EP3216745B1 - Procédé de commande de chariot élévateur - Google Patents

Procédé de commande de chariot élévateur Download PDF

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Publication number
EP3216745B1
EP3216745B1 EP17159060.7A EP17159060A EP3216745B1 EP 3216745 B1 EP3216745 B1 EP 3216745B1 EP 17159060 A EP17159060 A EP 17159060A EP 3216745 B1 EP3216745 B1 EP 3216745B1
Authority
EP
European Patent Office
Prior art keywords
operator
industrial truck
truck
controller
distance
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP17159060.7A
Other languages
German (de)
English (en)
Other versions
EP3216745A1 (fr
Inventor
Volker Viereck
Tino Krüger-Basjmeleh
Thomas Wittmann
Christian Fischer
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
STILL GmbH
Original Assignee
STILL GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from DE102016108307.0A external-priority patent/DE102016108307A1/de
Application filed by STILL GmbH filed Critical STILL GmbH
Publication of EP3216745A1 publication Critical patent/EP3216745A1/fr
Application granted granted Critical
Publication of EP3216745B1 publication Critical patent/EP3216745B1/fr
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Classifications

    • 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
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/0755—Position control; Position detectors

Definitions

  • the invention relates to a control method for a truck.
  • the invention relates to a method for controlling an industrial truck during commissioning, wherein the industrial truck has at least one environmental sensor for detecting the relative position of an operator in the vicinity of the industrial truck.
  • pure pedestrian vehicles are known in which the operator runs along next to the vehicle, such as a pallet truck.
  • vehicles are also known which have a driver's seat to ride, in particular a driver's seat for standing operation. When actually picking this driver's seat can be easily left to pick up goods and store for example on a pallet on a fork.
  • Remote controls are known with which a simplified operation of the truck can be achieved. With such remote controls, the operator has the ability to control its driving movements while it is located next to the truck and runs along with it.
  • a known variant of this is that the order-picker requests a forward movement of the truck by pressing a button, the truck driving as long as the button remains depressed.
  • a disadvantage of this prior art is that the driving speed of the truck is usually set to a fixed value and can not be influenced by the operator. However, if an interference possibility is provided, a further control by the operator must be made here, which means that during the driving movement of the truck all the attention of the operator must be directed to this process. Finally, the operator can not adjust the distance of the vehicle from him during a movement.
  • optical environment sensors are known with which the environment of the truck is detected. These can be, for example, two-dimensional laser scanners (2-D laser scanners) or even three-dimensional laser scanners (3-D laser scanners), cameras, monocular cameras as well as distance-detecting optical sensors, such as a time-of-flight camera, or a stereo camera. Likewise, ultrasonic sensors are also possible. With the aid of such environmental sensors, obstacles in the surroundings, driveways, positions of pallets and, in particular, in picking industrial trucks, the position of the industrial truck relative to a load shelf are also detected. For example, for this purpose, a laser scanner can be used, which measures the environment orthogonal to a mirror axis of rotation.
  • the truck reacts automatically to changing distances to the load racks with the aid of the previously described optical ambient sensors and automatically deviates from obstacles during the driving movement.
  • the truck automatically holds the lane in the aisle of a load rack.
  • EP 2 851 331 A1 is a generic truck with an environmental sensor known, which is designed as an optical sensor, wherein the position of an operator is detected within a monitoring range of the environmental sensor. If the operator exceeds a defined monitoring limit within the monitoring area, the truck becomes tracked automatically so that the truck automatically follows the operator.
  • the FR 2 980 436 A1 discloses a self-propelled golf trolley, which detects with two ultrasonic sensors a leading golfer and follows this with a certain distance.
  • Another known application of environmental sensors is autonomous driving and, to this end, protection against being hit by an obstacle. It is conceivable to use a method in which from the approach to a first threshold distance, a speed of the truck is reduced and when reaching a second threshold distance, the truck is stopped. If that Truck automatically starts again results in a kind of follow-up function to a preceding truck, but also to a directly preceding and thus also an obstacle performing operator.
  • the present invention is therefore an object of the invention to provide a method for controlling a truck available, which avoids the aforementioned disadvantages and with the order picking in a simple way the truck with a serving person can be moved together.
  • the object is achieved in that in a method for controlling an industrial truck during order picking, wherein the truck has at least one environmental sensor for detecting the relative position of an operator in the environment of the truck, from a controller, the truck with a change in the position of the operator is moved, wherein the position of the operator is freely selectable and a movement speed of the operator is determined by the controller as well as a regulation of the driving speed of the truck according to the speed of movement of the operator by the controller.
  • a speed of the person walking along or of the operator is expressly calculated and determined by the controller.
  • conventional methods of tracking and image processing can be used become. It then takes place a regulation of the speed of the truck on the speed of movement of the operator.
  • there is complete freedom of the operator since the vehicle behavior of the truck adapts to its behavior. As a result, optimum ergonomics are obtained when order picking.
  • the truck is perceived as a human-centered system where the operator determines the working speed.
  • the position of the operator relative to the truck can be previously set as desired.
  • the controller can determine the speed of movement of the operator in a component in the longitudinal direction of the truck and regulate a component of the speed of the truck in the longitudinal direction or the straight-ahead driving of the truck accordingly.
  • the controller can control the truck sideways in a freely selectable lateral distance between the operator and the truck, which was previously set in the vehicle transverse direction.
  • the position of the operator in particular a distance in the vehicle longitudinal direction to a reference point of the truck and / or a distance in the vehicle transverse direction can be set by the operator by an input device.
  • a position in the longitudinal extension of the truck can be set, which the operator prefers. It is determined at which "height" the truck moves with.
  • An embodiment of the method has the possibility that the controller adjusts the driving speed of the truck to other parameters, in particular detected environmental situations such as bottlenecks or danger spots.
  • the truck reacts to danger and bottleneck situations.
  • the driving movement is slowed down when there is too little lateral distance to obstacles.
  • Even slower trucks, vehicles or people in front of the truck can be detected and taken into account as parameters.
  • the driving speed can be independently adjusted and reduced to a standstill. As soon as these parameters are no longer present, a driving movement takes place again and can be compensated for by a higher driving speed in the meantime possibly occurred too great a distance or a deviation to the position of the operator.
  • the environmental sensor may include a camera and / or a stereo camera and / or a monocular camera and / or an ultrasound sensor and / or a laser scanner and / or a 3D camera.
  • the figure shows a truck 1 next to a load rack 2 with a plurality of pallets 3 and 4 each located on these goods.
  • the truck is a pallet truck 5 with load arms 6 on which a pallet 7 when picking can be transported.
  • a not shown control of the truck 1 calculated from sensor data of an environmental sensor 8, the position, the direction of movement and the speed of movement of the operator 9.
  • the truck 1 runs parallel to the load rack 2 and from the controller, the travel speed of the truck 1 is controlled to the same value as a moving speed of the operator 9 parallel to the longitudinal direction of the truck 1, as illustrated by the two arrows.

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Structural Engineering (AREA)
  • Civil Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Forklifts And Lifting Vehicles (AREA)

Claims (7)

  1. Procédé de commande d'un chariot élévateur (1) lors de la préparation de commandes, dans lequel le chariot élévateur (1) comporte au moins un capteur d'environnement (8) destiné à détecter la position relative d'un opérateur (9) dans l'environnement du chariot élévateur (1),
    caractérisé en ce que le chariot élévateur (1) est déplacé par une unité de commande en association avec une modification de la position de l'opérateur (9), dans lequel la position de l'opérateur (9) peut être sélectionnée librement et dans lequel une vitesse de déplacement de l'opérateur (9) est déterminée par l'unité de commande, une régulation de la vitesse de déplacement du chariot élévateur (1) étant effectuée par l'unité de commande d'une manière qui correspond à la vitesse de déplacement de l'opérateur (9).
  2. Procédé selon la revendication 1,
    caractérisé en ce que l'unité de commande détermine la vitesse de déplacement de l'opérateur (9) suivant une composante orientée dans la direction longitudinale du chariot élévateur (1) et régule de manière correspondante une composante de la vitesse de conduite du chariot élévateur (1) dans la direction longitudinale ou le déplacement en ligne droite du chariot élévateur (1).
  3. Procédé selon la revendication 1 ou 2,
    caractérisé en ce que l'unité de commande commande le chariot élévateur (1) latéralement à une distance latérale pouvant être sélectionnée librement et préalablement fixée dans la direction transversale du véhicule entre l'opérateur (9) et le chariot élévateur (1) .
  4. Procédé selon l'une des revendications 1 à 3,
    caractérisé en ce que la position de l'opérateur (1), en particulier une distance dans la direction longitudinale du véhicule par rapport à un point de référence du chariot élévateur (1) et/ou une distance dans une direction transversale au véhicule peut être réglée par l'opérateur (9) au moyen d'un dispositif de saisie.
  5. Procédé selon la revendication 4,
    caractérisé en ce qu'une sélection peut être effectuée entre plusieurs positions fixées par le dispositif de saisie.
  6. Procédé selon l'une des revendications 1 à 5,
    caractérisé en ce que l'unité de commande adapte la vitesse de conduite du chariot élévateur (1) à d'autres paramètres, en particulier à des situations environnementales détectées telles que des endroits étroits ou des endroits dangereux.
  7. Procédé selon l'une des revendications 1 à 6,
    caractérisé en ce que le capteur d'environnement (8) comprend une caméra et/ou une caméra stéréoscopique et/ou une caméra monoculaire et/ou un capteur à ultrasons et/ou un dispositif de balayage à laser et/ou une caméra 3D.
EP17159060.7A 2016-03-07 2017-03-03 Procédé de commande de chariot élévateur Active EP3216745B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102016104112 2016-03-07
DE102016108307.0A DE102016108307A1 (de) 2016-03-07 2016-05-04 Steuerungsverfahren für Flurförderzeug

Publications (2)

Publication Number Publication Date
EP3216745A1 EP3216745A1 (fr) 2017-09-13
EP3216745B1 true EP3216745B1 (fr) 2018-04-11

Family

ID=58227974

Family Applications (1)

Application Number Title Priority Date Filing Date
EP17159060.7A Active EP3216745B1 (fr) 2016-03-07 2017-03-03 Procédé de commande de chariot élévateur

Country Status (1)

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EP (1) EP3216745B1 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2020073232A1 (fr) * 2018-10-10 2020-04-16 Lingdong Technology (Beijing) Co. Ltd Véhicule guidé automatique à interaction humaine

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2980436B1 (fr) * 2011-09-22 2014-06-13 Promeca Pyrenees Chariot motorise d'assistance a la personne
DE102013110456A1 (de) * 2013-09-21 2015-03-26 Still Gmbh Verfahren zur Steuerung eines Kommissionierflurförderzeugs
EP3118152B1 (fr) * 2015-07-17 2018-12-05 STILL GmbH Procédé de commande de la vitesse d'un chariot de manutention pour la préparation de commandes

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
None *

Also Published As

Publication number Publication date
EP3216745A1 (fr) 2017-09-13

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