wherein the control device (96) is configured to control the electromagnet (92) to generate a force which holds the electronic pallet (90) on the surface (2). Electronic pallet (90) according to one of the preceding claims, wherein the control device (96) is configured to control the electromagnet (92) to generate a force which pushes the electronic pallet (90) away from the surface (2). Electronic pallet (90) according to one of the preceding claims, wherein the control device (96) is configured to receive control data from a remote device and to control the activation of the electromagnet (92) on the basis of the received control data. Electronic pallet (90) according to one of the preceding claims, wherein the control data include driving status data which indicate a driving status of the vehicle (1) in which the electronic pallet (90) is loaded. Electronic pallet (90) according to Claim 6 , wherein the control device (96) is set up to hold the electronic pallet (90) on the surface when the driving status data indicate a turnaround, an acceleration, a deceleration and / or a suspension status which meet a respectively assigned predetermined threshold value. Method carried out by a control device (96) in an electronic pallet (90) which can be charged onto a vehicle (1) and contains an electromagnet (92) which is set up to exert a magnetic force on a surface (2) when activated, which contains a ferromagnetic material, wherein the electronic pallet (90) is arranged on the surface (2) and wherein the method comprises: - an acquisition (S1) of control data, and - A control (S2) of the activation of the electromagnet (92) in accordance with the control data. Procedure according to Claim 8 including controlling the magnitude of the magnetic force and / or the direction of the magnetic force. Method according to one of the Claims 8 until 9 including a controller of the electromagnet (92) for generating a force holding the electronic pallet (90) on the surface. Method according to one of the Claims 8 until 10 and including a controller of the electromagnet (92) for generating a force urging the electronic pallet (90) away from the ferromagnetic material. Method according to one of the Claims 8 until 11 wherein the control data includes driving state data indicating a driving state of the vehicle (1) in which the electronic pallet (90) is loaded, and wherein the method includes a control (S2) of the activation of the electromagnet (92) in accordance with the control data. Method according to one of the Claims 8 until 12th , a control of the electromagnet (92) including for holding the electronic pallet (90) on the surface when the driving condition data indicate a change of direction, an acceleration, a deceleration and / or a suspension condition which meet a respectively assigned predetermined threshold value. Computer program with instructions which, when run in a computer, cause the process according to one of the Claims 9 until 13th to execute. Computer-readable storage medium with instructions which, when executed by a computer, cause the computer to perform the method according to one of the Claims 9 until 13th to execute.

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