EP1563319A1 - Method and system for material transport - Google Patents

Method and system for material transport

Info

Publication number
EP1563319A1
EP1563319A1 EP03779673A EP03779673A EP1563319A1 EP 1563319 A1 EP1563319 A1 EP 1563319A1 EP 03779673 A EP03779673 A EP 03779673A EP 03779673 A EP03779673 A EP 03779673A EP 1563319 A1 EP1563319 A1 EP 1563319A1
Authority
EP
European Patent Office
Prior art keywords
transport
means
data processing
material
processing device
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
EP03779673A
Other languages
German (de)
French (fr)
Inventor
Steffen Armbruster
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Primetals Technologies Germany GmbH
Original Assignee
Siemens AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority to DE10252901 priority Critical
Priority to DE2002152901 priority patent/DE10252901A1/en
Application filed by Siemens AG filed Critical Siemens AG
Priority to PCT/DE2003/003566 priority patent/WO2004044609A1/en
Publication of EP1563319A1 publication Critical patent/EP1563319A1/en
Ceased legal-status Critical Current

Links

Classifications

    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02Control of position or course in two dimensions
    • G05D1/021Control of position or course in two dimensions specially adapted to land vehicles
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B66HOISTING; LIFTING; HAULING
    • B66FHOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075Constructional features or details
    • B66F9/0755Position control; Position detectors
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/74Systems using reradiation of radio waves, e.g. secondary radar systems; Analogous systems
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/74Systems using reradiation of radio waves, e.g. secondary radar systems; Analogous systems
    • G01S13/76Systems using reradiation of radio waves, e.g. secondary radar systems; Analogous systems wherein pulse-type signals are transmitted
    • G01S13/767Responders; Transponders
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S15/00Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
    • G01S15/87Combinations of sonar systems
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/28Details of pulse systems
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02Control of position or course in two dimensions
    • G05D1/021Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0257Control of position or course in two dimensions specially adapted to land vehicles using a radar
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02Control of position or course in two dimensions
    • G05D1/021Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/0274Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/74Systems using reradiation of electromagnetic waves other than radio waves, e.g. IFF, i.e. identification of friend or foe
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2201/00Application
    • G05D2201/02Control of position of land vehicles
    • G05D2201/0216Vehicle for transporting goods in a warehouse, factory or similar

Abstract

The invention relates to a method and a system for material transport, whereby at least one mobile transport means (1) is detected by means of a detection device (12), comprising a radar or laser detecting device. Position coordinates, position angles and speed of the transport means (1) are determined by means of a reference coordinate system and transmitted to a stationary data processing device (2). A central material tracking with verification of storage location is generated by means of the data processing device (2), whereby, particularly with use of the position angle, the storage type for the material (9, 10) can be automatically determined. Operator input for the complete description of the material storage is not necessary.

Description

description

Material handling method and system

The invention relates to a method and a system for material transport in industrial plants, in particular in the basic material or paper industry, at least one mobile means of transport being recorded with the aid of at least one data processing device.

In particular in the raw materials industry, e.g. In industries in which metal or steel is processed, or in the paper industry, mobile means of transport such as forklifts or heavy-duty forklifts are used to transport materials between manufacturing and / or storage facilities. As a rule, the operators of the means of transport must manually determine the location of the material storage or reception. Incorrect entries or operating errors in particular can lead to incorrect bookings or even malfunctions and cause considerable error costs.

The object of the invention is to avoid the disadvantages described above for material transport, particularly within an industrial plant.

According to the invention, the object is achieved on the one hand by a method of the type mentioned at the outset, in which a detection device connected to the means of transport emits signals and signals are sent back from answering devices to the detection device, the detection device using at least one reference coordinate system to determine the position coordinates and the position angle of the Means of transport determined. On the other hand, the object is achieved according to the invention by a material transport system, the material transport system comprising at least one data processing device and at least one detection device for detecting at least one mobile means of transport. has, the detection device is connected to a means of transport and has means for transmitting and receiving signals, and stationary answering devices are provided, which in particular receive signals from the detection device and send signals back, with the aid of which the detection device with the aid of at least one reference coordinate system in particular current position coordinates, the position angle and preferably also the instantaneous speed of the means of transport.

The determination of position coordinates, position angle and possibly instantaneous speed is advantageously carried out in real time or almost in real time.

Advantageous further developments of the method according to the invention and of the material transport system according to the invention are specified in subclaims 2 to 11 and 13 to 21 and are described in more detail below and on the basis of exemplary embodiments.

A module for preferably automatically calibrating the position coordinates of the means of transport to a material-relevant point is advantageously provided. In this way, particularly precise material tracking is also provided for different types of material, means of transport and modes of transport.

The data processing device advantageously has a module for supplementing the position coordinates by at least one area identifier. It is furthermore expedient that the stationary data processing device has a device for providing and preferably also for verifying a bearing level with discrete storage spaces. In this way, the possibility of a material or warehouse management is provided, which enables an automatic division or eg cross-hall detection of the area environment for material transport.

The data processing device advantageously has a module for determining the type of storage of the material on the basis of the position angle. In this way, automatic recording and tracking of material and its storage type is provided without the need for operator input.

The detection device is advantageously designed as a radar device, since this ensures a particularly robust and fault-free detection of position coordinates, position angle or instantaneous speed of the means of transport.

A data processing device connected to the means of transport is advantageously connected to a device for optically displaying the transport orders or position and / or material information or preferably has such a device as a component. In this way, transport orders, warning notices and / or other kinds of notices can be made particularly easily accessible to an operator of the means of transport.

Advantages of the method according to the invention arise in particular analogously to the advantages stated with regard to the material transport system according to the invention.

Further advantages and details of the system or method according to the invention result from the following description of exemplary embodiments with reference to the drawings and in connection with the patent claims. Show it:

1 shows an exemplary representation of a material transport system according to the invention, 2 shows a schematic illustration with respect to a reference coordinate system and the position angle.

FIG. 1 shows a section of an industrial facility in which a material transport method according to the invention or a material transport system according to the invention is used. The industrial facility can be divided into different areas, e.g. divide different buildings or areas, which can also be at least partially outdoors. However, a spatial division can also be carried out based on areas assigned to one or more production or storage processes. The method and system for material transport according to the invention can be used both in connection with production, loading, storage and other facilities. The invention is explained below using the example of a warehouse which is delimited by the walls 5.

Each point of the storage facility can be clearly described by specifying its Cartesian coordinates. In the example, the storage device is divided into two areas 7a, 7b, each of which has a plurality of loading and unloading points or storage locations 8a, 8b. The storage locations 8a in the area 7a are designed such that preferably wound material 10 is stored on them. The storage spaces 8b in the area 7b, on the other hand, are preferably designed for storing sheet material 9.

By means of a mobile means of transport 1, for example by means of a heavy-duty forklift or a forklift, material 9 or 10 is moved between the storage bins 8a, 8b and loading, production or other storage facilities that are outside the boundaries 5, ie in the example outside the walls 5 , lying, transported. Means of transport used in the raw materials and paper industries are generally faster than so-called AGVs (automated guided vehicles). By means of a data processing device, preferably a stationary data processing device 2, the entire storage device 5, 7a, 7b, 8a, 8b and the material 9, 10 are imaged on a reference coordinate system with a reference point 3. In Figure 1, a single reference point is provided for the areas 7a and 7b. However, it is also possible to define a separate reference point for each of the areas. Other areas of industrial equipment are not shown in the drawings. One or more common and / or separate reference points can be provided for other areas. A mix of common and own reference points is possible.

In order to determine the position coordinates of the means of transport 1 as well as the material transported, deposited or picked up by it and the approach angle, a detection device 12 is attached to the means of transport 1. Furthermore, answering devices 6 are installed in the industrial plant, e.g. 5 transponders attached to the walls.

Mobile means of transport 1 are, for example, vehicles with a driver, such as forklift vehicles, or also automatically controlled vehicles. Transported material is, for example, paper rolls or tape material such as coils as cold or warm bundles 10 or e.g. also sheet material 9, such as sheets on stacks with pallets or, for example, split bundles on pallets.

The transport means 1 preferably has a data processing device, for example a host PC, which can be located, for example, inside the cabin of the transport means 1. This data processing device is coupled to the detection device 12, for example wirelessly or connected by cable. The data processing device of the means of transport 1 is coupled to a stationary data processing device 2 with the aid of a wireless connection 4, for example via wireless LAN, a wireless local area network. pelt. Alternatively or alternatively, the detection device 12 can preferably be wirelessly coupled to the stationary data processing device 2.

The detection device 12 advantageously has a radar module, which preferably operates in the ISM frequency band. In this case, the detection device 12 takes over the role of a base station and, according to the radar principle, targets the responders 6 attached in the area of action of the vehicle. The answer transmitters 6 are preferably designed as transponders and, for example, are designed such that they respond specifically to the base station. The responders 6 are preferably active components based on the principle of action. On the basis of several responses from one or more responders, the detection device 12 continuously determines the current position in the reference coordinate system and preferably also the airspeed or the current position angle of the means of transport 1 or of the material 9, 10. The position can alternatively also be determined using an optical system Detection device possible, the responders 6 being formed with the aid of reflective tape or similar materials. However, the position determination according to the invention based on the radar principle has proven to be particularly advantageous when used outdoors and when used in buildings with a large building length.

Figure 2 shows a means of transport 1 and a storage location 8. For different means of transport 1 and materials 9 and 10, a material receiving point can be defined, for example with regard to the tip of a mandrel in heavy-duty forklift vehicles or with regard to the center of the fork tips in forklift vehicles with a fork. The material receiving point generally does not correspond to the coordinates that the detection device 12 determines for its own position based on its installation location on the means of transport 1. The calibration of the coordinates on a material relevant point, For example, the material pick-up point is carried out automatically based on the selected means of transport or material.

The current coordinates of the means of transport 1 or of the material 9, 10 are determined with reference to the respective reference point 3. Not only the plane position coordinates x and y are taken into account, but also the height z. The height z preferably corresponds to the storage height of the material 9, 10. By detecting the instantaneous position angle γ of the means of transport 1 to the storage location, i.e. e.g. Directions from left, right, back or front determine the direction in which the material is or will be deposited. This makes it possible, for example, to determine the position of labels or, for example, to determine whether coils are stored on the left in the winding direction or on the right in the winding direction. In this way, material transports are possible without or largely without operator intervention, and this ensures that material is correctly delivered for further processing in downstream production facilities.

A complete and correct bearing mirror is made available by means of the stationary data processing device 2, in particular since, for example, operators involved in the transports do not have to enter any coordinates for the

Enter a description of where the material was picked up and / or unloaded. Transports can be controlled by means of the data processing device 12. Operators can use a data processing device connected to the means of transport 1 and means for visual representation

Transport orders, position and / or material information can be made quickly accessible. In this way, warnings of incorrect material pick-up and / or deposit due to an operating error can also be immediately displayed to the operator and corrected by the operator. If an operator deposits material incorrectly despite a warning, at least the incorrect location of the material storage is correctly registered in the system. A module is provided that supplements the position coordinates by at least one area identifier. This ensures that the method or transport system according to the invention also covers large-scale industrial facilities with different areas, a large number of limitations, extensive or complex spatial division and / or a large number of production, loading, storage and or other devices is applicable.

The method or system for material transport according to the invention enables clear verification of a storage location and the type of storage. For the first time, operator input for a complete description of material storage is no longer required.

Claims

1. A method for material transport in which at least one mobile means of transport (1) is detected with the aid of at least one data processing device, characterized in that a detection device (12) connected to the means of transport (1) emits signals and signals from responders (6) to the Detection device (12) are sent back, the detection device (12) using at least one reference coordinate system to determine the position coordinates and the position angle of the means of transport (1).
2. The method as claimed in claim 1, which also means that the instantaneous speed of the means of transport (1) is also determined.
3. The method according to any one of the preceding claims, that the position coordinates of the means of transport (1) are automatically calibrated to a material-relevant point.
4. The method according to any one of the preceding claims, that the position coordinates are supplemented by at least one area identifier.
5. The method as claimed in one of the preceding claims, that the data processing device determines the type of storage of the material from the position angle.
6. The method according to any one of the preceding claims, that the detection device (12) emits radar signals.  <Desc / Clms Page number 10>  
7. The method as claimed in one of the preceding claims, that data is transmitted between the detection device (12) and a data processing device connected to the transport means (1).
8. The method as claimed in one of the preceding claims, that data is transmitted, in particular wirelessly, between the detection device (12) and / or a data processing device connected to the means of transport (1) and a stationary data processing device (2).
9. The method according to any one of the preceding claims, so that material transport is controlled by means of the stationary data processing device (2) and with the aid of the transmitted data.
10. The method according to any one of the preceding claims, that a storage mirror with discrete storage spaces is verified and provided by means of the stationary data processing device (2) and with the aid of the transmitted data.
11. The method according to any one of the preceding claims, d a d u r c h g e k e n n z e i c h n e t that, with the aid of the data processing device connected to the means of transport (1), transport orders, position and / or material information are displayed visually.
12. Material transport system which has at least one data processing device and at least one detection device (12) for detecting at least one mobile means of transport (1), characterized in that  <Desc / Clms Page number 11>  - The detection device (12) is connected to a means of transport (1), - The detection device (12) means for sending and Receiving signals, and - that stationary responders (6) are provided, which in particular receive signals from the detection device (12) and send signals back, with the aid of which the detection device (12) with the aid of at least one Reference coordinate system the position coordinates,
 the Position angle and preferably also determined the torque speed of the means of transport (1).
13. Material transport system according to claim 12, so that the data processing device and / or the detection device (12) has a module for calibrating the position coordinates of the means of transport (1) to a material-relevant point.
14. Material transport system according to claim 12 or 13, so that the data processing device provides a module for supplementing the position coordinates by at least one area identifier.
15. Material transport system according to one of claims 12 to 14, characterized in that the data processing device has a module for determining the type of storage of the material from the position angle.
16. Material transport system according to one of claims 12 to 15, so that the detection device (12) is designed as a radar device.
17. Material transport system according to one of claims 12 to 16, d a d u r c h g e k e n n z e i c h n e t that the  <Desc / Clms Page number 12>  Detection device (12) is coupled to a data processing device connected to the transport means (1).
18. Material transport system according to one of claims 12 to 17, so that the detection device (12) and / or a data processing device connected to the means of transport (1) and a stationary data processing device (2) for transmitting data are in particular wirelessly coupled.
19. Material transport system according to one of claims 12 to 18, characterized in that the stationary data processing device (2) has a device for controlling the material transport.
20. Material transport system according to one of claims 12 to 19, so that the stationary data processing device (2) has a device for verifying and providing a storage level with discrete storage spaces.
21. Material transport system according to one of claims 12 to 20, characterized in that the data processing device connected to the transport means (1) is connected to a device for the optical representation of the transport orders, position and / or material information.
EP03779673A 2002-11-12 2003-10-27 Method and system for material transport Ceased EP1563319A1 (en)

Priority Applications (3)

Application Number Priority Date Filing Date Title
DE10252901 2002-11-12
DE2002152901 DE10252901A1 (en) 2002-11-12 2002-11-12 Multi-static sensor arrangement for object distance measurement has pulse generators receiving clock signals via common data bus to produce deterministic HF oscillator signal phase relationship
PCT/DE2003/003566 WO2004044609A1 (en) 2002-11-12 2003-10-27 Method and system for material transport

Publications (1)

Publication Number Publication Date
EP1563319A1 true EP1563319A1 (en) 2005-08-17

Family

ID=32185607

Family Applications (1)

Application Number Title Priority Date Filing Date
EP03779673A Ceased EP1563319A1 (en) 2002-11-12 2003-10-27 Method and system for material transport

Country Status (5)

Country Link
US (2) US8457776B2 (en)
EP (1) EP1563319A1 (en)
CN (1) CN100405382C (en)
DE (1) DE10252901A1 (en)
WO (1) WO2004044609A1 (en)

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Also Published As

Publication number Publication date
CN1711484A (en) 2005-12-21
DE10252901A1 (en) 2004-05-27
US8457776B2 (en) 2013-06-04
US20130245878A1 (en) 2013-09-19
WO2004044609A1 (en) 2004-05-27
US20060104800A1 (en) 2006-05-18
CN100405382C (en) 2008-07-23

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