EP2468678A1 - Chariot de manutention équipé d'un capteur pour détecter l'environnement spatial et procédé de fonctionnement d'un tel chariot de manutention - Google Patents

Chariot de manutention équipé d'un capteur pour détecter l'environnement spatial et procédé de fonctionnement d'un tel chariot de manutention Download PDF

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Publication number
EP2468678A1
EP2468678A1 EP11010035A EP11010035A EP2468678A1 EP 2468678 A1 EP2468678 A1 EP 2468678A1 EP 11010035 A EP11010035 A EP 11010035A EP 11010035 A EP11010035 A EP 11010035A EP 2468678 A1 EP2468678 A1 EP 2468678A1
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EP
European Patent Office
Prior art keywords
load
storage
sensor
forks
camera system
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.)
Granted
Application number
EP11010035A
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German (de)
English (en)
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EP2468678B1 (fr
Inventor
Jonni Verch
Ernst-Peter Magens
Frank Mänken
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Jungheinrich AG
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Jungheinrich AG
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Publication of EP2468678A1 publication Critical patent/EP2468678A1/fr
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, 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
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices 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
    • B66F9/075—Constructional features or details
    • B66F9/0755—Position control; Position detectors

Definitions

  • the invention relates to an industrial truck with a mast, on which a load carrying means with two forks is guided adjustable in height, arranged on the load supporting means sensor for detecting a spatial environment and an evaluation, which is designed to support a storage process from the detected by the sensor Data to determine a storage position, and a method for operating such a truck.
  • the use of a video camera has become known in the field of load carrying means whose image of the operator is displayed on a monitor.
  • the operator evaluates the video image and operates the vehicle in such a way that when stored the pallet above the shelf support collision-free deposited in the shelf and can be inserted without collision in the entry opening of the pallet during the removal of the fork.
  • Another known concept provides for fully automatic storage or retrieval with inductively or mechanically positively driven high-bay stackers. Due to the forced operation, the distance of the forks or the pallet to the shelf is kept constant within small tolerances.
  • the pallet is picked up or released laterally, transversely to the vehicle longitudinal direction, by special load-carrying means, for example swiveling push or telescopic forks.
  • the lateral alignment, in the direction of travel, is carried out with the aid of expensive displacement measuring devices and, if necessary, additional markings at the storage locations and corresponding sensors on the vehicle.
  • one-stack direction here transverse to the direction of travel can be worked with fixed displacement paths, since the distance of the vehicle to the shelf and the pallet length are known and constant.
  • a prerequisite for such concepts is a complex system consisting of both vehicle components and stationary components.
  • a manual stacking of pallets must be reliably prevented because otherwise can not be ensured that the pallets are positioned within the allowable tolerances.
  • Such a fully automatic system is thus costly in purchase and operation and still not very flexible.
  • the truck according to the invention has a mast on which a load carrying means with two forks is guided adjustable in height, arranged on the load supporting means sensor for detecting a spatial environment and an evaluation unit which is adapted to support a storage operation from the data collected by the sensor one Determine storage position.
  • the sensor has a time-of-flight camera system with a light source, a light sensor and a light entry opening, wherein at least the light entry opening is arranged in the region of a tip of one of the fork tines.
  • a time-of-flight camera system has a light source and a light sensor, wherein the light source transmits modulated, in particular pulsed, light which, after reflection from the objects in the image field, passes through a light entrance opening or the light entry opening onto a plurality of image points of the light sensor the rule are arranged like a matrix, impinges and is detected.
  • the light source transmits modulated, in particular pulsed, light which, after reflection from the objects in the image field, passes through a light entrance opening or the light entry opening onto a plurality of image points of the light sensor the rule are arranged like a matrix, impinges and is detected.
  • transit time differences of the light are evaluated, so that each pixel can be assigned a value for the distance of the object. Since the optical properties of the system are known, the position of an object detected by each pixel in space can be determined in all three spatial directions. With the time-of-flight camera system, therefore, a three-dimensional "vision" of the spatial area in the direction of the camera system is possible
  • the spatial image of the environment is always determined based on the location of the light sensor or the light entrance opening, so that by arranging the light entry opening in the region of a tip of one of the forks the immediate Environment of the fork tip, which is crucial for a collision-free storage and retrieval of loads, is detected particularly accurately.
  • a further advantage of the invention is that the image of the environment detected by the time-of-flight camera system provides a better basis for an automated evaluation of the image data than the use of a laser scanner proposed in the prior art, which additionally only provides data on individual observation planes detected.
  • the loading or unloading process can be optimally supported based on the data provided by the time-of-flight camera system.
  • At least the light entrance opening of the time-of-flight camera system is arranged in the region of a tip of one of the fork tines.
  • the associated light source and the light sensor can also be arranged in this area, in particular when using a camera system, are combined in the light source and light sensor to form a unit.
  • the light source may be arranged at a distance from the light sensor / the light entry opening, for example in the region of the tip of the other fork tine. This makes it possible to distribute the camera system on two particularly compact units, which can be accommodated more easily in the area of the forks.
  • the light sensor and / or the light source and / or the light entry opening is arranged in a recess of a fork tine tip.
  • Light sensor and / or light source and / or light inlet opening can be arranged so that they do not project beyond a contour of the fork tine at any point, whereby they are reliably protected from damage.
  • an arrangement behind a transparent window for the light used is also possible. As a result, in particular the light sensor or the light source is additionally present Damage protected.
  • light sensor and / or light source and / or light entrance opening not only in a recess of a fork tip, so in other words integrated into the fork tine itself, but also laterally or below the actual fork tip, where they are protected by a suitable housing or other protective Structures, for example in the form of adjacent reinforcing ribs, can be protected from damage.
  • a light sensor and / or a light source and / or a light inlet opening of a time-of-flight camera system is arranged in the region of each of the two tips of the forks, the fields of view are each directed obliquely outward from the.
  • the industrial truck has a display unit which is connected to the evaluation unit and is designed to display one or more of the following instructions to an operator as a function of a current position of the load carrier in relation to a detected storage position: raise or lower load carrier, Move the load support to the right or left, turn the load support around a vertical axis to the left or right, tilt the load support up or down from the horizontal, move the load support longitudinally from the rear or the back.
  • the indicated displays can be illustrated in particular by graphic symbols which simplify the detection of the respective instruction.
  • the instruction to Slope of the load bearing means may refer as usual to a slope of the mast with the load supporting means.
  • the instruction to rotate the load bearing means about a vertical axis may refer to a rotation of the entire truck with the load bearing means.
  • the instruction to move the load carrier to or from the rear may refer to movement of the entire truck with mast and load carrier or the mast with the load carrier.
  • Required rotation of the load bearing means about a vertical axis to the left or to the right, that is viewed from above in a clockwise or counterclockwise direction may, for example, be based on a front edge of the storage position detected by the camera system. It can be determined when the edge has a non-90 ° angle to a longitudinal direction of the load bearing means.
  • a required inclination of the load supporting means relative to the horizontal upwards or downwards that is a raising or lowering of the tips of the forks relative to the rear ends, in particular by means of a tilt sensor, which is arranged on the load supporting means and the measurement of an inclination of the forks relative to the Horizontal measures, be determined.
  • the tilt sensor may be connected to the display unit for this purpose. All of the aforementioned instructions or information displayed by the display system assist an operator in collision-free loading or unloading of a load.
  • the evaluation unit is spatially integrated into the time-of-flight camera system. This allows a particularly compact design. Retrofitting a conventional truck may also be easier.
  • the storage position which is determined based on the signals from the time-of-flight camera system, may be, for example, a parking space for a pallet on a shelf.
  • the storage position is then characterized by a horizontally extending support for the pallet, for example comprising one or more cross members, and vertical shelf posts defining the storage position on one or both sides.
  • a retraction position may consist in particular of the receptacles of a pallet into which the forks are moved. It has a defined and clearly defined position, which must be driven in with a fork to raise the pallet.
  • the determination of the storage or retraction position by means of methods of pattern recognition, wherein predefined geometric features of the storage positions or the loads to be absorbed are detected in the provided by the time-of-flight camera system data.
  • pallets have standardized dimensions and receptacles for the forks in defined areas that give a characteristic pattern.
  • these can be recognized in the acquired data and thus the storage or retraction positions or positions of the loads themselves can be determined.
  • the data collected by the time-of-flight camera system provides a particularly suitable basis for such pattern recognition methods.
  • an operator is presented with one or more of the following instructions in response to a current position of the load support relative to the sensed storage or retraction position: raise or lower load support, move load support to the right or left, load support means about a vertical axis to the left or turn right, tilt the load support up or down from the horizontal, move the load support longitudinally forward or backward.
  • the movement of the load carrying means is partially automatic, wherein an operator agrees to individual movement steps and the respective movement step is then carried out automatically without further user interaction.
  • the consent is given, for example, by pressing an enabling button.
  • the system automatically engages in the control of the movement of the load supporting means, wherein for individual movement steps in each case a prior consent of the operator is required. This procedure can lead to further rationalization of the stacking or unstacking operation, with the operator retaining the possibility of intervening, if necessary, before each movement step.
  • the movement of the load carrying means is fully automatic, wherein after a rough positioning of the truck and / or the load supporting means by an operator moving the load supporting means to the determined storage or retraction position and the recording or discontinuation of the load by agreement of the operator without further user interaction takes place.
  • the consent is given, for example, by pressing an enabling button.
  • the enabling button can be kept permanently depressed during the automatic movement sequences, so that the movement sequences can be interrupted at any time by releasing the button.
  • the system of the operator from further operating steps, which can lead to further rationalization.
  • a deposit and a removal process distinguished, in particular, the storage of a load is automatically prevented or a warning is displayed when the presence of a load is detected in the storage space in question.
  • An automatic differentiation between storage and retrieval processes is also useful in order to search in the evaluation of the signals of the camera system selectively either for a storage position or for a retraction position and / or the operator on a display unit only relevant to the process or information To give instructions.
  • a marking with a predetermined geometric shape is mounted on a shelf, which is automatically detected by the evaluation and used to determine a storage position.
  • the marking can be cuboid with defined dimensions, for example.
  • the recognition of the marking in the data captured by the camera system can be done, for example, with methods of pattern recognition. By such a mark the recognition of a storage position can be simplified and the accuracy of the position detection can be improved.
  • FIG. 1 shows an inventive truck, shown here by way of example as a counterbalance truck, which is equipped with an assistance system for storage and retrieval of pallets, in a side view.
  • the vehicle 1 consists of the main body 2 with front and rear axles, from the mast 3 rotatably mounted thereon, on which a load carriage 12 is guided vertically displaceable, and designated with 9 driver station module, which is mounted on the base vehicle 2 and the operator station 8 for contains the driver.
  • Attached to the load carriage 12 are two forks 4, at least one of which near the tip of the fork has a time-of-flight camera system 5, which is arranged, including its light entry opening, laterally next to the fork tine or in a corresponding recess within the fork tip.
  • an evaluation unit 6 can be seen, which can be integrated in the time-of-flight camera system or, as shown, can be separately attached to the mast 3, for example.
  • the time-of-flight camera system 5 is electrically connected to the evaluation unit 6 in the case of a separate arrangement for supplying voltage and for exchanging signals.
  • a display and control unit 7 is mounted for communication with the operator, which is also electrically connected to the evaluation unit 6 or in integrated construction with the time-of-flight camera system 5.
  • the beam path of the time-of-flight camera system 5 is indicated by the arrows 10.
  • a sensor is designated, which determines the inclination of the forks 4. If the forks are only height-adjustable with respect to the mast 3, this sensor 13 may be attached to the mast 3, the forks are 4 tilted relative to the mast 3, the sensor 13 should be attached to the load carriage 12.
  • a measuring device 14 for determining the lifting height of the forks 4 is provided.
  • FIG. 2 shows a plan view of the forks 4 and the load carriage 12, the remaining components of the truck are not shown.
  • the dashed-drawn time-of-flight camera system 5 is arranged centrally in the lower fork tine 4, for example, in its tip. Since the forks 4 and in particular their tips are exposed to high mechanical stresses in daily use, it makes sense to integrate the time-of-flight camera system 5 in the fork 4, so that it does not dominate the contour of the fork tip at any point. For this purpose, a corresponding cavity or recess can be inserted flush in this part of the fork 4. In addition to the illustrated central arrangement and a lateral arrangement in the fork tine tip 4 is possible.
  • time-of-flight camera system 5 if its size and mechanical design allows it, can also be arranged laterally on the outer edge of the fork prong 4. This assumes fewer modifications to the fork tine 4, but narrows the space for threading the fork tine tips into the entry openings of a pallet.
  • the beam path of the light pulses is marked with 21.
  • the beam path of the actual camera is again named 10. It can also be called the field of view of the camera system 5 or of the light sensor.
  • FIG. 3 again shows a top view of the forks 4 as in FIG. 2
  • the time-of-flight camera system 5 is here divided into two modules to reduce the size.
  • the light source 23 arranged with its beam path 21, while the light sensor 22 is arranged with its beam path 10 or field of view in the lower fork 4 in the image.
  • FIG. 4 shows a possible embodiment of a arranged in the control room of the truck display and control unit 7. On the example touch-sensitive screen 31, the necessary for the operation of the display are shown in the case of an assistance system.
  • a e.g. reversed L-shaped mark 34 symbolizing the forks 4.
  • Around this sign are e.g. arranged four arrows indicating whether the forks 4 are positioned correctly for safe, collision-free storage or retrieval in height and laterally.
  • the arrow with the top pointing up here indicated by a solid line indicates that the forks 4 still need to be raised. When the correct lifting height is reached, the arrow goes out.
  • Right and left of the L-shaped character corresponding arrows for the lateral alignment of the forks 4, transverse to the stacking direction, are shown. In the case shown, the fork tine 4 must be moved to the right.
  • the symbol 35 makes it clear how the vehicle and thus the forks 4 are aligned to the storage place.
  • the upper solid line indicates the shelf or the storage place, the lower line the alignment of a line over the front edges of the fork tine tips 4.
  • the vehicle is obliquely in front of the storage bin, it would have to be rotated in the counterclockwise direction, to store collision-free.
  • the other possibilities, misalignment in the opposite direction and parallelism, are shown in dashed lines.
  • the symbol 36 makes it clear how the forks 4 are aligned in their longitudinal direction to the horizontal.
  • the forks 4 are inclined backwards, so they must be rotated in the counterclockwise direction to achieve the horizontal orientation.
  • the dashed representations are to be understood analogously.
  • the character 37 indicates e.g. in the form of a traffic light, whether the storage or retrieval, ie the displacement of the forks 4 in their longitudinal direction, is permitted.
  • the traffic light is red, because the vehicle is still at an angle to the shelf, the forks 4 still raised, moved to the right and must be tilted counterclockwise.
  • the display panel 39 indicates to the operator which shelf level has been reached in the vertical direction by raising the forks 4 in order to perform a loading or unloading operation.
  • FIG. 5 shows the partial side view of an unloading process shortly before threading the forks 4 in the entry openings of the loaded with a load pallet 54.
  • This is in the second level of a shelf, which is formed from the uprights 50 and the cut shelves shown 51, 52 stacked.
  • the forks 4 were roughly positioned in the lifting height.
  • the correct fork tip inclination was adjusted by means of the sensor 14 and with the assistance of the time-of-flight camera system 5, the alignment of the forks 4 is checked to the front of the shelf supports 51 and then carried out a precise positioning of the forks 4 in the vertical and in the transverse direction to the fork longitudinal direction.
  • the time-of-flight camera system 5 detects the contours of the upper edge of the front support of the shelf supports 51 and the contour of the retraction openings of the pallet 54.
  • the operator is specified on the described displays, as he has to align the forks 4, a collision-free Allow retraction.
  • FIG. 6 shows the partial side view of a storage operation shortly before entering the loaded with the pallet 55 forks 4 in the shelf.
  • the height positioning takes place with the help of the time-of-flight camera system 5 and its beam path 10 and the upper edge of the front support of the shelf supports 51.
  • For the lateral alignment transverse to the longitudinal direction of the forks 4 is now the contour of the front of the two shelf stand 50 or Side contour of a pallet already stacked on the shelf next to the shelf.
  • the time-of-flight camera system 5 is used for aligning the pallet or the forks or the vehicle perpendicular to the shelf leading edge.
  • FIG. 7 shows a shelf, consisting of the illustrated stand 50 and the shelf supports 51, the loading units 54, 55, 61 and the forks 4 in a partial section in plan view.
  • FIG. 8 shows a block diagram of the electronic components of the assistance system.
  • the light sensor 22 is connected on the one hand to the separate light source 23 and on the other hand to the evaluation unit 6.
  • the result of the evaluation is communicated to the display and operating unit 7. This shows according to the operator FIG. 4 on how to use the truck.
  • the Hub Ounmess owned 13 and the tilt sensor 14 are connected to the display and control unit 7.
  • the actuation of the button 76 switches the display of Results of the image analysis of the time-of-flight camera system 5 on the screen of the display and control unit 7 a.
  • FIG. 9 shows a block diagram in the event that the assistance system described is extended so that a partially or fully automated storage or retrieval can be realized.
  • the display and operation unit 7 is as in FIG. 8 connected to the evaluation unit 6.
  • a wireless connection for example, a radio link 71 to a control system 70 and a connection to a consent button 72.
  • the Hub Ounmess owned 13 and the tilt sensor 14 are connected to an interface unit 73 to the signal network 74, for example, the CAN bus, the truck is connected with its control device 75.
  • the signal network 74 for example, the CAN bus
  • the truck is connected with its control device 75.
  • this network is also the connection to the display and control unit. 7
  • the vehicle-side part 92 of a positioning system a load detection sensor 93 and a device for loading units identification, e.g. Bar code reader 90, for reading a bar code 91 mounted on the loading unit.
  • a device for loading units identification e.g. Bar code reader 90
  • FIG. 10 shows a shelf consisting of the illustrated stand 50 and the shelf supports 51, the particularly wide loading units 84, 85 and the forks 4 with time-of-flight camera systems 5 with integrated light source in a partial section in plan view.
  • FIG. 11 shows a shelf, consisting of the illustrated stand 50 and the shelf supports 51, the particularly wide loading units 84, 85, the forks 4 with a light sensor 22 and a separate light source 23 in a partial section in plan view. Furthermore, rectangular markings 80, which are shown in dashed lines, attached to the shelf supports 51 also partially shown in dashed lines so that they are always assigned to the respective pallet space in the same way.
  • the system of time-of-light camera system 5, evaluation unit 6 and display and operating unit is used as an assistance system.
  • the driver of the truck is supported in the operation of the vehicle during storage and retrieval by displaying on the display and control unit 7.
  • a paging operation can be performed as follows:
  • the driver selects via the button 33 of the display and control unit 7, the function of outsourcing and positioned the truck in front of the shelf that the forks 4 only have to be moved laterally slightly when they have been raised to the correct lifting height. He then aligns the forks 4 horizontally with the aid of the sensor system 14 and the display 36 on the display and operating unit 7. Then with the help of the Hub Ounmess owned 13 and the display 39, the lifting of the horizontal forks 4 on the correct shelf level. Now, with the help of a button 76, the displays 34 and 35 can be activated.
  • the front of the shelf supports 51 and the pallet of the loading unit 54 are illuminated by the light source of the time-of-flight camera system 5 and the separate light source 23, the reflected light pulses are detected by the light sensor 22 and forwarded to the evaluation unit 6.
  • the display 37 shows, for example, the color red, ie the forks 4 must not yet be moved in the direction of the fork tines because, after evaluating the signals of the time-of-flight camera system 5, they are moved in accordance with FIG FIG. 4 still have to be moved to the right and up.
  • the display 35 in FIG. 4 shows, for example, two parallel lines.
  • the correction of the vertical position is made by utilizing the lift / lower function of the vehicle, for the correction in the transverse direction are known side thrusters that can move the forks 4 relative to the vehicle or mast or load carriage 12 in the transverse direction.
  • the forks 4 are correctly positioned in front of the entry openings of the pallet of the loading unit 54, only the fork 4, but no arrow is displayed in display 34 and the display 37 shows in the lower circle the color green, ie the forks 4 can now in their longitudinal direction by moving the mast and / or method of the vehicle to be moved in the fork longitudinal direction.
  • the operator lifts the forks 4 and thus also the loading unit 54 and stacks them.
  • the distance information of the time-of-flight camera system 5 is used to the shelf supports 51.
  • the time-of-flight camera system determines the distance to the front shelf support. With proper storage of the loading unit 54, this results in the required travel of the forks 4 in their longitudinal direction, so that the fork back comes to rest on the loading unit and the loading unit thus properly positioned on the forks 4.
  • the displacement of the forks 4 results depending on the vehicle type relative to the base vehicle. For the determination of these ways solutions are known and are therefore not described in detail.
  • the operator is indicated with the display 38 by the arrow pointing to the left, that the forks 4 must be moved in the direction of the shelf. If the forks 4 have passed the displacement path resulting from the loading units and rack dimensions, the arrow in display 38 goes out and thus indicates to the operator a sufficient displacement path.
  • a storage operation can be carried out as follows: The driver selects via the key 32 of the display and control unit 7, the function storage and positioned the truck in front of the shelf that loaded with the loading unit 55 forks 4 must be moved only slightly laterally, if they have been raised to the correct lifting height. He then aligns the forks 4 horizontally with the aid of the sensor system 14 and the display 36 on the display and operating unit 7. Then with the help of the Hub Ounmess owned 13 and the display 39, the lifting of the horizontal forks 4 on the correct shelf level. Now, with the help of a button 76, the displays 34 and 35 can be activated.
  • the front of the shelf supports 51 and the side of the empty pallet storage space located, vertical shelf stand 50 and the adjacent, standing on the shelf loading unit 61 after FIG. 7 are illuminated by the light source of the time-of-flight camera system 5 or the separate light source 23, the reflected light pulses are detected by the light sensor 22 of the time-of-flight camera system 5 and forwarded to the evaluation unit 6.
  • the display 37 shows, for example, the color red, ie the forks may not yet be moved in the fork tine longitudinal direction, because according to evaluation of the signals of the time-of-flight camera system 5 according to FIG. 4 still have to be moved to the right and up.
  • the display 35 in FIG. 4 shows, for example, two parallel lines.
  • the distance measurement described above can be used to indicate to the operator that the loading unit is sufficiently deep stacked.
  • the fork tines 4 when the fork tines 4 are not permitted to be retracted into the entry openings of the pallet or if the loading unit is not allowed to be stacked, both indicated by the red display 37, the forks 4 are automatically prevented in their longitudinal direction by moving the vehicle and / or advancing the mast can be moved.
  • the described processes can be partially automatic.
  • the operator positions the empty, or loaded with a loading unit forks 4 roughly in front of a shelf, raises the forks. 4 up to the lowermost shelf support, for example, and positions the vehicle with the aid of driving and steering maneuvers and the display 35 perpendicular to the shelf level as soon as the time-of-flight camera system 5 has detected the front of the shelf supports 51 and the display 35 with the button 76 was activated.
  • the bottom shelf level is particularly suitable for orientation because it can be easily seen by the driver.
  • the operator raises the forks 4 and the loading unit by means of the Hubtownn sensor 13, which is connected via the interface unit 73 and the CAN bus 74 with the vehicle control device 75 and the display and control unit 7, and the display 39 to the approximately correct Lifting height and actuates the enabling button 72.
  • the vehicle control device 75 receives the vehicle control device 75 via the vehicle signal network 74 of the display and control unit 7, the command "forks horizontal”.
  • the tilt sensor 14 which is connected via the interface unit 73 and the CAN bus 74 to the vehicle control device 75, the forks 4 are automatically aligned horizontally by the vehicle control device 75 and the vehicle functions.
  • the displacement of the fork tines 4 or of the loading unit in the fork longitudinal direction is also handled automatically by commands of the display and operating unit 7 to the vehicle control device 75.
  • the functions mast forward feed or vehicle travel forward in conjunction with the feed and / or travel measurement and the distance measurement via the time-of-flight camera system 5 are used. This description applies analogously to the loading and unloading of loading units.
  • the stacking of the charging unit is prevented when the time-of-flight camera system 5 detects the contour of a pallet, although the storage space for the intended storage (button E 32 actuated) of a loading unit must be free.
  • the signal of the load detection sensor 93 which detects the load unit located on the forks 4, with the signal of the time-of-flight camera system 5, that there is already a pallet in the designated storage space, linked and prevented so that a Loading unit is stacked on an occupied storage space.
  • a fully automatic storage and retrieval in addition to the explained partial automation, a wireless connection, in particular a radio link 71 between the display and control unit 7 on the vehicle and a stationary forklift control system 70 is used.
  • This control system 70 receives from a warehouse management system 77 the command, a particular loading unit (eg 54 or 55) on a certain shelf space or outsource.
  • the control system selects a suitable industrial truck and passes this to the corresponding infeed or removal order via the wireless radio link 71 to the on-board display and operating unit 7. There, this order is displayed to the operator.
  • the server will pick up at one Storage order, the loading unit at the specified, so-called source from, or moves in a removal order with unloaded forks 4 to the specified pickup location. He positioned the vehicle in front of the corresponding shelf and presses the consent button 72. Then, the display and control unit 7 generates the command "lifting" until the unit 7 known height of the first shelf support is reached.
  • the automatic interrogation of the signal of the time-of-flight camera system 5 for vertical alignment of the vehicle takes place in front of the shelf.
  • the driver is shown the current actual orientation with the aid of the display 35.
  • the display 35 shows, for example, two parallel lines and the operator actuates the consent key 72.
  • Now generates the display and control unit 7 the command "lifting" until the unit 7 off the height of the respective shelf support known using the input or Auslagercited using the signals of the height measuring device 13 is reached.
  • the correction in vertical and transverse direction with the aid of the signals of the time-of-flight camera system 5 and the automatic insertion of the forks or the charging unit are described above for partial automation.
  • a time-of-flight camera system 5 can be provided in each fork tip 4, wherein for the lateral orientation of the loading unit 85 located in the left fork prong 4, on the left lateral boundary (here the shelf stand 50) and the Camera system 5 located in the right fork prong 4 focuses on the right boundary (here the left corner of the loading unit 84).
  • outsourcing Fig. 10 above.
  • the respective time-of-flight camera system 5 focuses on the right or left entry opening of the pallet of a loading unit 84 to be outsourced.
  • the time-of-flight camera systems 5 in both cases use the upper edge of the front the two shelf supports 51.
  • each storage space on the shelf with one of the time-of-flight camera system 5 recognizable, three-dimensional, eg cuboid marking 80 are provided, since the truck facing side of the cuboid has a smaller distance from the time-of-flight camera system 5 serves as the front of the front of the two shelf supports 51, for lateral positioning in the transverse direction.
  • this embodiment as in the Figures 3 and 11 shown again to be worked with a single light sensor 22 and a separate light source 23.
  • the truck can be additionally equipped with one of the known positioning system 92, so that the operator is assisted in the search for the intended storage or retrieval space.
  • the operator is thereby e.g. by appropriate displays, as they are known from the field of passenger car navigation systems, informed on the screen of the display and control unit 7, in which direction he has to steer the truck to the input or Auslagerplatz, that of the display and control unit 7 is communicated from the warehouse management system 70 via the wireless communication 71.
  • a barcode scanner 90 is to be integrated within the load carriage 12 in such a way that, for example, barcode stickers 91 which are mounted on the loading unit 54, 55, 84, 85 in the detection area of the barcode reader are read automatically when retracting the forks 4 in the loading unit 54, 55, 84, 85.
  • the reading result is given by the identification unit 90 to the display and operating unit 7, where the identified loading unit with the respective place where the truck and thus the loading unit is located, is linked.
  • an additional load detection sensor 93 which detects whether or not a loading unit is located on the forks, it is now possible, if necessary with the aid of the knowledge of the respective current vehicle functions, e.g. Lifting, lowering, driving forward, reversing, etc., be inferred by logically linking the corresponding signals in the display and control unit 7 that e.g. a certain, identified loading unit was picked up or deposited at a certain location at a certain height, that is to say it was stored or retrieved.
  • This information can then be communicated from the display and control unit 7 via the wireless communication 71 and the control system 70 to the warehouse management system 77 where it is e.g. for updating and verifying the storage allocation stored in system 77.

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Structural Engineering (AREA)
  • Civil Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Mechanical Engineering (AREA)
  • Warehouses Or Storage Devices (AREA)
  • Forklifts And Lifting Vehicles (AREA)
EP11010035.1A 2010-12-23 2011-12-21 Chariot de manutention équipé d'un capteur pour détecter l'environnement spatial et procédé de fonctionnement d'un tel chariot de manutention Active EP2468678B1 (fr)

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DE201010055774 DE102010055774A1 (de) 2010-12-23 2010-12-23 Flurförderzeug mit einem Sensor zur Erfassung einer räumlichen Umgebung und Verfahren zum Betreiben eines solchen Flurförderzeugs

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EP2767925A2 (fr) 2013-02-15 2014-08-20 Jungheinrich Aktiengesellschaft Procédé de détection d'objets dans un entrepôt et/ou d'orientation spatiale dans un entrepôt
EP2993155A1 (fr) * 2014-09-08 2016-03-09 STILL GmbH Chariot de manutention ayant une fonction d'assistance
EP3000772A1 (fr) * 2014-09-25 2016-03-30 BT Products AB Chariot élévateur à fourche et procédé de fonctionnement d'un tel chariot
EP3000771A1 (fr) * 2014-09-25 2016-03-30 BT Products AB Chariot élévateur à fourche
EP3034452A1 (fr) 2014-12-15 2016-06-22 STILL GmbH Godet a fourche, module et systeme associe pour un chariot de manutention
DE102015118634A1 (de) 2014-12-15 2016-06-30 Still Gmbh Gabelschuh, Modul sowie zugehöriges System für ein Flurförderzeug
CN105967104A (zh) * 2016-06-15 2016-09-28 镇江市中能机械设备有限公司 一种高效叉车
EP3162755A1 (fr) 2015-10-30 2017-05-03 STILL GmbH Dispositif de reception de charge d'un chariot de manutention
DE102015119988A1 (de) 2015-10-30 2017-05-04 Still Gmbh Lastaufnahmevorrichtung eines Flurförderzeugs
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US9990535B2 (en) 2016-04-27 2018-06-05 Crown Equipment Corporation Pallet detection using units of physical length
CN108147321A (zh) * 2016-12-06 2018-06-12 永恒力股份公司 用于使搬运车在货仓中自动定向的方法以及包括搬运车和货仓的系统
CN108357846A (zh) * 2017-01-16 2018-08-03 浙江国自机器人技术有限公司 一种采用光电传感器检测货物的方法
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US10640347B2 (en) 2017-12-22 2020-05-05 X Development Llc Pallet tracking during engagement and disengagement
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WO2021254704A1 (fr) 2020-06-17 2021-12-23 Zf Friedrichshafen Ag Capteurs pour bras de fourche pour détecter un trafic transversal
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US8938126B2 (en) 2011-10-19 2015-01-20 Crown Equipment Corporation Selecting objects within a vertical range of one another corresponding to pallets in an image scene
US8977032B2 (en) 2011-10-19 2015-03-10 Crown Equipment Corporation Identifying and evaluating multiple rectangles that may correspond to a pallet in an image scene
US8995743B2 (en) 2011-10-19 2015-03-31 Crown Equipment Corporation Identifying and locating possible lines corresponding to pallet structure in an image
US9025886B2 (en) 2011-10-19 2015-05-05 Crown Equipment Corporation Identifying and selecting objects that may correspond to pallets in an image scene
US9025827B2 (en) 2011-10-19 2015-05-05 Crown Equipment Corporation Controlling truck forks based on identifying and tracking multiple objects in an image scene
US9082195B2 (en) 2011-10-19 2015-07-14 Crown Equipment Corporation Generating a composite score for a possible pallet in an image scene
US9087384B2 (en) 2011-10-19 2015-07-21 Crown Equipment Corporation Identifying, matching and tracking multiple objects in a sequence of images
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US9589353B2 (en) 2013-02-15 2017-03-07 Jungheinrich Aktiengesellschaft Method for detecting objects in a warehouse and/or for spatial orientation in a warehouse
EP2767925A2 (fr) 2013-02-15 2014-08-20 Jungheinrich Aktiengesellschaft Procédé de détection d'objets dans un entrepôt et/ou d'orientation spatiale dans un entrepôt
DE102013002554A1 (de) 2013-02-15 2014-08-21 Jungheinrich Aktiengesellschaft Verfahren zur Erkennung von Objekten in einem Lager und/oder zur räumlichen Orientierung in einem Lager
US10198805B2 (en) 2013-02-15 2019-02-05 Jungheinrich Aktiengesellschaft Method for detecting objects in a warehouse and/or for spatial orientation in a warehouse
EP2767925A3 (fr) * 2013-02-15 2017-03-29 Jungheinrich Aktiengesellschaft Procédé de détection d'objets dans un entrepôt et/ou d'orientation spatiale dans un entrepôt
EP2886507B1 (fr) 2013-12-19 2021-02-24 The Raymond Corporation Affichage à écran tactile intégré avec une fonctionnalité multimode
EP2993155A1 (fr) * 2014-09-08 2016-03-09 STILL GmbH Chariot de manutention ayant une fonction d'assistance
EP3000771A1 (fr) * 2014-09-25 2016-03-30 BT Products AB Chariot élévateur à fourche
US9828223B2 (en) 2014-09-25 2017-11-28 Bt Products Ab Fork-lift truck and method for operating a fork-lift truck
EP3000772A1 (fr) * 2014-09-25 2016-03-30 BT Products AB Chariot élévateur à fourche et procédé de fonctionnement d'un tel chariot
DE102015118634A1 (de) 2014-12-15 2016-06-30 Still Gmbh Gabelschuh, Modul sowie zugehöriges System für ein Flurförderzeug
EP3034452A1 (fr) 2014-12-15 2016-06-22 STILL GmbH Godet a fourche, module et systeme associe pour un chariot de manutention
US11899871B2 (en) 2015-07-17 2024-02-13 Crown Equipment Corporation Processing device having a graphical user interface for industrial vehicle
EP3162755A1 (fr) 2015-10-30 2017-05-03 STILL GmbH Dispositif de reception de charge d'un chariot de manutention
DE102015119988A1 (de) 2015-10-30 2017-05-04 Still Gmbh Lastaufnahmevorrichtung eines Flurförderzeugs
DE102016102652A1 (de) 2016-02-16 2017-08-17 Jungheinrich Aktiengesellschaft Flurförderzeug mit einem Leuchtmittel am Lasttragmittel
US9990535B2 (en) 2016-04-27 2018-06-05 Crown Equipment Corporation Pallet detection using units of physical length
CN105967104A (zh) * 2016-06-15 2016-09-28 镇江市中能机械设备有限公司 一种高效叉车
US10430969B2 (en) 2016-10-26 2019-10-01 Jungheinrich Aktiengesellschaft Method for recognizing objects in a warehouse, and industrial truck with an apparatus for recognizing objects in a warehouse
DE102016120386A1 (de) * 2016-10-26 2018-04-26 Jungheinrich Aktiengesellschaft Verfahren zum Erkennen von Objekten in einem Lager und Flurförderzeug mit einer Einrichtung zum Erkennen von Objekten in einem Lager
CN108147321A (zh) * 2016-12-06 2018-06-12 永恒力股份公司 用于使搬运车在货仓中自动定向的方法以及包括搬运车和货仓的系统
CN108147321B (zh) * 2016-12-06 2021-04-06 永恒力股份公司 使搬运车自动定向的方法以及包括搬运车和货仓的系统
CN108357846A (zh) * 2017-01-16 2018-08-03 浙江国自机器人技术有限公司 一种采用光电传感器检测货物的方法
EP3434640A1 (fr) * 2017-07-24 2019-01-30 STILL GmbH Chariot de manutention
EP3514103A1 (fr) * 2017-07-24 2019-07-24 STILL GmbH Chariot de manutention
US10640347B2 (en) 2017-12-22 2020-05-05 X Development Llc Pallet tracking during engagement and disengagement
US11180353B2 (en) 2017-12-22 2021-11-23 Boston Dynamics, Inc. Pallet tracking during engagement and disengagement
EP3567001A1 (fr) * 2018-05-07 2019-11-13 Jungheinrich Aktiengesellschaft Fourche de chargement, chariot de manutention et procédé de fonctionnement d'un chariot de manutention et d'un laser à ligne
EP3617130A1 (fr) * 2018-08-27 2020-03-04 Claas Material Handling GmbH Dispositif de chargement pourvu de dispositif de chargement télescopique
WO2020095602A1 (fr) * 2018-11-05 2020-05-14 株式会社豊田自動織機 Système de commande à distance destiné à un chariot élévateur
EP3950566A4 (fr) * 2019-04-02 2023-01-04 Beijing Geekplus Technology Co., Ltd. Robot à position haute, procédé d'étalonnage du retour d'un conteneur de stockage et support de stockage
US11958687B2 (en) 2019-04-02 2024-04-16 Beijing Geekplus Technology Co. Ltd High-position robot, method for calibrating return of storage container, and storage medium
DE102019113606A1 (de) * 2019-05-22 2020-11-26 Jungheinrich Ag Flurförderzeug mit Kamerasystem
WO2021254704A1 (fr) 2020-06-17 2021-12-23 Zf Friedrichshafen Ag Capteurs pour bras de fourche pour détecter un trafic transversal
DE102020207479A1 (de) 2020-06-17 2021-12-23 Zf Friedrichshafen Ag Gabelzinkensensoren zur Erkennung von Querverkehr
US20230115109A1 (en) * 2020-06-17 2023-04-13 Zf Friedrichshafen Ag Fork arm sensors for detecting cross-traffic

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