EP3118152A1 - Method for controlling the speed of a picking industrial truck - Google Patents
Method for controlling the speed of a picking industrial truck Download PDFInfo
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- EP3118152A1 EP3118152A1 EP16177585.3A EP16177585A EP3118152A1 EP 3118152 A1 EP3118152 A1 EP 3118152A1 EP 16177585 A EP16177585 A EP 16177585A EP 3118152 A1 EP3118152 A1 EP 3118152A1
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- picking
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- 238000000034 method Methods 0.000 title claims abstract description 30
- 238000012544 monitoring process Methods 0.000 claims abstract description 18
- 230000003287 optical effect Effects 0.000 claims description 7
- 238000001514 detection method Methods 0.000 claims description 5
- 230000006870 function Effects 0.000 claims description 4
- 230000008569 process Effects 0.000 claims description 2
- 230000001934 delay Effects 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000018109 developmental process Effects 0.000 description 2
- 230000006399 behavior Effects 0.000 description 1
- 239000012141 concentrate Substances 0.000 description 1
- 230000000994 depressogenic effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
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- 239000000463 material Substances 0.000 description 1
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Classifications
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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
- B66F9/063—Automatically guided
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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
- B66F9/07581—Remote controls
Definitions
- the invention relates to a method for controlling the speed of a picking truck.
- the invention relates to a method for controlling an industrial truck, such as for picking, wherein the truck has an optical sensor with a monitoring area, which is connected to a control device, and the control device automatically after a start command the truck without signal of a driven by a person driving signal generator moves, records a monitoring area in the direction of travel of the truck by evaluating the data of the optical sensor and stops when detecting an obstacle closer than a stopping distance the truck.
- picking trucks When picking in warehouses special picking trucks are used with which is driven through the storage area, for example by rows of racks to put together the goods intended for delivery.
- picking trucks can be designed so that a person mitun during picking, but also runs when assembling the goods and driving along a shelf storage along foot next to the vehicle to remove goods from the shelf storage and this on a pallet or in a Store transport container.
- the picking person For easier operation of the picking truck remote controls are known.
- the picking person By means of such remote controls, the picking person, the picker, has the option of leaving the picking truck and controlling its movements with the remote control.
- the order picker requests a forward movement of the vehicle by pressing a button, the picking truck driving as long as the button remains depressed.
- Controls are known for automatic guidance of picking in a rack aisle, which are based on the environment.
- laser scanners are used with which the Contour of the side of the aisle is detected while the picking truck is driving.
- the order picking truck for example, arrives at another picking truck already in the aisle or in general an obstacle.
- a warehouse are usually a plurality of picking trucks in use with one operator and it can often happen that within a shelf aisle two or more picking trucks are moving one behind the other in one direction, such as in an area of the shelf warehouse, by frequently picking goods are stored.
- a disadvantage of this prior art is that when several trucks are used simultaneously in a rack aisle picking and commissioners have different working speeds or divergent cycle times when picking up the goods, it can lead to significant delays. This can create a kind of traffic jam in the rack aisle, since all order picking can only be driven sequentially via remote control by the respective order picker or each order picker has to wait until the picking truck before him has moved on and free space, so the own picking using the remote control, for example, after an automatic stop due to the detection of the vehicle ahead as an obstacle, can start again. This results in large dead times, similar to the effect that is known in traffic light start behavior in traffic. As a result, the maximum order picking speed can not be achieved and the order pickers must concentrate and pay attention to their respective picking truck in order to operate it. It is also disadvantageous that each of the picking trucks must be controlled individually.
- the present invention has for its object to provide a method for controlling an industrial truck, in particular an industrial truck for picking, to provide that avoids the aforementioned drawbacks and with the operation of the truck during picking easier and more efficient work is possible.
- the object is achieved in that in a method for controlling an industrial truck, in particular for order picking, wherein the truck has an optical sensor with a monitoring area, which is connected to a control device, and the control device automatically after a start command the truck without a signal driven by a person Fahrsignalgebers, recorded by evaluating the data of the optical sensor monitoring area in the direction of the truck and stops detection of obstacle closer than a stopping distance the truck, after a stop of the truck, the control device re-starts the truck and continues driving automatically as soon as no obstacle closer than the stopping distance is detected.
- an automatic guidance of the picking truck is possible without the actions of the user or the picking person are required by not only a ride on, for example, preceding trucks is prevented, but also the truck automatically anatom and follows the truck in front as soon as this Free space.
- the number of required interactions of the serving person is reduced and this results in a workload.
- the truck can thereby virtually to a preceding truck, but also for example to a preceding Person be coupled by always following this vehicle or this person in a further movement. This is basically possible with several forklifts in a row in a type of convoy.
- the order-picking speed of a series of industrial trucks in a rack aisle can be increased, since there are no delays due to a traffic jam and necessary starting commands from the driver.
- a suitable sensor for monitoring the environment which may be a laser scanner in particular, but may also consist of ultrasonic sensors or radar sensors, a monitoring area is detected mainly in the direction of movement of the truck and examined obstacles, limits people and traverses.
- known methods of image processing are used, for example, contour checking methods.
- control device upon detection of an obstacle further than the stopping distance and closer than a reaction distance, reduces the driving speed depending on the distance to the obstacle.
- control device reduces the driving speed at a distance of the obstacle between the reaction distance and the holding distance to zero when reaching the holding distance, in particular linearly to zero.
- the maximum driving speed can be set during automatic driving and is controlled by the control device observed if no obstacle is detected.
- the maximum driving speed is programmed in a learning operation that is not carried out automatically, in particular during picking operation.
- the maximum driving speed or cruise control speed can be programmed in a learning mode of the picking truck and be specified by a manual drive. It is also conceivable to use here average values of the maximum achieved travel speeds or the average travel speeds over a certain period of operation.
- only obstacles are detected in a track which is delimited by a right track boundary line and a left track boundary line, wherein the track boundary lines are each positioned laterally of the industrial truck and oriented in the longitudinal direction of the industrial truck.
- Obstacles can be determined in a contour inspection process.
- the control device can stop the industrial truck at the beginning of the interruption.
- a value for the holding distance can be input via an operating device and / or programmed in a manual learning mode.
- the distance between the trucks among each other in a convoy operation can be entered by a learning operation.
- This can be about smartphones, tablets, notebooks or the like.
- He further embodiment of the method follow a plurality of industrial trucks arranged in a row in automatic drive the first truck by these comply with the distance to the respective preceding one.
- the master vehicle can be controlled by a serving person in any manner. All other trucks automatically follow the respective minimum distance of the preceding truck and behave as if they were coupled with an electronic drawbar to a trailer hoist. This makes it possible to build a convoy and automatically control any number of subsequent trucks through the operation of the first vehicle without a single control is required. It is also possible that the master vehicle itself is a fully automatic vehicle.
- the sensor may be an optical sensor, in particular a laser scanner, an ultrasonic sensor or a radar sensor.
- the trucks may be provided with additional fully automatic functions.
- the truck can automatically drive to an unloading station at the end of a shelf aisle or automatically starts the beginning of a shelf aisle on a call command of the picking person out.
- a call command can be carried out in many known ways, for example by a remote control, but also by a gesture recognition or a software application of an electronic device such as a smartphone.
- the Fig. 1 schematically shows an industrial truck 1 for picking in a aisle 2 with a cross-passage 3.
- a sensor which is formed in the present example as a laser scanner and emits laser beams 4
- the edge points of the aisle 2 are detected as pixels.
- the sensor monitors a monitoring area 5 in the direction of travel in front of the industrial truck 1.
- elements of the aisle 2 such as rack posts, stored pallets and goods and obstacles in the surveillance area 5 are detected.
- the Fig. 2 shows the picking 1 of the Fig. 1 in a rack aisle 2 with a predicted track 6, which is determined by a left track boundary line 7 and a right track boundary line 8. Obstacles within the travel path 6 are detected by the control device. The detection of obstacles or preceding industrial trucks can be limited to the area of the travel path 6 within the surveillance area 5, wherein furthermore the indicated edge points of the aisle 2 and the cross-passage 3 are detected within the surveillance area 5.
- the track 6 represents a predicted track 6 in the direction of travel of the truck 1, which is calculated by the control device from the orientation of the truck 1.
- the Fig. 3 shows the truck 1 of Fig. 1 in a rack aisle 2 with a leading second, also provided for picking truck 9 within the guideway 6 of the first truck 1, which is determined by the left Fahrwegbegrenzungsline 7 and the right Fahrwegbegrenzungsline 8.
- the control device of the first industrial truck 1 controls the travel speed from a predetermined maximum travel speed, for example a cruise speed set in the sense of cruise control, so that the first industrial truck 1 always follows the second industrial truck 9 at a distance 10 corresponding to the holding distance or slightly larger.
Abstract
Bei einem Verfahren zur Steuerung eines Flurförderzeugs (1), insbesondere zur Kommissionierung, wobei das Flurförderzeug (1) zur Überwachung der Umgebung einen Sensor mit einem Überwachungsbereich (5) aufweist, der mit einer Steuerungsvorrichtung verbunden ist, und die Steuerungsvorrichtung nach einem Startbefehl das Flurförderzeug (1) automatisch ohne Signal eines durch eine Person betätigten Fahrsignalgebers fährt, durch Auswertung der Daten einen Überwachungsbereich (5) in Fahrtrichtung des Flurförderzeugs erfasst sowie bei Erfassung eines Hindernisses näher als ein Halteabstand (10) das Flurförderzeug (1) stoppt, fährt nach einem Stopp des Flurförderzeugs (1) die Steuerungsvorrichtung das Flurförderzeug (1) wieder an und fährt automatisiert weiter, sobald kein Hindernis näher als der Halteabstand (10) erfasst wird.In a method for controlling an industrial truck (1), in particular for picking, wherein the truck (1) for monitoring the environment has a sensor with a monitoring area (5) which is connected to a control device, and the control device after a start command the truck (1) automatically drives without a signal of a driver actuated by a driver, detects a monitoring area (5) in the direction of travel of the truck by evaluating the data and stops when detecting an obstacle closer than a holding distance (10) the truck (1), moves to one Stop the truck (1), the control device on the truck (1) again and continues automatically when no obstacle closer than the holding distance (10) is detected.
Description
Die Erfindung betrifft ein Verfahren zur Geschwindigkeitssteuerung eines Kommissionierflurförderzeugs. Insbesondere betrifft die Erfindung ein Verfahren zur Steuerung eines Flurförderzeugs, etwa zur Kommissionierung, wobei das Flurförderzeug einen optischen Sensor mit einem Überwachungsbereich aufweist, der mit einer Steuerungsvorrichtung verbunden ist, und die Steuerungsvorrichtung nach einem Startbefehl das Flurförderzeug automatisch ohne Signal eines durch eine Person betätigten Fahrsignalgebers fährt, durch Auswertung der Daten des optischen Sensors einen Überwachungsbereich in Fahrtrichtung des Flurförderzeugs erfasst sowie bei Erfassung eines Hindernisses näher als ein Halteabstand das Flurförderzeug stoppt.The invention relates to a method for controlling the speed of a picking truck. In particular, the invention relates to a method for controlling an industrial truck, such as for picking, wherein the truck has an optical sensor with a monitoring area, which is connected to a control device, and the control device automatically after a start command the truck without signal of a driven by a person driving signal generator moves, records a monitoring area in the direction of travel of the truck by evaluating the data of the optical sensor and stops when detecting an obstacle closer than a stopping distance the truck.
Beim Kommissionieren in Lagerhäusern werden spezielle Kommissionierflurförderzeuge eingesetzt, mit denen durch den Lagerbereich, beispielsweise durch Regalreihen gefahren wird, um die für eine Auslieferung bestimmten Waren zusammen zu stellen. Solche Kommissionierflurförderzeuge können dabei so ausgelegt sein, dass eine Person während des Kommissionierens mitfährt, aber auch beim Zusammenstellen der Waren und Fahren an einem Regallager entlang zu Fuß neben dem Fahrzeug mitläuft, um Waren aus dem Regallager zu entnehmen und diese auf eine Palette oder in einen Transportbehälter abzulegen.When picking in warehouses special picking trucks are used with which is driven through the storage area, for example by rows of racks to put together the goods intended for delivery. Such picking trucks can be designed so that a person mitfährt during picking, but also runs when assembling the goods and driving along a shelf storage along foot next to the vehicle to remove goods from the shelf storage and this on a pallet or in a Store transport container.
Für die erleichterte Bedienung des Kommissionierflurförderzeugs sind dabei Fernbedienungen bekannt. Durch solche Fernbedienungen hat die kommissionierende Person, der Kommissionierer, die Möglichkeit, das Kommissionierflurförderzeug zu verlassen und dessen Fahrbewegungen mit der Fernbedienung anzusteuern. Eine bekannte Variante hierfür ist, dass der Kommissionierer durch einen Knopfdruck ein Vorwärtsfahren des Fahrzeugs anfordert, wobei das Kommissionierflurförderzeug so lange fährt, wie der Knopf gedrückt bleibt.For easier operation of the picking truck remote controls are known. By means of such remote controls, the picking person, the picker, has the option of leaving the picking truck and controlling its movements with the remote control. A known variant of this is that the order picker requests a forward movement of the vehicle by pressing a button, the picking truck driving as long as the button remains depressed.
Bekannt sind dabei Steuerungen zur automatischen Führung des Kommissionierflurförderzeugs in einem Regalgang, die sich an der Umgebung orientieren. Hierfür werden beispielsweise Laserscanner eingesetzt, mit denen die Kontur der Seite des Ganges erkannt wird, während das Kommissionierflurförderzeug fährt.Controls are known for automatic guidance of picking in a rack aisle, which are based on the environment. For this example, laser scanners are used with which the Contour of the side of the aisle is detected while the picking truck is driving.
Wenn keine Überwachung auf Hindernisse erfolgt, könnte es vorkommen, dass das Kommissionierflurförderzeug beispielsweise auf ein weiteres, bereits in dem Gang befindliches Kommissionierflurförderzeug oder allgemein ein Hindernis auffährt. In einem Lager sind zumeist eine Mehrzahl von Kommissionierflurförderzeugen im Einsatz mit jeweils einer bedienenden Person und es kann dabei häufig vorkommen, dass innerhalb eines Regalgangs zwei oder mehrere Kommissionierflurförderzeuge sich hintereinander in einer Richtung bewegen, etwa in einem Bereich des Regallagers, indem häufig zu kommissionierende Waren gelagert sind.If there is no monitoring of obstacles, it could happen that the order picking truck, for example, arrives at another picking truck already in the aisle or in general an obstacle. In a warehouse are usually a plurality of picking trucks in use with one operator and it can often happen that within a shelf aisle two or more picking trucks are moving one behind the other in one direction, such as in an area of the shelf warehouse, by frequently picking goods are stored.
Bekannt sind weiterhin Systeme, die den Bereich vor einem Flurförderzeug automatisch auf Hindernisse überwachen, vor allem durch eine optische Überwachung, wie etwa mittels eines Laserscanners, und die Fahrt des Flurförderzeugs automatisiert stoppen, wenn ein Hindernis vor dem Fahrzeug erkannt wird.Also known are systems that automatically monitor the area in front of an industrial truck for obstacles, in particular by optical monitoring, such as by means of a laser scanner, and automatically stop the truck when an obstacle is detected in front of the vehicle.
Nachteilig an diesem Stand der Technik ist jedoch, dass wenn mehrere Flurförderzeug gleichzeitig in einer Regalgasse beim Kommissionieren eingesetzt werden und die Kommissionierer unterschiedliche Arbeitsgeschwindigkeiten haben bzw. voneinander abweichende Taktzeiten beim Aufnehmen der Waren, es zu erheblichen Verzögerungen kommen kann. Dabei kann eine Art Stau in der Regalgasse entstehen, da alle Kommissionierflurförderzeuge nur sequenziell via Fernbedienung von dem jeweiligen Kommissionierer weiter gefahren werden können bzw. jeder Kommissionierer abwarten muss, bis das Kommissionierflurförderzeug vor ihm sich weiter bewegt hat und Platz freigibt, damit das eigene Kommissionierflurförderzeug mithilfe der Fernbedienung, etwa nach einem automatischen Stopp aufgrund der Erkennung des vorausfahrenden Fahrzeugs als Hindernis, wieder anfahren kann. Dadurch entstehen große Totzeiten, ähnlich dem Effekt, der beim Ampelanfahrverhalten im Straßenverkehr bekannt ist. In der Folge kann die maximale Kommissioniergeschwindigkeit nicht erreicht werden und müssen die Kommissionierer konzentriert sowie zielgerichtet auf ihr jeweiliges Kommissionierflurförderzeug achten, um es zu bedienen. Dabei ist weiterhin nachteilig, dass jedes der Kommissionierflurförderzeuge einzelnen gesteuert werden muss.A disadvantage of this prior art, however, is that when several trucks are used simultaneously in a rack aisle picking and commissioners have different working speeds or divergent cycle times when picking up the goods, it can lead to significant delays. This can create a kind of traffic jam in the rack aisle, since all order picking can only be driven sequentially via remote control by the respective order picker or each order picker has to wait until the picking truck before him has moved on and free space, so the own picking using the remote control, for example, after an automatic stop due to the detection of the vehicle ahead as an obstacle, can start again. This results in large dead times, similar to the effect that is known in traffic light start behavior in traffic. As a result, the maximum order picking speed can not be achieved and the order pickers must concentrate and pay attention to their respective picking truck in order to operate it. It is also disadvantageous that each of the picking trucks must be controlled individually.
Aus der
Der vorliegenden Erfindung liegt die Aufgabe zugrunde, ein Verfahren zur Steuerung eines Flurförderzeugs, insbesondere eines Flurförderzeugs zur Kommissionierung, zur Verfügung zu stellen, dass die zuvor genannten Nachteile vermeidet und mit dem die Bedienung des Flurförderzeug während des Kommissionierens vereinfacht sowie eine effizientere Arbeit ermöglicht wird.The present invention has for its object to provide a method for controlling an industrial truck, in particular an industrial truck for picking, to provide that avoids the aforementioned drawbacks and with the operation of the truck during picking easier and more efficient work is possible.
Diese Aufgabe wird durch ein Verfahren mit den Merkmalen des unabhängigen Patentanspruchs 1 gelöst. Vorteilhafte Weiterbildungen der Erfindung sind in den Unteransprüchen angegeben.This object is achieved by a method having the features of
Die Aufgabe wird erfindungsgemäß dadurch gelöst, dass bei einem Verfahren zur Steuerung eines Flurförderzeugs, insbesondere zur Kommissionierung, wobei das Flurförderzeug einen optischen Sensor mit einem Überwachungsbereich aufweist, der mit einer Steuerungsvorrichtung verbunden ist, und die Steuerungsvorrichtung nach einem Startbefehl das Flurförderzeug automatisch ohne Signal eines durch eine Person betätigten Fahrsignalgebers fährt, durch Auswertung der Daten des optischen Sensors einen Überwachungsbereich in Fahrtrichtung des Flurförderzeugs erfasst sowie bei Erfassung eines Hindernisses näher als ein Halteabstand das Flurförderzeug stoppt, wobei nach einem Stopp des Flurförderzeugs die Steuerungsvorrichtung das Flurförderzeug wieder anfährt und automatisiert weiter fährt, sobald kein Hindernis näher als der Halteabstand erfasst wird.The object is achieved in that in a method for controlling an industrial truck, in particular for order picking, wherein the truck has an optical sensor with a monitoring area, which is connected to a control device, and the control device automatically after a start command the truck without a signal driven by a person Fahrsignalgebers, recorded by evaluating the data of the optical sensor monitoring area in the direction of the truck and stops detection of obstacle closer than a stopping distance the truck, after a stop of the truck, the control device re-starts the truck and continues driving automatically as soon as no obstacle closer than the stopping distance is detected.
Dadurch ist eine automatische Führung des Kommissionierflurförderzeugs möglich, ohne dass Aktionen des Benutzers bzw. der kommissionierenden Person erforderlich sind, indem nicht nur ein Auffahren auf beispielsweise vorausfahrende Flurförderzeuge verhindert wird, sondern auch das Flurförderzeug automatisch wieder anfährt und dem vorausfahrenden Flurförderzeug folgt, sobald dieses den Platz freigibt. Die Anzahl erforderlicher Interaktionen der bedienenden Person wird verringert und es ergibt sich dadurch eine Arbeitserleichterung. Das Flurförderzeug kann dadurch virtuell an ein vorausfahrendes Flurförderzeug, aber auch beispielsweise an eine vorausgehende Person gekoppelt werden, indem es immer bei einer weiteren Bewegung diesem Fahrzeug bzw. dieser Person folgt. Dies ist grundsätzlich auch mit mehreren Flurförderzeugen in einer Reihe in einer Art Konvoifahrt möglich. Dadurch kann die Kommissioniergeschwindigkeit einer Reihe von Flurförderzeugen in einer Regalgasse erhöht werden, da es nicht zu Verzögerungen durch einen Stau und nötige Anfahrbefehle der Fahrer kommt. Insbesondere können auch mehrere Fahrzeuge von einer einzigen Person bedient werden. Durch einen geeigneten Sensor zur Überwachung der Umgebung, der insbesondere ein Laserscanner sein kann, aber auch aus Ultraschallsensoren oder Radarsensoren bestehen kann, wird ein Überwachungsbereich vor allem in Bewegungsrichtung des Flurförderzeugs erfasst und auf Hindernisse, Begrenzungen Personen und Quergänge untersucht. Dabei werden bekannte Verfahren der Bildverarbeitung angewandt, beispielsweise Konturprüfungsverfahren.As a result, an automatic guidance of the picking truck is possible without the actions of the user or the picking person are required by not only a ride on, for example, preceding trucks is prevented, but also the truck automatically anfährt and follows the truck in front as soon as this Free space. The number of required interactions of the serving person is reduced and this results in a workload. The truck can thereby virtually to a preceding truck, but also for example to a preceding Person be coupled by always following this vehicle or this person in a further movement. This is basically possible with several forklifts in a row in a type of convoy. As a result, the order-picking speed of a series of industrial trucks in a rack aisle can be increased, since there are no delays due to a traffic jam and necessary starting commands from the driver. In particular, several vehicles can be operated by a single person. By a suitable sensor for monitoring the environment, which may be a laser scanner in particular, but may also consist of ultrasonic sensors or radar sensors, a monitoring area is detected mainly in the direction of movement of the truck and examined obstacles, limits people and traverses. In this case, known methods of image processing are used, for example, contour checking methods.
Vorteilhaft reduziert die Steuerungsvorrichtung bei Erfassung eines Hindernisses weiter als der Halteabstand und näher als ein Reaktionsabstand die Fahrgeschwindigkeit in Abhängigkeit des Abstands zu dem Hindernis.Advantageously, upon detection of an obstacle further than the stopping distance and closer than a reaction distance, the control device reduces the driving speed depending on the distance to the obstacle.
In einer günstigen Ausgestaltung des Verfahrens reduziert die Steuerungsvorrichtung die Fahrgeschwindigkeit bei einem Abstand des Hindernisses zwischen dem Reaktionsabstand und dem Halteabstand bis auf null bei Erreichen des Halteabstands, insbesondere linear bis auf null.In a favorable embodiment of the method, the control device reduces the driving speed at a distance of the obstacle between the reaction distance and the holding distance to zero when reaching the holding distance, in particular linearly to zero.
Indem nicht nur abrupt angehalten wird, sondern die Geschwindigkeit beim Auffahren auf ein Hindernis zwischen dem Reaktionsabstand und dem Halteabstand in einer gesteuerten Kennlinie reduziert wird, beispielsweise linear von der eingestellten maximalen Fahrgeschwindigkeit bis auf Null reduziert wird, erfolgt eine Regelung des Abstandes und des Auffahrens zum vorausfahrenden Flurförderzeug bzw. dem Hindernis. Es ergibt sich eine Schonung des Flurförderzeugs durch einen möglichst homogenen Fahrbetrieb in dem Regalgang beim Kommissionieren. Als Folge wird auch die Batteriereichweite durch diesen homogenen Fahrbetrieb vergrößert.By not only stopped abruptly, but the speed when approaching an obstacle between the reaction distance and the holding distance is reduced in a controlled characteristic, for example, is linearly reduced from the set maximum travel speed to zero, takes place a control of the distance and the start-up preceding truck or obstacle. The result is a protection of the truck by a possible homogeneous driving in the aisle when picking. As a result, the battery range is increased by this homogeneous driving operation.
Bei einer Weiterbildung des Verfahrens kann die maximale Fahrgeschwindigkeit bei automatischer Fahrt eingestellt werden und wird von der Steuerungsvorrichtung eingehalten, wenn kein Hindernis erfasst wird.In a further development of the method, the maximum driving speed can be set during automatic driving and is controlled by the control device observed if no obstacle is detected.
Dies ermöglicht eine Tempomatfunktion. Vorteilhaft kann eine bedienende und kommissionierende Person die maximale Fahrgeschwindigkeit des Flurförderzeugs an die individuellen Bedürfnisse anpassen. Bei einer entsprechend angepassten Fahrgeschwindigkeit ist es auch denkbar im Konvoibetrieb ohne ein Anhalten der Flurförderzeuge in kontinuierlicher Fahrt zu kommissionieren. Es ist auch möglich, die Tempomatfunktionen unabhängig von dem zuvor beschriebenen automatischen Wiederanfahren nach dem Stopp des Flurförderzeugs vorzusehen.This allows a cruise control function. Advantageously, an operator and commissioning person can adapt the maximum travel speed of the industrial truck to the individual needs. With a correspondingly adapted driving speed, it is also conceivable to pick in continuous convoy mode without stopping the industrial trucks. It is also possible to provide the cruise control functions independently of the automatic restarting after the stop of the truck described above.
Vorteilhaft wird die maximale Fahrgeschwindigkeit in einem nicht automatisch durchgeführten Lernbetrieb, insbesondere bei einem Betrieb beim Kommissionieren, einprogrammiert.Advantageously, the maximum driving speed is programmed in a learning operation that is not carried out automatically, in particular during picking operation.
Beispielsweise kann die maximale Fahrgeschwindigkeit bzw. Tempomatgeschwindigkeit in einem Anlernmodus des Kommissionierflurförderzeugs einprogrammiert werden und durch eine manuelle Fahrt vorgegeben werden. Es ist auch denkbar, hier Durchschnittswerte der maximal erreichten Fahrgeschwindigkeiten oder der durchschnittlichen Fahrgeschwindigkeiten über eine gewisse Betriebszeitdauer heranzuziehen.For example, the maximum driving speed or cruise control speed can be programmed in a learning mode of the picking truck and be specified by a manual drive. It is also conceivable to use here average values of the maximum achieved travel speeds or the average travel speeds over a certain period of operation.
In einer Ausbildung des Verfahrens werden nur Hindernisse in einem Fahrweg erfasst, der durch eine rechte Fahrwegbegrenzungslinie und eine linke Fahrwegbegrenzungslinie begrenzt wird, wobei die Fahrwegbegrenzungslinien jeweils seitlich zu dem Flurförderzeug positioniert und in Längsrichtung des Flurförderzeugs orientiert sind.In one embodiment of the method, only obstacles are detected in a track which is delimited by a right track boundary line and a left track boundary line, wherein the track boundary lines are each positioned laterally of the industrial truck and oriented in the longitudinal direction of the industrial truck.
Durch eine linke Fahrwegbegrenzungslinie die mit einem gewissen Abstand links von dem Flurförderzeug positioniert und in Fahrtrichtung orientiert angeordnet wird sowie eine entsprechende rechte Fahrwegbegrenzungslinie auf der rechten Seite des Flurförderzeugs kann ein prognostizierter Fahrweg virtuell gebildet werden. Allein in diesem virtuellen Fahrweg sich befindende Hindernisse oder vorausfahrende Flurförderzeuge sind für das Verfahren relevant und werden beispielsweise durch Konturprüfungsverfahren ermittelt.By a left Fahrwegbegrenzungslinie positioned with a certain distance to the left of the truck and oriented in the direction of travel and a corresponding right track boundary line on the right side of the truck, a predicted route can be virtually formed. Obstacles or preceding material handling vehicles that are located in this virtual track alone are relevant to the procedure and are determined, for example, by contour checking methods.
Es können Hindernisse in einem Konturprüfungsverfahren ermittelt werden.Obstacles can be determined in a contour inspection process.
Grundsätzlich können alle bekannten Verfahren der Bildverarbeitung eingesetzt werden, um Muster und Strukturen zu erfassen und als Hindernisse zu identifizieren bzw. auch als sonstige Objekte im Lagerbereich.In principle, all known methods of image processing can be used to detect patterns and structures and to identify them as obstacles or also as other objects in the storage area.
Es kann eine in dem Überwachungsbereich befindliche Regalkante erkannt werden und, wenn ein Ende/ eine Unterbrechung der Regalkante erfasst wird, insbesondere eine Unterbrechung entsprechend der Breite eines Quergangs, kann die Steuerungsvorrichtung das Flurförderzeug am Beginn der Unterbrechung stoppen.It is possible to detect a shelf edge located in the monitoring area and, if an end / interruption of the shelf edge is detected, in particular an interruption corresponding to the width of a transverse aisle, the control device can stop the industrial truck at the beginning of the interruption.
Indem auch außerhalb eines prognostizierten Fahrweges seitlich die Regalkanten erfasst werden, ist es möglich, das Ende eines Regals oder einen Quergang zu erkennen. Wenn an dem Beginn eines solchen Quergangs oder am Ende des Regalgangs das Flurförderzeug automatisch anhält, ergibt sich ein Sicherheitsgewinn. Es kann vermieden werden, dass Gefahrenmomente durch aus dem Quergang oder durch am Kopfende des Regals querende Flurförderzeugen sowie Personen entstehen.By laterally detecting the shelf edges outside of a predicted route, it is possible to detect the end of a shelf or a transverse aisle. If at the beginning of such a cross-passage or at the end of the aisle the truck automatically stops, there is a security gain. It can be avoided that hazards arise through from the cross-gangway or by crossing the headboard of the rack trucks and persons.
Vorteilhaft kann ein Wert für den Halteabstand über eine Bedieneinrichtung eingegeben und/oder in einem manuellen Lernbetrieb einprogrammiert werden.Advantageously, a value for the holding distance can be input via an operating device and / or programmed in a manual learning mode.
Ebenso wie auch bei der maximalen Fahrgeschwindigkeit für den Tempomatbetrieb kann auch der Wert für den Halteabstand und somit beispielsweise der Abstand der Flurförderzeuge untereinander in einem Konvoibetrieb durch einen Lernbetrieb eingegeben werden. Ebenso ist es sowohl für den Tempomatgeschwindigkeitswert, wie auch für den sich aus dem Halteabstand ergebenden Abstandswert zu Hindernissen möglich, hierfür eine Eingabe in einer Bedienvorrichtung oder eine softwaremäßige Eingabe bei einem Softwareupdate wie auch über eine Datenverbindung, etwa beispielsweise ein mobiles Endgerät, vorzusehen. Dies können etwa Smartphones, Tabletts, Notebooks oder ähnliches sein.As well as at the maximum speed for cruise control and the value for the holding distance and thus, for example, the distance between the trucks among each other in a convoy operation can be entered by a learning operation. Likewise, it is possible to provide an input in an operating device or a software input for a software update as well as via a data connection, for example a mobile terminal, both for the cruise-control speed value and for the distance value to obstacles resulting from the stopping distance. This can be about smartphones, tablets, notebooks or the like.
Er weiteren Ausgestaltung des Verfahrens folgen eine Mehrzahl von Flurförderzeugen in einer Reihe angeordnet in automatischer Fahrt dem ersten Flurförderzeug, indem diese den Abstand zum jeweils vorausfahrenden geregelt einhalten.He further embodiment of the method follow a plurality of industrial trucks arranged in a row in automatic drive the first truck by these comply with the distance to the respective preceding one.
Es können somit mehrere Fahrzeuge einem ersten. Flurförderzeug als Masterfahrzeug in einem Konvoi folgen. Dabei kann das vorausfahrende Masterfahrzeug durch eine bedienende Person in einer beliebigen Art und Weise gesteuert werden. Alle weiteren Flurförderzeuge folgen automatisch im jeweiligen Mindestabstand dem jeweils vorausfahrenden Flurförderzeug und verhalten sich, als wären sie mit einer elektronischen Deichsel gekoppelt zu einem Anhängerzug. Damit ist es möglich, einen Konvoi aufzubauen und durch die Bedienung des ersten Fahrzeuges beliebig viele nachfolgende Flurförderzeug automatisch zu steuern, ohne dass eine Einzelsteuerung erforderlich wird. Es ist auch möglich, dass das Masterfahrzeug selbst ein vollautomatisches Fahrzeug ist.It can thus several vehicles a first. Follow the industrial truck as the master vehicle in a convoy. In this case, the preceding master vehicle can be controlled by a serving person in any manner. All other trucks automatically follow the respective minimum distance of the preceding truck and behave as if they were coupled with an electronic drawbar to a trailer hoist. This makes it possible to build a convoy and automatically control any number of subsequent trucks through the operation of the first vehicle without a single control is required. It is also possible that the master vehicle itself is a fully automatic vehicle.
Der Sensor kann ein optischer Sensor, insbesondere ein Laserscanner, ein Ultraschallsensor oder ein Radarsensor sein.The sensor may be an optical sensor, in particular a laser scanner, an ultrasonic sensor or a radar sensor.
In einer weiteren Ausgestaltung können die Flurförderzeuge mit zusätzlichen vollautomatischen Funktionen versehen sein. Beispielsweise ist es denkbar, dass am Ende eines Regalgangs das Flurförderzeug vollautomatisch zu einer Entladestation fahren kannn bzw. automatisch den Beginn eines Regalgangs auf einen Rufbefehl der kommissionierenden Person hin anfährt. Ein solcher Rufbefehl kann dabei auf vielerlei bekannte Art und Weise erfolgen, beispielsweise durch eine Fernbedienung, aber auch durch eine Gestenerkennung oder eine Softwareanwendung eines elektronischen Endgeräts wie etwa eines Smartphones.In a further embodiment, the trucks may be provided with additional fully automatic functions. For example, it is conceivable that the truck can automatically drive to an unloading station at the end of a shelf aisle or automatically starts the beginning of a shelf aisle on a call command of the picking person out. Such a call command can be carried out in many known ways, for example by a remote control, but also by a gesture recognition or a software application of an electronic device such as a smartphone.
Weitere Vorteile und Einzelheiten der Erfindung werden anhand des in den schematischen Figuren dargestellten Ausführungsbeispiels näher erläutert. Hierbei zeigt
- Fig. 1
- schematisch ein Kommissionierflurförderzeug in einem Regalgang mit Querngängen,
- Fig. 2
- das Kommissionierflurförderzeug der
Fig. 1 in einem Regalgang mit einem prognostizierten Fahrweg und - Fig. 3
- das Kommissionierflurförderzeug der
Fig. 1 in einem Regalgang mit einem vorausfahrenden zweiten Kommissionierflurförderzeug.
- Fig. 1
- schematically a picking truck in a rack aisle with transverse aisles,
- Fig. 2
- the picking truck of the
Fig. 1 in a aisle with a predicted driveway and - Fig. 3
- the picking truck of the
Fig. 1 in a rack aisle with a preceding second picking truck.
Die
Die
Die
Claims (11)
dadurch gekennzeichnet,
dass nach einem Stopp des Flurförderzeugs (1) die Steuerungsvorrichtung das Flurförderzeug (1) wieder anfährt und automatisiert weiter fährt, sobald kein Hindernis näher als der Halteabstand (10) erfasst wird.Method for controlling an industrial truck (1), in particular for picking, wherein the industrial truck (1) has a sensor with a monitoring area (5) which is connected to a control device, and the control device after a start command the industrial truck (1 ) automatically drives without signal of a driver actuated by a person, detects a monitoring area (5) in the direction of travel of the industrial truck by evaluating the data and stops the truck (1) when an obstacle is detected closer than a holding distance (10),
characterized,
that after a stop of the truck (1), the control device, the truck (1) starts again and automatically continues driving as soon as no obstacle closer than the holding distance (10) is detected.
dadurch gekennzeichnet,
dass die Steuerungsvorrichtung bei Erfassung eines Hindernisses weiter als der Halteabstand (10) und näher als ein Reaktionsabstand die Fahrgeschwindigkeit in Abhängigkeit des Abstands zu dem Hindernis reduziert.Method according to claim 1,
characterized,
that the control device further than the holding distance (10) and closer to a reaction distance is reduced upon detection of an obstacle as the vehicle speed as a function of the distance to the obstacle.
dadurch gekennzeichnet,
dass die Steuerungsvorrichtung die Fahrgeschwindigkeit bei einem Abstand des Hindernisses zwischen dem Reaktionsabstand und dem Halteabstand (10) bis auf null bei Erreichen des Halteabstands (10) reduziert, insbesondere linear reduziert.Method according to claim 2,
characterized,
in that the control device reduces, in particular reduces linearly, the travel speed at a distance of the obstacle between the reaction distance and the holding distance (10) to zero when the holding distance (10) is reached.
dadurch gekennzeichnet,
dass die maximale Fahrgeschwindigkeit bei automatischer Fahrt eingestellt werden kann und von der Steuerungsvorrichtung eingehalten wird, wenn kein Hindernis erfasst wird.Method according to one of claims 1 to 3,
characterized,
that the maximum travel speed can be set during automatic travel and is maintained by the control device when no obstacle is detected.
dadurch gekennzeichnet,
dass die maximale Fahrgeschwindigkeit in einem nicht automatisch durchgeführten Lernbetrieb, insbesondere bei einem Betrieb beim Kommissionieren, einprogrammiert wird.Method according to claim 4,
characterized,
in that the maximum driving speed is programmed in a learning mode which is not carried out automatically, in particular during picking operation.
dadurch gekennzeichnet,
dass nur Hindernisse in einem Fahrweg (6) erfasst werden, der durch eine rechte Fahrwegbegrenzungslinie (8) und eine linke Fahrwegbegrenzungslinie (7) begrenzt wird, wobei die Fahrwegbegrenzungslinien (7,8) jeweils seitlich zu dem Flurförderzeug positioniert und in Längsrichtung des Flurförderzeugs (1) orientiert sind.Method according to one of claims 1 to 5,
characterized,
that only obstacles are detected in a track (6) bounded by a right track boundary line (8) and a left track boundary line (7), the track boundary lines (7, 8) being positioned laterally of the truck and longitudinally of the truck ( 1) are oriented.
dadurch gekennzeichnet,
dass Hindernisse in einem Konturprüfungsverfahren ermittelt werden.Method according to one of claims 1 to 6,
characterized,
that obstacles are detected in a contouring process.
dadurch gekennzeichnet,
dass eine in dem Überwachungsbereich (5) befindliche Regalkante erkannt wird und, wenn ein Ende/ eine Unterbrechung der Regalkante erfasst wird, insbesondere eine Unterbrechung entsprechend der Breite eines Quergangs (3), die Steuerungsvorrichtung das Flurförderzeug (1) am Beginn der Unterbrechung stoppt.Method according to one of claims 1 to 7,
characterized,
in that a shelf edge located in the monitoring area (5) is detected and, if an end / interruption of the shelf edge is detected, in particular an interruption corresponding to the width of a cross-passage (3), the control device stops the truck (1) at the beginning of the interruption.
dadurch gekennzeichnet,
dass ein Wert für den Halteabstand (10) über eine Bedieneinrichtung eingegeben und/oder in einem manuellen Lernbetrieb einprogrammiert werden kann.Method according to one of claims 1 to 8,
characterized,
can be that a value for the holding distance (10) is input via an operating device and / or programmed in a manual learn mode.
dadurch gekennzeichnet,
dass eine Mehrzahl von Flurförderzeugen (1,9) in einer Reihe angeordnet in automatischer Fahrt dem ersten Flurförderzeug (9) folgen, indem diese den Abstand zum jeweils vorausfahrenden geregelt einhalten.Method according to one of claims 1 to 9,
characterized,
that a plurality of industrial trucks (1,9) arranged in a row in automatic drive the first truck (9) follow by this the Keep distance to the respective preceding controlled.
dadurch gekennzeichnet,
dass der Sensor ein optischer Sensor, insbesondere ein Laserscanner, ein Ultraschallsensor oder ein Radarsensor ist.Method according to one of claims 1 to 10,
characterized,
that the sensor is an optical sensor, in particular a laser scanner, an ultrasonic sensor or a radar sensor.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102015111610 | 2015-07-17 | ||
| DE102015113445.4A DE102015113445A1 (en) | 2015-07-17 | 2015-08-14 | Method for speed control of a picking truck |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| EP3118152A1 true EP3118152A1 (en) | 2017-01-18 |
| EP3118152B1 EP3118152B1 (en) | 2018-12-05 |
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ID=56292619
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| EP16177585.3A Active EP3118152B1 (en) | 2015-07-17 | 2016-07-01 | Method for controlling the speed of a picking industrial truck |
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| Country | Link |
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| EP (1) | EP3118152B1 (en) |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20220144391A (en) | 2020-02-21 | 2022-10-26 | 크라운 이큅먼트 코포레이션 | Illuminated floor on side of material handling vehicle indicating restricted or non-restricted area |
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| EP3118152B1 (en) | 2018-12-05 |
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