EP2653430B1 - Control method for unloading of an industrial truck and industrial truck - Google Patents

Control method for unloading of an industrial truck and industrial truck Download PDF

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Publication number
EP2653430B1
EP2653430B1 EP20130162432 EP13162432A EP2653430B1 EP 2653430 B1 EP2653430 B1 EP 2653430B1 EP 20130162432 EP20130162432 EP 20130162432 EP 13162432 A EP13162432 A EP 13162432A EP 2653430 B1 EP2653430 B1 EP 2653430B1
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EP
European Patent Office
Prior art keywords
load
control method
pickup means
functions
industrial truck
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EP20130162432
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German (de)
French (fr)
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EP2653430A1 (en
Inventor
Dr. Ralf König
Volker Viereck
Tino Krüger-Basjmeleh
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STILL GmbH
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STILL GmbH
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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
    • 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
    • B66F9/20—Means for actuating or controlling masts, platforms, or forks
    • B66F9/24—Electrical devices or systems

Definitions

  • the invention relates to a control method for an industrial truck having at least one camera, a monitor and a control device aligned with the area of a lifting device, wherein in the control method, when the truck with the load picked up is in a storage position with the load receiving device, the steps are carried out: Detecting the geometry of the storage position by means of image processing methods by the control device, such as pattern or object detection, determining a possible Absetzposition of the load in the storage position by the control device and determining a relative position of the load receiving means relative to a position of the load receiving means in the Absetzposition by the control device.
  • Forklifts are used in addition to pallet trucks on a very large scale, both types of industrial trucks transport especially arranged on pallets loads.
  • two forks are usually arranged to form a fork on a fork carriage with which a recorded pallet and a load resting on this load by appropriate maneuvering the forklift and driving a mast on which the fork is guided vertically movable, can be discontinued in a storage position .
  • unfavorable visibility conditions such as at very high lifted fork or in poorly lit areas of a warehouse, this can be tedious or at least require considerable time, as must be particularly slow and carefully controlled.
  • the handling capacity and the efficient use of industrial trucks are also impaired by the fact that drivers or operators of industrial trucks may not yet have sufficient training in the operation and in the control of the truck.
  • Driverless transport systems are also known in which image data obtained by a camera are used to generate control commands to the vehicle control system.
  • Optical sensors are now available in very compact dimensions and cost just as miniaturized cameras, z. B. for widespread use in mobile phones. Also, by using a plurality of optical sensors within a housing, the imaging range can be increased or three-dimensional data can be obtained by combining the sensor data of the individual sensors. In addition, image-sensor combinations are available in the field of the video entertainment industry. In addition to imaging camera sensors, they can use correlated depth-measuring sensor systems to provide three-dimensional image data.
  • From the DE10 2010 004 719 A1 is a is a camera device for detecting the position of a lifting device known which allows an operator a field of view on a storage position at high lifting heights.
  • From the DE 10 2008 027 695 A1 is a control method for an autonomous, fully automatic truck with a laser sensor in the area of the lifting device known. From data of the sensor, the relative position of a load-receiving means in relation to a storage position can be determined and the storage position can be controlled fully automatically.
  • the EP0800129 A1 discloses an industrial truck, which is optionally designed to be operable manually or automatically.
  • the control system is designed to automatically manage the movements of pallets.
  • the present invention has for its object to provide a control method for an industrial truck and an associated truck available with the ease of use for inexperienced with the operation people and with the handling capacity of the truck can be increased.
  • the object is achieved by a control method for an industrial truck having at least one camera, a monitor and a control device aligned with the area of a lifting device, wherein in the control method, when the truck with the load picked up is in a storage position with the load receiving device, the following steps be performed:
  • Detecting the geometry of the storage position by means of image processing methods by the control device such as pattern or object detection, determining a possible Absetzposition of the load in the storage position by the control device, in particular from the viewpoint of a space-saving arrangement, determining a relative position of the lifting device a position of the load receiving means in the setting position by the control device, representing at least parts of the storage position and schematically the load in the possible setting position on the monitor, interrogating a confirmation input, and in the case of a confirmation input settling the load in the setting position at the storage position by automatic adjustment and aligning the controllable by the control device functions of the lifting device and controllable by the control device driving functions of the truck and displaying values to be set for functions of the lifting device and driving functions of the truck on the monitor, which can not be controlled automatically by the control device.
  • the handling performance and the efficient use of industrial trucks can be increased if an operator is still relatively inexperienced in the operation of the truck.
  • the reliable and safe setting down of a load without damaging the load or other objects in the vicinity, in particular a shelf requires some practice and is only feasible after some routine with greater speed. This applies even more if the load is to be placed in a high rack position.
  • control commands of the truck operator such as a reach truck or even a counterbalance forklift or Gabelhochhubwagens, in a different manner, as in a position close to the ground.
  • vibrations and delays can occur due to the elasticity of a lifting mast.
  • the control device has determined a sequence of activation commands of the functions of the lifting device and, if appropriate, of travel movements of the industrial truck in order to move the load receiving means into a position for depositing the load, the storage position, for example a shelf space, is represented with a schematic marking of the setting-down position.
  • the automatic control of the functions or driving movement takes place only after the control device receives a signal that a confirmation input done by the driver.
  • a confirmation input may be a dedicated switch, a button on the touch-sensitive monitor, or any other suitable operator-aware input.
  • the control device executes those required movements to move the load receiving means in the setting position, which can be made as movements of the control device automatically.
  • the functions of a lifting device by working hydraulics the valves are usually carried out as electrically actuated control valves, with manually performed operating inputs via controls that emit an electrical signal. This allows a fully automatic control by the control device in the method according to the invention, which is inexpensive to implement.
  • the values to be set for the operating element are displayed by a graphical display on the monitor, but also optionally in another alternative display option.
  • This can be, for example, turns of a steering wheel, but also an arrow-controlled display which specifies in which direction a control element is to be actuated until the value to be set is reached.
  • this is also possible for operating lever for a lifting height, a side thrust, a mast thrust, a tilt of the lifting device or a mast tilt.
  • functions that could be controlled fully automatically by the control device are operated in this way.
  • the automated movements of the truck thus subject to a human control both in terms of the correct determination of an intended automated movement sequence and during the automated movement sequence of the truck. Therefore, safety requirements can be met more easily and a required greater effort as in autonomous industrial trucks can be avoided.
  • the method is also inexpensive to implement insofar as already exists for a variety of functions of the load-handling device as well as the driving functions of the truck automatic control and for the remaining required functions such is not required.
  • control of a brake pedal and an accelerator pedal may remain under human control alone.
  • one or more further confirmation inputs can be interrogated before or between the activation of individual functions of the lifting device and / or the activation of individual driving functions of the industrial truck.
  • the automated control of individual functions of the load handling device and / or individual driving functions of the truck can be done simultaneously, but also for time optimization simultaneously. Moreover, at the same time the control of those functions by the operator can take place, which can not be controlled automatically. It can be provided that further confirmation inputs must be made in the same manner described above, in order to meet safety requirements, for example, if in a certain automated movements increased monitoring by the operator to be ensured.
  • a continuous confirmation input is interrogated and, in the absence of a confirmation signal, the control of the functions of the load receiving means and / or the driving functions of the truck is stopped.
  • a confirmation input can also be provided by the fact that a corresponding signal must be given constantly and when a "release” all automated movements are stopped.
  • the lifting device may be guided vertically movable on a mast and functions of the lifting device may be the lifting height and / or a slope and / or a mast thrust of the mast.
  • the inventive method is particularly advantageous when loads must be discontinued even at high altitudes, since it can cause vibrations and elastic deformations of the mast at high lifting heights, which can complicate the operation in addition. In particular, however, the visibility at high lift are unfavorable.
  • the inventive method as assistance system supports an operator in contrast, for example, to a pure camera system according to the prior art in the operation and thus avoids the problems that can occur when an operator only on the basis of a
  • One function of the load handling device may be a side thruster.
  • the display of values to be set for functions of the load-handling device and for driving functions of the truck on the monitor takes place continuously until the load-receiving means is located in the receiving elements.
  • a value range of a required steering angle is displayed for the steering angle as the driving function of the truck as the value to be set, as well as the actual value of the steering angle.
  • the inventive method does not require autonomous steering with the appropriate requirements for safety and reliability.
  • a warning tone and / or the further control of the functions of the load-handling device and / or the driving functions of the truck is stopped.
  • optical sensors for the detection of the load, which are connected to the control device.
  • optical sensors By further optical sensors, the accuracy of detection can be improved.
  • Such optical sensors are available as CMOS image sensors but also as miniaturized cameras inexpensively as mass products.
  • the further optical sensors may preferably be in addition to those already mentioned Image information, for example encoded in brightness and color values of the pixels, capture further information, such as distance information in the form of point clouds.
  • a stereo image can be obtained in general by two cameras, from which information about the distance of the individual pixels can be obtained.
  • the camera can be a Time Of Flight camera.
  • the camera is a stereo camera.
  • a stereo camera can be very compact in a camera win a double image, from which a distance information can be calculated.
  • the camera is arranged on a fork carrier of the load-receiving means, in particular arranged so as to be movable in height, and can be moved to a position below the load-carrying means.
  • the camera on a vertical rail behind the load bearing device preferably designed as a load fork on the fork carriage in height be arranged so that it can be moved at a load lying on the load fork down until the camera a field of vision under the forks Reached fork. It is also possible to generally move the camera to this lower position for the image recording in the inventive method. Also conceivable are movable cameras that can not be moved vertically but horizontally.
  • the monitor can be a touch screen.
  • the storage position is a shelf space, in particular a shelf space of a pallet rack.
  • a check can be made as to whether the load fits in the shelf space.
  • It may be a detection of the geometry of the load on the load-carrying means by image processing methods by the control device, such as pattern or object recognition.
  • the determination as to whether a load can be placed in a certain storage position or how the set-down position can be selected for a space-saving arrangement can be made more accurate, since the geometric data of the load are known.
  • an industrial truck having at least one camera, a monitor and a control device, which is aligned with the region of a load-receiving device and in which the control device carries out a method described above.
  • the truck has the advantages already described above.
  • a truck is shown in perspective view, in which the control method according to the invention is used.
  • the truck is a reach truck with a first Radarm 1 with a roller 2 and a second Radarm 3, also with a roller 2.
  • the inventive method is at any time in any other type of truck and especially forklift, such as a Counterbalance forklift, or about a Gabelhochhubwagen used.
  • the control method according to the invention can also be used in industrial trucks that have no mast.
  • a fork carriage 11 is arranged on a lifting mast 4, to which a load fork 5 is attached as a load-receiving means 9. Behind the mast 4, a battery 6 is arranged.
  • the load carrier 5 carrying fork carriage 11 is raised and lowered on the mast 4 by means of a lifting drive.
  • the mast 4 can be moved forward between the wheel arms 1, 3 to receive a load.
  • a first fender 7 and the roller 2 of the second Radarms 3 also a second fender 8.
  • a camera 10 is arranged at the fork carriage 11.
  • the camera 10 is arranged in the vehicle transverse direction in the central region of the fork carriage 11.
  • the camera 10 is preferably arranged in height adjustable on the fork carriage 11 and can be moved to a position below the fork 5.
  • a miniature camera 13 can be arranged as a further optical sensor 14 on a fork tine 12. Such miniature cameras 13 are available in robust and cost-effective design and are used for example in numerous mobile phones.
  • Fig. 2 schematically shows the truck according to the invention in view from above.
  • the fork 5 Between the first Radarm 1 and the second Radarm 3 with the roller 2 of the mast 4 is arranged with the fork 5.
  • Fig. 3 shows a perspective view of a load shelf 19, which is designed as a pallet rack 18. Between vertical supports 40 on different levels 41, a front support strut 42 and a rear support strut 43 are each arranged. Between the front support strut 42 and the rear support strut 43 no shelf is arranged. Pallets can be stored in each level 41 in corresponding storage positions. A possible settling position 44 determined by the control device is arranged in the middle plane 41.
  • the Fig. 4 shows a monitor image of a monitor 23, which is arranged in the field of view of the operator of the truck. On this monitor image is a section of the captured by the camera 10 representation of the pallet rack 18 with the Absetzposition 44 from the Fig. 3 displayed.
  • An operator of the truck can now confirm the correct detection of the Absetzposition 44 and by a confirmation input, for example by a switch not shown here or a control panel 24 of the touchscreen 25 designed as monitor 23, the automatic control of the functions of the lifting device 9 and the driving functions of Start the truck.
  • a value to be set is displayed on the monitor 23 for functions that can not be controlled automatically, in the present case the steering of the industrial truck.
  • the load fork 5 aligns with the setting position 44, and when the operator observes the corresponding instructions about the values to be set, the load receiving means 9 moves with the overlying load 15 to the setting position 44.
  • This assistance function also allows operators with little experience to load 15 settle safely.
  • the control device may be integrated in a control computer of the vehicle or consist entirely or in part from a separate computer.
  • the Fig. 5 shows a schematic of the method according to the invention.
  • the monitor 23 may consist of any form of image display means, e.g. B. a color screen in LCD technology.
  • the functions 26 of the load receiving means 9 are by the Operated operator in normal operation via working hydraulic control elements 27 and usually consist of hydraulic elements that are usually already automatically controlled by electrically controllable valves. Via a traction drive control 28 of the driving functions 29 of the truck an operator is able to control the vehicle movement. In a forklift, for example, by an operation by means of steering wheel, direction switch, accelerator pedal and brake pedal.
  • An image processing unit 30 forms part of a control device 31, which can detect and process the signals of one or more optical sensors 10, 14 in real time.
  • An optical sensor in the present example case, the camera 10 and the optical sensor 14 in the Fig. 1
  • the optical sensors 10, 14 are able to record brightness and color information by, for example, a camera chip and can, with appropriate design, also determine distances to objects by optical means.
  • the functions 26 of the load receiving means 9 and the driving functions 29 of the truck are in the illustration of Fig. 5 to vehicle drives 32 summarized.
  • the working hydraulic control elements 27, the traction drive control 28 and the monitor 23 are arranged in the area of a driver's workplace 33.
  • the image processing unit 30 and the optical sensors 10, 14 are arranged in the region of the load-receiving means 9, here the fork carrier 11 and the fork tine 12.
  • a vehicle controller 34 in the present example also forms part of the control device 31 and connects the aforementioned elements via unidirectional or bidirectional communication means.
  • the image processing unit 30 can also be arranged elsewhere and / or also integrated into the vehicle control system 34, so that the vehicle control system 34 simultaneously forms the complete control device 31 of the embodiment described above.
  • a signal S1 transmits an acknowledgment signal, which is generated when the operator confirms the confirmation input, as well as other selection and control signals.
  • the signal S2 transmits the image of the camera 10, the quality of which can be improved by image processing algorithms of the control device 31 and which can additionally be provided with superimposed algorithmically generated additional information, e.g. B. distance information, route specifications and markings of hazardous areas.
  • the signal S3 includes control signals of the working hydraulic controls 27 and the signal S4 control signals of the traction drive operation 28.
  • the signal S5 is the image information signal of the camera 10 and the signal S6 is the image information signal of the optical sensor 14.
  • Generated control signals of the image processing unit 30 are transmitted to the vehicle controller 34 via a signal S7.
  • a signal S8 forms the control signals of the functions 26 of the load receiving means 9 and a signal S9 is used to control the driving functions 29th

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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)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Forklifts And Lifting Vehicles (AREA)
  • Warehouses Or Storage Devices (AREA)

Description

Die Erfindung betrifft ein Steuerungsverfahren für ein Flurförderzeug mit mindestens einer auf den Bereich eines Lastaufnahmemittels ausgerichteten Kamera, einem Monitor und einer Steuerungsvorrichtung, wobei bei dem Steuerungsverfahren, wenn sich das Flurförderzeug mit aufgenommener Last mit dem Lastaufnahmemittel vor einer Lagerungsposition befindet, die Schritte durchgeführt werden: Erfassen der Geometrie der Lagerungsposition mittels Bildverarbeitungsverfahren durch die Steuerungsvorrichtung, wie beispielsweise Muster- oder Objekterkennung, Bestimmen einer möglichen Absetzposition der Last in der Lagerungsposition durch die Steuerungsvorrichtung und Bestimmen einer relativen Position des Lastaufnahmemittels gegenüber einer Position des Lastaufnahmemittels in der Absetzposition durch die Steuerungsvorrichtung.The invention relates to a control method for an industrial truck having at least one camera, a monitor and a control device aligned with the area of a lifting device, wherein in the control method, when the truck with the load picked up is in a storage position with the load receiving device, the steps are carried out: Detecting the geometry of the storage position by means of image processing methods by the control device, such as pattern or object detection, determining a possible Absetzposition of the load in the storage position by the control device and determining a relative position of the load receiving means relative to a position of the load receiving means in the Absetzposition by the control device.

Als Flurförderzeuge kommen neben Gabelhubwagen in sehr großem Umfang Gabelstapler zum Einsatz, wobei beide Arten von Flurförderzeugen vor allem auf Paletten angeordnete Lasten transportieren. Dabei sind im Regelfall zur Bildung einer Lastgabel an einem Gabelträger zwei Gabelzinken angeordnet, mit denen eine aufgenommene Palette sowie eine auf dieser aufliegende Last durch entsprechendes Manövrieren des Gabelstapler sowie Ansteuern eines Hubgerüstes, an dem die Lastgabel höhenbeweglich geführt ist, in einer Lagerungsposition abgesetzt werden kann. Insbesondere bei ungünstigen Sichtbedingungen, wie etwa bei sehr hoch angehobener Lastgabel oder in schlecht beleuchteten Bereichen eines Lagers, kann dies mühsam sein bzw. zumindest erhebliche Zeit erfordern, da besonders langsam und sorgfältig gesteuert werden muss. Weiterhin werden die Umschlagsleistung und der effiziente Einsatz von Flurförderzeugen auch dadurch beeinträchtigt, dass Fahrer bzw. Bedienpersonen von Flurförderzeugen eventuell noch keine ausreichende Übung im Bedienen und im Steuern des Flurförderzeugs haben.Forklifts are used in addition to pallet trucks on a very large scale, both types of industrial trucks transport especially arranged on pallets loads. In this case, two forks are usually arranged to form a fork on a fork carriage with which a recorded pallet and a load resting on this load by appropriate maneuvering the forklift and driving a mast on which the fork is guided vertically movable, can be discontinued in a storage position , In particular, in unfavorable visibility conditions, such as at very high lifted fork or in poorly lit areas of a warehouse, this can be tedious or at least require considerable time, as must be particularly slow and carefully controlled. Furthermore, the handling capacity and the efficient use of industrial trucks are also impaired by the fact that drivers or operators of industrial trucks may not yet have sufficient training in the operation and in the control of the truck.

Bekannt ist, durch Videovorrichtungen den Bereich vor der Lastaufnahmevorrichtung, somit eine mögliche Lagerungsposition, zu erfassen und zeitgleich auf einem Monitor abzubilden. Dies soll es dem Fahrer ermöglichen bzw. erleichtern, die Lastaufnahmevorrichtung optimal zu positionieren. Ebenso können solche Systeme aus Kamera und Monitor auch den Umgebungsbereich des Flurförderzeugs im Fahrbetrieb ganz allgemein abbilden und darstellen. Primäre Anwendungsfelder sind hierbei das Lastabsetzen in großen Hubhöhen.It is known to capture by video devices the area in front of the load-receiving device, thus a possible storage position, and at the same time on a monitor. This should make it possible or easier for the driver to optimally position the load-carrying device. Likewise, such systems from the camera and monitor, the environment of the truck when driving generally represent and represent. Primary fields of application here are load balancing at high lifting heights.

Bekannt sind auch fahrerlose Transportsysteme, bei denen durch eine Kamera gewonnene Bilddaten zur Generierung von Steuerbefehlen an die Fahrzeugsteuerung verwendet werden.Driverless transport systems are also known in which image data obtained by a camera are used to generate control commands to the vehicle control system.

Im Verhältnis zu dem Nutzen der zuvor beschriebenen Technologien nach dem Stand der Technik entstehen bedingt durch den erforderlichen Aufwand relativ hohe Kosten. Der Nutzen liegt rein in der Ergonomieverbesserung durch Verbesserung der Sichtsituation des Fahrers ohne diesen durch weitere Funktionen in der Handhabung der Last oder dem Fahrbetrieb zu unterstützen. Im Hinblick auf den erforderlichen Kostenaufwand kommen die beschriebenen Technologien bisher überwiegend nur in einer geringen Zahl von Anwendungsfällen zum Einsatz, wie zum Beispiel bei Fahrzeugen für Hochregallager mit sehr großen Hubhöhen.Relative to the benefits of the prior art technologies described above, relatively high costs are incurred due to the expense involved. The benefit is purely in the improvement of ergonomics by improving the driver's visual situation without supporting it by further functions in the handling of the load or the driving operation. In view of the required cost of the technologies described above are mainly used only in a small number of applications, such as in vehicles for high-bay warehouse with very high lifting heights.

Optische Sensoren stehen inzwischen in sehr kompakten Maßen und kostengünstig gerade als miniaturisierte Kameras zur Verfügung, z. B. für den verbreiteten Einsatz in Mobiltelefonen. Auch kann durch den Einsatz mehrerer optischer Sensoren innerhalb eines Gehäuses der Abbildungsbereich vergrößert werden bzw. können dreidimensionale Daten durch Kombination der Sensordaten der einzelnen Sensoren gewonnen werden. Zudem stehen aus dem Bereich der Video-Entertainment-Branche Bildsensorkombinationen zur Verfügung, die neben bildgebenden Kamerasensoren hiermit korrelierte Tiefenmesssensoriken einsetzen und dadurch dreidimensionale Bilddaten bereitstellen können.Optical sensors are now available in very compact dimensions and cost just as miniaturized cameras, z. B. for widespread use in mobile phones. Also, by using a plurality of optical sensors within a housing, the imaging range can be increased or three-dimensional data can be obtained by combining the sensor data of the individual sensors. In addition, image-sensor combinations are available in the field of the video entertainment industry. In addition to imaging camera sensors, they can use correlated depth-measuring sensor systems to provide three-dimensional image data.

Aus der DE10 2010 004 719 A1 ist eine ist eine Kameraeinrichtung zur Erfassung der Stellung eines Lastaufnahmemittels bekannt die einer Bedienperson ein Blickfeld auf eine Lagerungsposition in großen Hubhöhen ermöglicht.From the DE10 2010 004 719 A1 is a is a camera device for detecting the position of a lifting device known which allows an operator a field of view on a storage position at high lifting heights.

Nachteilig an diesem Stand der Technik ist, dass dadurch nicht ermöglicht wird, auch bei Einsatz von Bedienpersonen mit wenig Erfahrung eine hohe Umschlagsleistung bzw. Arbeitsleistung des Flurförderzeugs zu erzielen.A disadvantage of this prior art that this is not possible, even with the use of operators with little experience to achieve a high cargo handling and performance of the truck.

Aus der DE 10 2008 027 695 A1 ist ein Steuerungsverfahren für ein autonomes, vollautomatisches Flurförderzeug mit einem Lasersensor im Bereich des Lastaufnahmemittels bekannt. Aus Daten des Sensors kann die relative Position eines Lastaufnahmemittels im Verhältnis gegenüber einer Lagerungsposition bestimmt werden und die Lagerungsposition vollautomatisch angesteuert werden.From the DE 10 2008 027 695 A1 is a control method for an autonomous, fully automatic truck with a laser sensor in the area of the lifting device known. From data of the sensor, the relative position of a load-receiving means in relation to a storage position can be determined and the storage position can be controlled fully automatically.

Nachteilig an diesem Stand der Technik ist, dass es jedoch sehr aufwändig und kostenintensiv ist, diese Steuerung so sicher auszulegen, dass eine Funktionsweise ohne menschliche Überwachung zulässig und möglich ist. Auch ist dieser Stand der Technik naturgemäß nur anwendbar, wenn sämtliche Bedienungsfunktionen wie Ansteuerfunktionen einer Arbeitshydraulik, eines Lastaufnahmemittels und Fahrfunktionen des Flurförderzeugs voll automatisiert betätigt werden können.A disadvantage of this prior art, however, that it is very complex and costly to interpret this control so safe that an operation without human supervision is permitted and possible. Also, this state of the art naturally only applicable if all operating functions such as control functions of a working hydraulics, a lifting device and driving functions of the truck can be operated fully automated.

Die EP0800129 A1 offenbart einen Flurförderzeug, das wahlweise manuell oder automatisch betreibbar ausgebildet ist. Dabei ist das Kontrollsystem zur automatischen Verwaltung der Bewegungen von Paletten ausgebildet.The EP0800129 A1 discloses an industrial truck, which is optionally designed to be operable manually or automatically. The control system is designed to automatically manage the movements of pallets.

Der vorliegenden Erfindung liegt die Aufgabe zugrunde, ein Steuerungsverfahren für ein Flurförderzeug sowie ein zugehöriges Flurförderzeug zur Verfügung zu stellen, mit dem eine leichte Bedienbarkeit auch für mit der Bedienung unerfahrene Personen ermöglicht wird und mit dem die Umschlagsleistung des Flurförderzeugs erhöht werden kann.The present invention has for its object to provide a control method for an industrial truck and an associated truck available with the ease of use for inexperienced with the operation people and with the handling capacity of the truck can be increased.

Diese Aufgabe wird durch ein Steuerungsverfahren mit den Merkmalen des unabhängigen Patentanspruchs 1 sowie durch ein Flurförderzeug mit den Merkmalen des unabhängigen Patentanspruchs 17 gelöst. Vorteilhafte Weiterbildungen des Steuerungsverfahrens werden in den Unteransprüchen angegeben.This object is achieved by a control method having the features of independent claim 1 and by a truck having the features of independent claim 17. Advantageous developments of the control method are specified in the subclaims.

Die Aufgabe wird durch ein Steuerungsverfahren für ein Flurförderzeug mit mindestens einer auf den Bereich eines Lastaufnahmemittels ausgerichteten Kamera, einem Monitor und einer Steuerungsvorrichtung gelöst, wobei bei dem Steuerungsverfahren, wenn sich das Flurförderzeug mit aufgenommener Last mit dem Lastaufnahmemittel vor einer Lagerungsposition befindet, die folgenden Schritte durchgeführt werden:The object is achieved by a control method for an industrial truck having at least one camera, a monitor and a control device aligned with the area of a lifting device, wherein in the control method, when the truck with the load picked up is in a storage position with the load receiving device, the following steps be performed:

Erfassen der Geometrie der Lagerungsposition mittels Bildverarbeitungsverfahren durch die Steuerungsvorrichtung, wie beispielsweise Muster- oder Objekterkennung, Bestimmen einer möglichen Absetzposition der Last in der Lagerungsposition durch die Steuerungsvorrichtung, insbesondere unter dem Gesichtspunkt einer platzsparenden Anordnung, Bestimmen einer relativen Position des Lastaufnahmemittels gegenüber einer Position des Lastaufnahmemittels in der Absetzposition durch die Steuerungsvorrichtung, Darstellen von zumindest Teilen der Lagerungsposition und schematisch der Last in der möglichen Absetzposition auf dem Monitor, Abfragen einer Bestätigungseingabe, sowie im Falle einer Bestätigungseingabe Absetzen der Last in der Absetzposition an der Lagerungsposition durch automatisches Einstellen und Ausrichten der durch die Steuerungsvorrichtung ansteuerbaren Funktionen des Lastaufnahmemittels und der durch die Steuerungsvorrichtung ansteuerbaren Fahrfunktionen des Flurförderzeugs und Anzeigen von einzustellenden Werten für Funktionen des Lastaufnahmemittels und Fahrfunktionen des Flurförderzeugs auf dem Monitor, die nicht automatisch durch die Steuerungsvorrichtung angesteuert werden können.Detecting the geometry of the storage position by means of image processing methods by the control device, such as pattern or object detection, determining a possible Absetzposition of the load in the storage position by the control device, in particular from the viewpoint of a space-saving arrangement, determining a relative position of the lifting device a position of the load receiving means in the setting position by the control device, representing at least parts of the storage position and schematically the load in the possible setting position on the monitor, interrogating a confirmation input, and in the case of a confirmation input settling the load in the setting position at the storage position by automatic adjustment and aligning the controllable by the control device functions of the lifting device and controllable by the control device driving functions of the truck and displaying values to be set for functions of the lifting device and driving functions of the truck on the monitor, which can not be controlled automatically by the control device.

Vorteilhaft kann damit die Umschlagsleistungen und der effiziente Einsatz von Flurförderzeugen erhöht werden, wenn eine Bedienperson noch relativ ungeübt in der Bedienung des Flurförderzeugs ist. Das zuverlässige und sichere Absetzen einer Last, ohne die Last oder sonstige Gegenstände in der Nähe, insbesondere ein Regal, zu beschädigen erfordert einige Übung und ist erst nach einiger Routine mit größerer Geschwindigkeit durchführbar. Dies gilt umso mehr, wenn die Last in eine hohe Regalposition abgesetzt werden soll. In einem solchen Fall bestehen zum einen ungenügende Sichtverhältnisse und zum anderen wirken sich Steuerbefehle des Bedieners des Flurförderzeugs, etwa beispielsweise eines Schubmaststaplers oder aber auch eines Gegengewichtsgabelstapler oder Gabelhochhubwagens, in abweichender Art und Weise aus, wie bei einer Position nahe am Boden. Beispielsweise kann es zu Schwingungen und Verzögerungen kommen durch die Elastizität eines Hubmastes. Die Gefahr von Unfällen, Beschädigungen der Last, Schäden an dem Flurförderzeug sowie von Schäden etwa an Regalen wird verringert und zugleich können auch weniger geübte Fahrer, wie etwa temporäre Arbeitskräfte oder nur in zeitlich geringem Umfang als Aushilfe tätige Arbeitskräfte eingesetzt werden. Sobald die Steuerungsvorrichtung eine Abfolge von Ansteuerbefehlen der Funktionen des Lastaufnahmemittels sowie gegebenenfalls von Fahrbewegungen des Flurförderzeugs bestimmt hat, um das Lastaufnahmemittel in eine Position zum Absetzen der Last zu bewegen, wird die Lagerungsposition, beispielsweise ein Regalplatz, mit einer schematischen Kennzeichnung der Absetzsposition dargestellt. Die automatische Ansteuerung der Funktionen bzw. Fahrbewegung erfolgt erst, nachdem die Steuerungsvorrichtung ein Signal erhält, dass eine Bestätigungseingabe durch den Fahrer erfolgt ist. Eine solche Bestätigungseingabe kann ein eigens vorgesehener Schalter, ein Schaltfeld auf dem auf Berührungen reagierenden Monitor, oder eine sonstige geeignete, jedoch bewusst durch den Fahrer zu betätigende Eingabe sein. Anschließend führt die Steuerungsvorrichtung diejenigen erforderlichen Bewegungen aus, um das Lastaufnahmemittel in Absetzposition zu bewegen, die als Bewegungen von der Steuerungsvorrichtung automatisch vorgenommen werden können. Üblicherweise erfolgen die Funktionen eines Lastaufnahmemittels durch Arbeitshydrauliken, deren Ventile im Regelfall als elektrisch betätigbare Steuerventile ausgeführt sind, wobei von Hand durchgeführte Bedienungseingaben über Bedienelemente erfolgen, die ein elektrisches Signal abgeben. Dies ermöglicht eine vollautomatische Ansteuerung durch die Steuerungsvorrichtung bei dem erfindungsgemäßen Verfahren, die kostengünstig umzusetzen ist. Für Funktionen, die nicht über die Steuerungsvorrichtung angesteuert werden können, werden durch eine grafische Anzeige auf dem Monitor, aber auch gegebenenfalls auf einer anderen alternativ zur Verfügung stehenden Anzeigemöglichkeit, die einzustellenden Werte für das Bedienelement angezeigt. Dies können beispielsweise Umdrehungen eines Lenkrads sein, aber auch eine über Pfeile gesteuerte Anzeige, die vorgibt, in welcher Richtung ein Bedienelement zu betätigen ist, bis der einzustellende Wert erreicht ist. Auf dieselbe Weise ist dies auch für Bedienhebel für eine Hubhöhe, einen Seitenschub, einen Mastschub, eine Neigung des Lastaufnahmemittels oder eine Mastneigung möglich. Es kann auch vorgesehen werden, dass Funktionen, die von der Steuerungsvorrichtung vollautomatisch angesteuert werden könnten, auf diese Weise betätigt werden. Vorteilhaft unterliegen die automatisierten Bewegungen des Flurförderzeugs somit einer menschlichen Kontrolle sowohl hinsichtlich der richtigen Bestimmung eines vorgesehenen automatisierten Bewegungsablaufs als auch während des automatisierten Bewegungsablaufs des Flurförderzeugs. Daher können Sicherheitsanforderungen leichter erfüllt werden und kann ein erforderlicher größerer Aufwand wie bei autonomen Flurförderzeugen vermieden werden. Das Verfahren ist auch insofern kostengünstig umzusetzen, da für eine Vielzahl der Funktionen des Lastaufnahmemittels wie auch der Fahrfunktionen des Flurförderzeugs bereits die Möglichkeit einer automatisierten Ansteuerung besteht und für die verbleibenden erforderlichen Funktionen eine solche nicht erforderlich ist. Insbesondere kann beispielsweise eine Steuerung eines Bremspedals und eines Gaspedals allein unter menschlicher Kontrolle verbleiben.Advantageously, the handling performance and the efficient use of industrial trucks can be increased if an operator is still relatively inexperienced in the operation of the truck. The reliable and safe setting down of a load without damaging the load or other objects in the vicinity, in particular a shelf, requires some practice and is only feasible after some routine with greater speed. This applies even more if the load is to be placed in a high rack position. In such a case, on the one hand insufficient visibility and on the other hand have control commands of the truck operator, such as a reach truck or even a counterbalance forklift or Gabelhochhubwagens, in a different manner, as in a position close to the ground. For example, vibrations and delays can occur due to the elasticity of a lifting mast. The risk of accidents, damage to the load, damage to the truck and of damage such as shelves is reduced and at the same time less experienced riders, such as temporary workers or only temporarily employed as a temporary help workers can be used. As soon as the control device has determined a sequence of activation commands of the functions of the lifting device and, if appropriate, of travel movements of the industrial truck in order to move the load receiving means into a position for depositing the load, the storage position, for example a shelf space, is represented with a schematic marking of the setting-down position. The automatic control of the functions or driving movement takes place only after the control device receives a signal that a confirmation input done by the driver. Such a confirmation input may be a dedicated switch, a button on the touch-sensitive monitor, or any other suitable operator-aware input. Subsequently, the control device executes those required movements to move the load receiving means in the setting position, which can be made as movements of the control device automatically. Usually, the functions of a lifting device by working hydraulics, the valves are usually carried out as electrically actuated control valves, with manually performed operating inputs via controls that emit an electrical signal. This allows a fully automatic control by the control device in the method according to the invention, which is inexpensive to implement. For functions that can not be controlled via the control device, the values to be set for the operating element are displayed by a graphical display on the monitor, but also optionally in another alternative display option. This can be, for example, turns of a steering wheel, but also an arrow-controlled display which specifies in which direction a control element is to be actuated until the value to be set is reached. In the same way, this is also possible for operating lever for a lifting height, a side thrust, a mast thrust, a tilt of the lifting device or a mast tilt. It can also be provided that functions that could be controlled fully automatically by the control device are operated in this way. Advantageously, the automated movements of the truck thus subject to a human control both in terms of the correct determination of an intended automated movement sequence and during the automated movement sequence of the truck. Therefore, safety requirements can be met more easily and a required greater effort as in autonomous industrial trucks can be avoided. The method is also inexpensive to implement insofar as already exists for a variety of functions of the load-handling device as well as the driving functions of the truck automatic control and for the remaining required functions such is not required. In particular, for example, control of a brake pedal and an accelerator pedal may remain under human control alone.

Vorteilhaft können eine oder mehrere weitere Bestätigungseingaben vor oder zwischen der Ansteuerung einzelner Funktionen des Lastaufnahmemittels und/oder der Ansteuerung einzelner Fahrfunktionen des Flurförderzeugs abgefragt werden.Advantageously, one or more further confirmation inputs can be interrogated before or between the activation of individual functions of the lifting device and / or the activation of individual driving functions of the industrial truck.

Die automatisierte Ansteuerung einzelner Funktionen des Lastaufnahmemittels und/oder einzelner Fahrfunktionen des Flurförderzeugs kann nacheinander, aber auch zur zeitlichen Optimierung gleichzeitig erfolgen. Überdies kann auch gleichzeitig die Ansteuerung derjenigen Funktionen durch die Bedienperson erfolgen, die nicht automatisiert angesteuert werden können. Dabei kann vorgesehen werden, dass weitere Bestätigungseingaben auf die gleiche, oben beschriebene Art und Weise erfolgen müssen, um Sicherheitsanforderungen zu erfüllen, beispielsweise wenn bei einer bestimmten automatisierten Bewegungen eine verstärke Überwachung durch die Bedienperson sichergestellt werden soll.The automated control of individual functions of the load handling device and / or individual driving functions of the truck can be done simultaneously, but also for time optimization simultaneously. Moreover, at the same time the control of those functions by the operator can take place, which can not be controlled automatically. It can be provided that further confirmation inputs must be made in the same manner described above, in order to meet safety requirements, for example, if in a certain automated movements increased monitoring by the operator to be ensured.

In einer günstigen Ausführungsform des erfindungsgemäßen Verfahrens wird eine andauernde Bestätigungseingabe abgefragt und bei Fehlen eines Bestätigungssignals die Ansteuerung der Funktionen des Lastaufnahmemittels und/oder der Fahrfunktionen des Flurförderzeugs gestoppt.In a favorable embodiment of the method according to the invention, a continuous confirmation input is interrogated and, in the absence of a confirmation signal, the control of the functions of the load receiving means and / or the driving functions of the truck is stopped.

Eine Bestätigungseingabe kann auch dadurch vorgesehen werden, dass ein entsprechendes Signal andauernd gegeben werden muss und bei einem "Loslassen" alle automatisierten Bewegungen gestoppt werden.A confirmation input can also be provided by the fact that a corresponding signal must be given constantly and when a "release" all automated movements are stopped.

Das Lastaufnahmemittel kann an einem Hubmast höhenbeweglich geführt sein und Funktionen des Lastaufnahmemittels können die Hubhöhe und/oder eine Neigung und/oder ein Mastschub des Hubmastes sein.The lifting device may be guided vertically movable on a mast and functions of the lifting device may be the lifting height and / or a slope and / or a mast thrust of the mast.

Das erfindungsgemäße Verfahren ist besonders vorteilhaft wenn Lasten auch in großen Höhen abgesetzt werden müssen, da es zu Schwingungen und elastischen Verformungen des Hubmastes bei großen Hubhöhen kommen kann, die die Bedienung zusätzlich erschweren können. Insbesondere sind jedoch die Sichtverhältnisse bei großer Hubhöhe ungünstig. Vorteilhaft unterstützt das erfindungsgemäße Verfahren als Assistenzsystem eine Bedienperson im Gegensatz beispielsweise zu einem reinen Kamerasystem nach dem Stand der Technik auch bei der Bedienung und vermeidet so die Probleme, die auftreten können, wenn eine Bedienperson nur anhand einesThe inventive method is particularly advantageous when loads must be discontinued even at high altitudes, since it can cause vibrations and elastic deformations of the mast at high lifting heights, which can complicate the operation in addition. In particular, however, the visibility at high lift are unfavorable. Advantageously, the inventive method as assistance system supports an operator in contrast, for example, to a pure camera system according to the prior art in the operation and thus avoids the problems that can occur when an operator only on the basis of a

Kamerabildes Bewegungen eines Lastaufnahmemittels steuern muss.Camera image movements of a lifting device must control.

Eine Funktion des Lastaufnahmemittels kann eine Seitenschubvorrichtung sein.One function of the load handling device may be a side thruster.

In der günstigen Ausgestaltung des erfindungsgemäßen Verfahrens erfolgt die Anzeige von einzustellenden Werten für Funktionen des Lastaufnahmemittels und für Fahrfunktionen des Flurförderzeugs auf dem Monitor kontinuierlich, bis das Lastaufnahmemittel sich in den Aufnahmeelementen befindet.In the favorable embodiment of the method according to the invention, the display of values to be set for functions of the load-handling device and for driving functions of the truck on the monitor takes place continuously until the load-receiving means is located in the receiving elements.

Es ist besonders vorteilhaft, die einzustellenden Werte für die Bedienelemente, die von der Bedienperson von Hand bedient werden, kontinuierlich und eventuell korrigiert anzuzeigen, bis das Lastaufnahmemittel sich in der Absetzposition für die Last befindet.It is particularly advantageous to display continuously and possibly corrected the values to be set for the operating controls operated manually by the operator until the load handling device is in the set-down position for the load.

Vorteilhaft wird für den Lenkwinkel als Fahrfunktion des Flurförderzeugs als einzustellender Wert ein Wertebereich eines erforderlichen Lenkeinschlags angezeigt sowie der Istwert des Lenkeinschlags.Advantageously, a value range of a required steering angle is displayed for the steering angle as the driving function of the truck as the value to be set, as well as the actual value of the steering angle.

Vorteilhaft erfordert das erfindungsgemäße Verfahren keine autonome Lenkung mit den entsprechenden Anforderungen an Sicherheit und Zuverlässigkeit.Advantageously, the inventive method does not require autonomous steering with the appropriate requirements for safety and reliability.

In günstiger Ausgestaltung des Verfahrens erfolgt bei Erkennen einer Kollisionsgefahr ein Warnton und/oder die weitere Ansteuerung der Funktionen des Lastaufnahmemittels und/oder der Fahrfunktionen des Flurförderzeugs wird gestoppt.In a favorable embodiment of the method takes place when detecting a risk of collision, a warning tone and / or the further control of the functions of the load-handling device and / or the driving functions of the truck is stopped.

Es kann auch gegen Ende der Bewegung in die Absetzposition für die Last ein Abbremsen erfolgen.It can also be done towards the end of the movement in the setting position for the load a deceleration.

Es können weitere optische Sensoren für die Erfassung der Last vorgesehen sein, die mit der Steuerungsvorrichtung verbunden sind.There may be further optical sensors for the detection of the load, which are connected to the control device.

Durch weitere optische Sensoren kann die Genauigkeit der Erfassung verbessert werden. Solche optischen Sensoren stehen als CMOS-Bildsensoren aber auch als miniaturisierte Kameras preisgünstig als Massenprodukte zur Verfügung. Die weiteren optischen Sensoren können vorzugsweise neben den bereits genannten Bildinformationen, etwa codiert in Helligkeits- und Farbwerte der Bildpunkte, weitere Informationen erfassen, wie beispielsweise Entfernungsinformationen in Form von Punktwolken. Vorteilhaft kann ganz allgemein durch zwei Kameras ein Stereobild gewonnen werden, aus dem sich Informationen über die Entfernung der einzelnen Bildpunkte gewinnen lassen.By further optical sensors, the accuracy of detection can be improved. Such optical sensors are available as CMOS image sensors but also as miniaturized cameras inexpensively as mass products. The further optical sensors may preferably be in addition to those already mentioned Image information, for example encoded in brightness and color values of the pixels, capture further information, such as distance information in the form of point clouds. Advantageously, a stereo image can be obtained in general by two cameras, from which information about the distance of the individual pixels can be obtained.

In einer Weiterbildung kann die Kamera eine Time Of Flight Kamera sein.In a further development, the camera can be a Time Of Flight camera.

Durch eine solche Kamera lässt sich für jeden Bildpunkt auch eine Entfernungsinformation gewinnen und verwerten.With such a camera, distance information can be obtained and utilized for each pixel.

In einer vorteilhaften Ausgestaltung des Verfahrens ist die Kamera eine Stereokamera.In an advantageous embodiment of the method, the camera is a stereo camera.

Durch eine Stereokamera lässt sich sehr kompakt in einer Kamera ein doppeltes Bild gewinnen, aus dem sich eine Entfernungsinformation berechnen lässt.A stereo camera can be very compact in a camera win a double image, from which a distance information can be calculated.

In einer vorteilhaften Weiterbildung ist die Kamera an einem Gabelträger des Lastaufnahmemittels angeordnet, insbesondere in der Höhe verfahrbar angeordnet und kann in eine Position unterhalb des Lastaufnahmemittels verfahren werden.In an advantageous development, the camera is arranged on a fork carrier of the load-receiving means, in particular arranged so as to be movable in height, and can be moved to a position below the load-carrying means.

Beispielsweise kann die Kamera an einer senkrechten Schiene hinter dem bevorzugt als Lastgabel ausgebildeten Lastaufnahmemittel so an dem Gabelträger in der Höhe verfahrbar angeordnet sein, dass diese bei einer auf der Lastgabel aufliegenden Last nach unten verfahren werden kann, bis die Kamera ein Blickfeld unter den Gabelzinken der Lastgabel erreicht. Es ist auch möglich, generell für die Bildaufnahme bei dem erfindungsgemäßen Verfahren die Kamera in diese untere Position zu verfahren. Denkbar sind auch verfahrbare Kameras, die nicht senkrecht, sondern waagerecht bewegt werden können.For example, the camera on a vertical rail behind the load bearing device preferably designed as a load fork on the fork carriage in height be arranged so that it can be moved at a load lying on the load fork down until the camera a field of vision under the forks Reached fork. It is also possible to generally move the camera to this lower position for the image recording in the inventive method. Also conceivable are movable cameras that can not be moved vertically but horizontally.

Der Monitor kann ein Touchscreen sein.The monitor can be a touch screen.

In einer Weiterbildung des erfindungsgemäßen Verfahrens ist die Lagerungsposition ein Regalplatz, insbesondere ein Regalplatz eines Palettenregals.In a further development of the method according to the invention, the storage position is a shelf space, in particular a shelf space of a pallet rack.

Insbesondere bei so genannten Palettenregalen, bei denen kein Regalboden vorhanden ist, sondern ein vordere und hintere Träger auf Paletten gelagerten Lasten aufnimmt, wird durch das erfindungsgemäße Verfahren die Gefahr eines fehlerhaften Absetzung und somit Abrutschens der Palette aus der Lagerungsposition vermieden.In particular, in so-called pallet racking in which no shelf is present, but receives a front and rear support stored on pallets loads, the risk of erroneous deposition and thus slippage of the pallet from the storage position is avoided by the inventive method.

Vorteilhaft kann eine Überprüfung erfolgen, ob die Last in den Regalplatz passt.Advantageously, a check can be made as to whether the load fits in the shelf space.

Es kann ein Erfassen der Geometrie der Last auf dem Lastaufnahmemittel durch Bildverarbeitungsverfahren durch die Steuerungsvorrichtung erfolgen, wie beispielsweise Muster- oder Objekterkennung.It may be a detection of the geometry of the load on the load-carrying means by image processing methods by the control device, such as pattern or object recognition.

Dadurch kann die Bestimmung, ob eine Last in eine bestimmte Lagerungsposition abgesetzt werden kann bzw. wie die Absetzposition für eine platzsparende Anordnung gewählt werden kann, genauer erfolgen, da die geometrischen Daten der Last bekannt sind.Thereby, the determination as to whether a load can be placed in a certain storage position or how the set-down position can be selected for a space-saving arrangement can be made more accurate, since the geometric data of the load are known.

Die Aufgabe wird auch durch ein Flurförderzeug mit mindestens einer auf den Bereich eines Lastaufnahmemittels ausgerichteten Kamera, einem Monitor und einer Steuerungsvorrichtung gelöst, bei dem die Steuerungsvorrichtung ein zuvor beschriebenes Verfahren durchführt.The object is also achieved by an industrial truck having at least one camera, a monitor and a control device, which is aligned with the region of a load-receiving device and in which the control device carries out a method described above.

Das Flurförderzeug weist die bereits zuvor geschilderten Vorteile auf.The truck has the advantages already described above.

Weitere Vorteile und Einzelheiten der Erfindung werden anhand der in den schematischen Figuren dargestellten Ausführungsbeispiele näher erläutert. Hierbei zeigt

Fig.1
ein Flurförderzeug in Perspektivansicht,
Fig. 2
stark schematisch ein Flurförderzeug der Fig. 1 sowie ein Palettenregal in Aufsicht,
Fig. 3
eine Lagerungsposition in einem Palettenregal,
Fig. 4
ein Monitorbild und
Fig. 5
ein Schema des erfindungsgemäßen Verfahrens.
Further advantages and details of the invention will be explained in more detail with reference to the embodiments illustrated in the schematic figures. This shows
Fig.1
a truck in perspective view,
Fig. 2
very schematically an industrial truck Fig. 1 and a pallet rack in supervision,
Fig. 3
a storage position in a pallet rack,
Fig. 4
a monitor picture and
Fig. 5
a schematic of the method according to the invention.

In der Fig. 1 ist ein Flurförderzeug in perspektivischer Ansicht dargestellt, bei dem das erfindungsgemäße Steuerungsverfahren zur Anwendung kommt. Bei dem Flurförderzeug handelt es sich um einen Schubmaststapler mit einem ersten Radarm 1 mit einer Laufrolle 2 und einem zweiten Radarm 3, ebenfalls mit einer Laufrolle 2. Das erfindungsgemäße Verfahren ist jedoch jederzeit auch bei jeder anderen Art eines Flurförderzeugs und insbesondere Gabelstaplers, wie etwa einem Gegengewichtsgabelstapler, oder etwa eine Gabelhochhubwagen einsetzbar. Vor allem ist das erfindungsgemäße Steuerungsverfahren auch einsetzbar bei Flurförderzeugen, die keinen Hubmast aufweisen. Bei dem beispielhaft dargestellten Schubmaststapler ist an einem Hubmast 4 ein Gabelträger 11 angeordnet, an dem eine Lastgabel 5 als Lastaufnahmemittel 9 befestigt ist. Hinter dem Hubmast 4 ist eine Batterie 6 angeordnet. Der die Lastgabel 5 tragende Gabelträger 11 ist an dem Hubmast 4 mittels eines Hubantriebs anhebbar und absenkbar. Der Hubmast 4 kann zwischen den Radarmen 1, 3 nach vorne verschoben werden, um eine Last aufzunehmen. An den in einer Fahrzeuglängsachse des Schubmaststaplers vorderen Ende des ersten Radarms 1 befindet sich über der Laufrolle 2 ein erstes Schutzblech 7 und über der Laufrolle 2 des zweiten Radarms 3 ebenfalls ein zweites Schutzblech 8. An dem Gabelträger 11 ist eine Kamera 10 angeordnet. Im dargestellten Ausführungsbeispiel ist die Kamera 10 in Fahrzeugquerrichtung im mittleren Bereich des Gabelträgers 11 angeordnet. Die Kamera 10 ist bevorzugt in der Höhe verstellbar an dem Gabelträger 11 angeordnet und kann in eine Position unterhalb der Lastgabel 5 gefahren werden. Weiterhin kann an einer Gabelzinke 12 eine Minikamera 13 als weiterer optischer Sensor 14 angeordnet werden. Solche Minikameras 13 stehen in robuster und kostengünstiger Ausführung zur Verfügung und werden beispielsweise zahlreich eingesetzt in Mobiltelefonen.In the Fig. 1 a truck is shown in perspective view, in which the control method according to the invention is used. The truck is a reach truck with a first Radarm 1 with a roller 2 and a second Radarm 3, also with a roller 2. However, the inventive method is at any time in any other type of truck and especially forklift, such as a Counterbalance forklift, or about a Gabelhochhubwagen used. Above all, the control method according to the invention can also be used in industrial trucks that have no mast. In the illustrated example of a reach truck 4, a fork carriage 11 is arranged on a lifting mast 4, to which a load fork 5 is attached as a load-receiving means 9. Behind the mast 4, a battery 6 is arranged. The load carrier 5 carrying fork carriage 11 is raised and lowered on the mast 4 by means of a lifting drive. The mast 4 can be moved forward between the wheel arms 1, 3 to receive a load. At the front in a vehicle longitudinal axis of the reach truck front end of the first Radarms 1 is above the roller 2, a first fender 7 and the roller 2 of the second Radarms 3 also a second fender 8. At the fork carriage 11, a camera 10 is arranged. In the illustrated embodiment, the camera 10 is arranged in the vehicle transverse direction in the central region of the fork carriage 11. The camera 10 is preferably arranged in height adjustable on the fork carriage 11 and can be moved to a position below the fork 5. Furthermore, a miniature camera 13 can be arranged as a further optical sensor 14 on a fork tine 12. Such miniature cameras 13 are available in robust and cost-effective design and are used for example in numerous mobile phones.

Fig. 2 zeigt schematisch das erfindungsgemäße Flurförderzeug in Sicht von oben. Zwischen dem ersten Radarm 1 und dem zweiten Radarm 3 mit der Laufrolle 2 ist der Hubmast 4 mit der Lastgabel 5 angeordnet. An dem Gabelträger 11 mit der Lastgabel 5, auf der eine schematisch dargestellte Last 15 auf einer Palette 16 aufliegt, ist die Kamera 10 angeordnet, die mit ihrem Erfassungsbereich 17 ein vor der Lastgabel 5 befindliches Palettenregal 18 erfasst. Fig. 2 schematically shows the truck according to the invention in view from above. Between the first Radarm 1 and the second Radarm 3 with the roller 2 of the mast 4 is arranged with the fork 5. At the fork carriage 11 with the fork 5, on which a schematically illustrated load 15 rests on a pallet 16, which is Camera 10 is arranged, which detects with its detection area 17 located in front of the fork 5 pallet rack 18.

Fig. 3 zeigt eine Perspektivansicht eines Lastregals 19, das als Palettenregal 18 ausgebildet ist. Zwischen senkrechten Stützen 40 auf verschiedenen Ebenen 41 ist jeweils eine vordere Tragstrebe 42 und eine hintere Tragstrebe 43 angeordnet. Zwischen der vorderen Tragstrebe 42 und der hinteren Tragstrebe 43 ist dabei kein Regalboden angeordnet. Paletten können in jeder Ebene 41 in entsprechende Lagerpositionen eingelagert werden. Eine mögliche, durch die Steuerungsvorrichtung bestimmte Absetzposition 44 ist in der mittleren Ebene 41 angeordnet. Fig. 3 shows a perspective view of a load shelf 19, which is designed as a pallet rack 18. Between vertical supports 40 on different levels 41, a front support strut 42 and a rear support strut 43 are each arranged. Between the front support strut 42 and the rear support strut 43 no shelf is arranged. Pallets can be stored in each level 41 in corresponding storage positions. A possible settling position 44 determined by the control device is arranged in the middle plane 41.

Die Fig. 4 zeigt ein Monitorbild eines Monitors 23, der im Sichtbereich der Bedienperson des Flurförderzeugs angeordnet ist. Auf diesem Monitorbild ist ein Ausschnitt der durch die Kamera 10 erfassten Darstellung des Palettenregals 18 mit der Absetzposition 44 aus der Fig. 3 abgebildet.The Fig. 4 shows a monitor image of a monitor 23, which is arranged in the field of view of the operator of the truck. On this monitor image is a section of the captured by the camera 10 representation of the pallet rack 18 with the Absetzposition 44 from the Fig. 3 displayed.

Eine Bedienperson des Flurförderzeugs kann nun das richtige Erkennen der Absetzposition 44 bestätigen und durch eine Bestätigungseingabe, beispielsweise durch einen hier nicht dargestellten Schalter oder auch ein Bedienfeld 24 des als Touchscreen 25 ausgebildeten Monitors 23, das automatische Ansteuern der Funktionen des Lastaufnahmemittels 9 sowie der Fahrfunktionen des Flurförderzeugs starten. Zugleich wird auf dem Monitor 23 für nicht automatisch ansteuerbare Funktionen, im vorliegenden Fall die Lenkung des Flurförderzeugs, ein einzustellender Wert angezeigt. Dadurch richtet sich die Lastgabel 5 entsprechend der Absetzposition 44 aus und, wenn die Bedienperson die entsprechenden Anweisungen über die einzustellenden Werte beachtet fährt das Lastaufnahmemittels 9 mit der aufliegenden Last 15 in die Absetzposition 44. Durch diese Assistenzfunktion können auch Bedienpersonen mit wenig Erfahrung eine Last 15 sicher absetzen.An operator of the truck can now confirm the correct detection of the Absetzposition 44 and by a confirmation input, for example by a switch not shown here or a control panel 24 of the touchscreen 25 designed as monitor 23, the automatic control of the functions of the lifting device 9 and the driving functions of Start the truck. At the same time, a value to be set is displayed on the monitor 23 for functions that can not be controlled automatically, in the present case the steering of the industrial truck. As a result, the load fork 5 aligns with the setting position 44, and when the operator observes the corresponding instructions about the values to be set, the load receiving means 9 moves with the overlying load 15 to the setting position 44. This assistance function also allows operators with little experience to load 15 settle safely.

Die Steuerungsvorrichtung kann dabei in einen Steuerungscomputer des Fahrzeugs integriert sein oder vollständig bzw. in Teilen aus einem eigenen Computer bestehen.The control device may be integrated in a control computer of the vehicle or consist entirely or in part from a separate computer.

Die Fig. 5 zeigt ein Schema des erfindungsgemäßen Verfahrens. Der Monitor 23 kann aus jeder Form von Bildwiedergabemitteln bestehen, z. B. einem Farbbildschirm in LCD-Technik. Die Funktionen 26 des Lastaufnahmemittels 9 werden durch die Bedienperson im normalen Betrieb über Arbeitshydraulikbedienelemente 27 angesteuert und bestehen im Regelfall aus hydraulischen Elementen, die durch elektrisch ansteuerbare Ventile zumeist bereits automatisiert ansteuerbar sind. Über eine Fahrantriebsbedienung 28 der Fahrfunktionen 29 des Flurförderzeugs ist eine Bedienperson in der Lage, die Fahrzeugbewegung zu kontrollieren. Bei einem Gabelstapler beispielsweise durch eine Bedienung mittels Lenkrad, Fahrtrichtungsschalter, Fahrpedal und Bremspedal. Eine Bildverarbeitungseinheit 30 bildet einen Teil einer Steuerungsvorrichtung 31, die die Signale eines oder mehrerer optischer Sensoren 10, 14 in Echtzeit erfassen und verarbeiten kann. Einen optischen Sensor stellen dabei in dem vorliegenden Beispielsfall die Kamera 10 sowie der optische Sensor 14 in der Fig. 1 dar. Die optischen Sensoren 10, 14 sind in der Lage, Helligkeits- und Farbinformationen durch beispielsweise einen Kamerachip aufzunehmen und können bei entsprechender Auslegung auch Entfernungen zu Objekten mit optischen Mitteln bestimmen.The Fig. 5 shows a schematic of the method according to the invention. The monitor 23 may consist of any form of image display means, e.g. B. a color screen in LCD technology. The functions 26 of the load receiving means 9 are by the Operated operator in normal operation via working hydraulic control elements 27 and usually consist of hydraulic elements that are usually already automatically controlled by electrically controllable valves. Via a traction drive control 28 of the driving functions 29 of the truck an operator is able to control the vehicle movement. In a forklift, for example, by an operation by means of steering wheel, direction switch, accelerator pedal and brake pedal. An image processing unit 30 forms part of a control device 31, which can detect and process the signals of one or more optical sensors 10, 14 in real time. An optical sensor in the present example case, the camera 10 and the optical sensor 14 in the Fig. 1 The optical sensors 10, 14 are able to record brightness and color information by, for example, a camera chip and can, with appropriate design, also determine distances to objects by optical means.

Die Funktionen 26 des Lastaufnahmemittels 9 sowie die Fahrfunktionen 29 des Flurförderzeugs sind in der Darstellung der Fig. 5 zu Fahrzeugantrieben 32 zusammengefasst. Die Arbeitshydraulikbedienelemente 27, die Fahrantriebsbedienung 28 und der Monitor 23 sind im Bereich eines Fahrerarbeitsplatzes 33 angeordnet. Die Bildverarbeitungseinheit 30 sowie die optischen Sensoren 10, 14 sind im Bereich des Lastaufnahmemittels 9, hier dem Gabelträger 11 und der Gabelzinke 12 angeordnet.The functions 26 of the load receiving means 9 and the driving functions 29 of the truck are in the illustration of Fig. 5 to vehicle drives 32 summarized. The working hydraulic control elements 27, the traction drive control 28 and the monitor 23 are arranged in the area of a driver's workplace 33. The image processing unit 30 and the optical sensors 10, 14 are arranged in the region of the load-receiving means 9, here the fork carrier 11 and the fork tine 12.

Eine Fahrzeugsteuerung 34 bildet im vorliegenden Beispielsfall ebenfalls einen Teil der Steuerungsvorrichtung 31 und verbindet über uni- oder bidirektionale Kommunikationsmittel die zuvor genannten Elemente.A vehicle controller 34 in the present example also forms part of the control device 31 and connects the aforementioned elements via unidirectional or bidirectional communication means.

Die Bildverarbeitungseinheit 30 kann alternativ auch an anderer Stelle angeordnet sein und/oder in die Fahrzeugsteuerung 34 ebenfalls integriert werden, so dass die Fahrzeugsteuerung 34 zugleich die vollständige Steuerungsvorrichtung 31 des zuvor beschriebenen Ausführungsbeispiels bildet.Alternatively, the image processing unit 30 can also be arranged elsewhere and / or also integrated into the vehicle control system 34, so that the vehicle control system 34 simultaneously forms the complete control device 31 of the embodiment described above.

Ein Signal S1 überträgt ein Bestätigungssignal, das bei der Abfrage der Bestätigungseingabe durch die Bedienperson erzeugt wird, sowie weitere Auswahl- und Steuersignale.A signal S1 transmits an acknowledgment signal, which is generated when the operator confirms the confirmation input, as well as other selection and control signals.

Das Signal S2 überträgt das Bild der Kamera 10, dessen Qualität durch Bildverarbeitungsalgorithmen der Steuerungsvorrichtung 31 verbessert werden kann und das zusätzlich mit überlagerten algorithmisch generierte Zusatzinformationen versehen werden kann, z. B. Distanzinformationen, Wegvorgaben und Markierungen von Gefahrenbereichen. Das Signal S3 umfasst Steuersignale der Arbeitshydraulikbedienelemente 27 und das Signal S4 Steuersignale der Fahrantriebsbedienung 28. Das Signal S5 ist das Bildinformationssignal der Kamera 10 und das Signal S6 ist das Bildinformationssignal des optischen Sensors 14.The signal S2 transmits the image of the camera 10, the quality of which can be improved by image processing algorithms of the control device 31 and which can additionally be provided with superimposed algorithmically generated additional information, e.g. B. distance information, route specifications and markings of hazardous areas. The signal S3 includes control signals of the working hydraulic controls 27 and the signal S4 control signals of the traction drive operation 28. The signal S5 is the image information signal of the camera 10 and the signal S6 is the image information signal of the optical sensor 14.

Über ein Signal S7 werden generierte Steuersignale der Bildverarbeitungseinheit 30 zu der Fahrzeugsteuerung 34 übertragen. Ein Signal S8 bildet die Steuersignale der Funktionen 26 des Lastaufnahmemittels 9 und ein Signal S9 dient zur Ansteuerung der Fahrfunktionen 29.Generated control signals of the image processing unit 30 are transmitted to the vehicle controller 34 via a signal S7. A signal S8 forms the control signals of the functions 26 of the load receiving means 9 and a signal S9 is used to control the driving functions 29th

Claims (17)

  1. Control method for an industrial truck, having at least one camera (10) which is aligned with the region of a load-pickup means (9), a monitor (23) and a control device (31), wherein during the control method, when the industrial truck with the picked-up load (15) is located with the load-pickup means (9) in front of a storage position, the following steps are carried out:
    - detecting the geometry of the storage position by means of an image-processing method by the control device (31), such as, for example, a pattern-recognition or object-recognition system,
    - determining a possible setting-down position (44) of the load (15) in the storage position by the control device (31), in particular from the point of view of a space-saving arrangement,
    - determining a relative position of the load-pickup means (9) with respect to a position of the load-pickup means (9) in a setting-down position (44) by the control device (31),
    - representing at least parts of the storage position and representing the load (15) schematically in the possible setting-down position (44) on the monitor (23),
    - interrogating a confirmation entry,
    - in the case of a confirmation entry setting down of the load (15) in the setting-down position (44) at the storage position by automatically setting and aligning the functions (26), which can be actuated by the control device (31), of the load-pickup means (9) and the driving functions (29), which can be actuated by the control device, of the industrial truck, and
    - displaying values to be set for functions (26) of the load-pickup means (9) and driving functions (29) of the industrial truck on the monitor (23), which values cannot be automatically actuated by the control device (31).
  2. Control method according to Claim 1,
    characterized
    in that one or more further activation entries are interrogated before or between the actuation of individual functions (26) of the load-pickup means (9) and/or the actuation of individual driving functions (29) of the industrial truck.
  3. Control method according to one of Claims 1 to 2,
    characterized
    in that a continuous confirmation entry is interrogated, and when a confirmation signal is absent the actuation of the functions (26) of the load-pickup means and/or the driving functions (29) of the industrial truck is stopped.
  4. Control method according to one of Claims 1 to 3,
    characterized
    in that the load-pickup means (9) is guided in a vertically movable fashion on a lifting mast (4), and functions (26) of the load-pickup means are the lifting height and/or an inclination of the lifting mast (4) and/or a mast thrust.
  5. Control method according to one of Claims 1 to 4,
    characterized
    in that a function (26) of the load-pickup means (9) is a lateral thrust device.
  6. Control method according to one of Claims 1 to 5,
    characterized
    in that the display of values to be set for functions (26) of the load-pickup means (9) and driving functions (29) of the industrial truck on the monitor (23) occurs continuously until the load-pickup means (9) is located in the setting-down position (44) for the load (15).
  7. Control method according to Claim 6,
    characterized
    in that a value range of a necessary steering lock is displayed for the steering angle as a driving function (29) of the industrial truck as a value to be set, and the actual value of the steering lock is displayed.
  8. Control method according to one of Claims 1 to 7,
    characterized
    in that when the risk of collision is detected a warning tone is issued and/or the further actuation of the functions (26) of the load-pickup means and/or the driving functions (29) of the industrial truck is stopped.
  9. Control method according to one of Claims 1 to 8,
    characterized
    in that further optical sensors (14) for detecting the geometry of the storage position are provided, said optical sensors (14) being connected to the control device (31).
  10. Control method according to one of Claims 1 to 9,
    characterized
    in that the camera (10) is a time-of-flight camera.
  11. Control method according to one of Claims 1 to 10,
    characterized
    in that the camera (10) is a stereo camera.
  12. Control method according to Claim 10 or 11,
    characterized
    in that the camera (10) is arranged on a fork carrier (11) of the load-pickup means (9), in particular is arranged so as to be movable in height and such that it can be moved into a position below the load-pickup means (9).
  13. Control method according to one of Claims 1 to 12,
    characterized
    in that the monitor (23) is a touchscreen (25).
  14. Control method according to one of Claims 1 to 13,
    characterized
    in that the storage position is a shelf rack, in particular a shelf rack of a pallet shelf (18).
  15. Control method according to Claim 14,
    characterized
    in that checking occurs as to whether the load fits into the shelf rack.
  16. Control method according to one of Claims 1 to 15,
    characterized
    in that detection of the geometry of the load on the load-pickup means (9) is carried out by means of an image-processing method by the control device (31), such as for example a pattern- or object-recognition system.
  17. Industrial truck having at least one camera (10) which is aligned with the region of a load-pickup means (9), a monitor (23) and a control device (31) which carries out a method according to one of Claims 1 to 13.
EP20130162432 2012-04-20 2013-04-05 Control method for unloading of an industrial truck and industrial truck Active EP2653430B1 (en)

Applications Claiming Priority (3)

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DE102012103486 2012-04-20
DE102012103841 2012-05-02
DE201210108028 DE102012108028A1 (en) 2012-04-20 2012-08-30 Control method for load reduction of a truck and industrial truck

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US10949083B2 (en) 2015-07-17 2021-03-16 Crown Equipment Corporation Processing device having a graphical user interface for industrial vehicle
US11899871B2 (en) 2015-07-17 2024-02-13 Crown Equipment Corporation Processing device having a graphical user interface for industrial vehicle
US10754466B2 (en) 2016-11-22 2020-08-25 Crown Equipment Corporation User interface device for industrial vehicle
US10936183B2 (en) 2016-11-22 2021-03-02 Crown Equipment Corporation User interface device for industrial vehicle
US11054980B2 (en) 2016-11-22 2021-07-06 Crown Equipment Corporation User interface device for industrial vehicle
WO2020229593A1 (en) 2019-05-16 2020-11-19 Jungheinrich Ag Method for warehousing assistance for an industrial truck, and industrial truck
DE102019112954A1 (en) * 2019-05-16 2020-11-19 Jungheinrich Aktiengesellschaft Method for supporting the position of an industrial truck and industrial truck
EP4049962A4 (en) * 2019-10-25 2023-01-04 Kabushiki Kaisha Toyota Jidoshokki Operation assistance device for cargo handling vehicle
US12065341B2 (en) 2019-10-25 2024-08-20 Kabushiki Kaisha Toyota Jidoshokki Operation assisting apparatus for load handling vehicle

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