EP3587339A1 - Procédé de fonctionnement d'un chariot de manutention - Google Patents

Procédé de fonctionnement d'un chariot de manutention Download PDF

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Publication number
EP3587339A1
EP3587339A1 EP19180502.7A EP19180502A EP3587339A1 EP 3587339 A1 EP3587339 A1 EP 3587339A1 EP 19180502 A EP19180502 A EP 19180502A EP 3587339 A1 EP3587339 A1 EP 3587339A1
Authority
EP
European Patent Office
Prior art keywords
industrial truck
zone
extension zone
truck
control command
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.)
Pending
Application number
EP19180502.7A
Other languages
German (de)
English (en)
Inventor
Florian Grabbe
Stefan Ahrens
Sven-Ole Heise
Jan Kopelke
Tony Altmann
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.)
Jungheinrich AG
Original Assignee
Jungheinrich AG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Jungheinrich AG filed Critical Jungheinrich AG
Publication of EP3587339A1 publication Critical patent/EP3587339A1/fr
Pending legal-status Critical Current

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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
    • B66F17/00—Safety devices, e.g. for limiting or indicating lifting force
    • B66F17/003—Safety devices, e.g. for limiting or indicating lifting force for fork-lift trucks

Definitions

  • the invention relates to a method for operating a mobile industrial truck in an area of a goods logistics facility.
  • EP 1 767 488 A2 discloses a system for assisting a driver of an industrial truck while driving. Furthermore is off DE 10 2010 005 034 A1 described a method for managing a warehouse with an industrial truck.
  • driver assistance systems are also used on or in the industrial trucks, which influences the industrial truck or informs the driver if, for example, driving is slower in an endangered area or if no goods are to be placed on certain areas or in certain areas , Such restrictions in the guidance of the industrial trucks are each limited locally and accordingly only affect individual zones within a goods logistics facility.
  • sensors are used, for example on industrial trucks. If, for example, an object in the path of the industrial truck is recognized, it is possible for the driver of the industrial truck to be warned accordingly.
  • the object of the invention is to reduce the risk of accidents for industrial trucks and people in goods logistics facilities, the safety for people and vehicles should be increased in a simple manner and the effort for this should be kept as low as possible.
  • the invention is based on the idea that in dangerous areas of the goods logistics facility, in which collisions or accidents with a higher risk for industrial trucks or for people can occur, zones are provided by means of the danger zone control device or by means of the building expansion zones, with falling below a predetermined minimum distance between the extension zone of the industrial truck and the danger zone control device or if the industrial truck extension zone overlaps the building extension zone by generating an operating control command, in particular a movement control command, the industrial truck is intervened in an active, preferably automatic manner by means of the operating control command, it being possible hereby limit the speed of the industrial truck or brake the industrial truck.
  • an operator for the industrial truck is warned optically and / or acoustically of a danger zone in these cases.
  • the danger zone control devices are positioned in the area of loading ramps or constrictions in the goods logistics facility, for example warehouses or shelf stores, these areas being secured by the use of several danger zone control devices. If an industrial truck is driven into the area protected by the danger zone control devices, it is provided within the scope of the invention that a vehicle reaction, such as a speed limit, is triggered or activated.
  • a vehicle reaction such as a speed limit
  • an absolute location system is present in the goods logistics device, so that the absolute positions of buildings, such as Shelves, pillars, constrictions or other facilities within the goods logistics facility, the absolute positions of the buildings or the components of the goods logistics facility are or are determined, so that, using the absolute positions of the buildings, corresponding extension zones or building expansion zones for the buildings of the goods logistics facility be determined or are.
  • Corresponding virtual expansion zones are created around the buildings, so that when industrial trucks enter the virtual expansion zones of the buildings, a corresponding operating control command for the truck is generated, preferably automatically.
  • the absolute position of the truck using the absolute location system and the respective truck extension zone are also known.
  • the specific industrial truck extension zone and the respective industrial truck are determined on the basis of the absolute position within the goods logistics device, for example a warehouse or the like, and the driving orientation, ie the orientation or position of the industrial truck within the goods logistics device.
  • the absolute position and driving orientation within the goods logistics device for the industrial truck corresponding, preferably stationary, transmitting and receiving devices, such as, for example, anchor nodes or the like, and possibly locating devices are provided in the goods logistics device, in order to determine the absolute position of the industrial truck and its driving orientation or to determine orientation within the goods logistics facility in each case. This is preferably done in regular intervals.
  • a location system determines the absolute position of the respective industrial truck by measuring the distance to several anchor nodes.
  • the position or the positions of buildings in the goods logistics device are also determined by using distance measurements to several anchor nodes of the location system using fixed anchor nodes.
  • a fixed network of reference points such as WLAN access points or the like, can be used to determine the position of the industrial trucks and / or the buildings or the infrastructure components of the goods logistics device.
  • the position determinations and the orientations of the industrial trucks in the goods logistics facility are carried out, for example, by lateration, that is to say a distance or distance measurement to three different points, in this case the fixed reference points of the (absolute) positioning system.
  • the distance or distance measurement is carried out, for example, using a transit time measurement.
  • the reference points are referred to as anchor nodes. Their known fixed positions serve as reference points in a common coordinate system.
  • the anchor nodes are therefore represented or referenced in a common coordinate system.
  • the anchor nodes used as reference points can also serve as fixed points for determining the absolute location in the common coordinate system
  • the positions of the anchor nodes within the goods logistics device are determined or are known.
  • a dynamically adaptable or changeable industrial truck extension zone is determined or determined depending on the determined absolute positions and the determined travel orientations of the industrial trucks within the goods logistics device.
  • a virtual industrial truck extension zone is determined or calculated for each industrial truck, in particular the industrial truck expansion zone being changeable depending on the vehicle state and / or depending on the driving dynamics of the industrial truck. For example, when the vehicle is stationary, the industrial truck extension zone is the smallest and runs at a short distance parallel to an outline of the industrial truck on the floor of the goods logistics facility.
  • a zone around the respective industrial truck is determined by the industrial truck extension zone, which, depending on the state of motion of the industrial truck, indicates the area in which the industrial truck will move due to the direction of movement and the type of movement, a type of protective zone for the industrial truck being determined here. to avoid collisions with another industrial truck or with buildings or infrastructure components of the goods logistics facility.
  • the respective industrial truck extension zone can also be determined depending on the vehicle type of the industrial truck.
  • the industrial truck is a counterbalance truck, a commission truck, a tractor, a mast truck, a narrow aisle truck, a heavy-duty truck, a sideloader or the like.
  • the type of drive of the vehicle type for example electric drive, etc. can also be taken into account here.
  • Another advantage of the invention is that using stationary danger zone control devices and / or using virtual building expansion zones, areas that are particularly at risk, such as e.g. Loading ramps for trucks are secured. In this way, for example, the risk of a truck falling on a loading ramp during loading and unloading of the truck is significantly reduced.
  • the danger zone control device spans a circular control zone or a spherical control zone around the danger zone control device.
  • the transmitting and receiving device of the industrial truck and the transmitting and receiving device of the danger zone control device communicate with one another, preferably wirelessly, the distance measurement between the transmitting and receiving device of the danger zone control device and the transmitting and receiving device of the industrial truck is preferably carried out by means of transit time measurement in order to measure the distance between the industrial truck and the danger zone control device.
  • an embodiment of the method is characterized in that when the minimum distance between the industrial truck extension zone and the danger zone control device is undershot as an operating control command, in particular a motion control command, the speed of the industrial truck is changed, in particular reduced, and / or if the minimum distance between the industrial truck is undershot -Extension zone and the danger zone control device, a warning, preferably on or in the industrial truck, is generated, the warning in particular being designed as a visual and / or acoustic warning, and / or if the distance between the truck extension zone and the danger zone control device falls below the lifting movement of a lifting device of the industrial truck, preferably in the vertical height.
  • an optical warning when an optical warning is generated, the warning on the industrial truck is displayed by means of a display or the like.
  • an acoustic warning e.g. B. if the minimum distance between the truck extension zone and the danger zone control device is undershot.
  • the method further advantageously provides that if the industrial truck extension zone overlaps the building expansion zone as an operating control command, in particular a motion control command, the speed of the industrial truck is changed, in particular reduced, and / or if the industrial truck expansion zone overlaps a warning, in particular in or on the industrial truck, is generated with the building extension zone, the warning in particular as a visual and / or acoustic warning is formed, and / or if the industrial truck extension zone overlaps the building expansion zone, the lifting movement of a lifting device of the industrial truck is limited, in particular in the vertical height.
  • the method is characterized in that, in the case of communication between the transmitting and receiving device of the industrial truck and the transmitting and receiving device of the danger zone control device, the operating control command is generated by means of an on-board computer of the industrial truck.
  • the method is characterized in that the overlap of the industrial truck extension zone with the building extension zone is determined by means of a computer of the goods logistics facility and, after determining the overlap of the industrial truck extension zone with the building extension zone, one of a computer Goods logistics device generated operating control command is transmitted from the computer of the goods logistics device to the industrial truck, preferably wirelessly.
  • the goods logistics device and the industrial truck or the on-board computer of the industrial truck corresponding transmitting and receiving devices are provided in the goods logistics device and on the industrial truck, so that corresponding control commands and / or data etc are transmitted between the computer of the goods logistics facility and the industrial truck.
  • the method is characterized in that the positions of the building expansion zone or the Positions of several building expansion zones and the position of the industrial truck in the goods logistics facility are transmitted to an on-board computer of the industrial truck and the overlap of the industrial truck expansion zone of the industrial truck with the building expansion zone is determined by means of the on-board computer of the industrial truck and the operating control command from the on-board truck Computer of the industrial truck is generated.
  • Embodiments according to the invention can fulfill individual features or a combination of several features.
  • a goods logistics device 10 is shown schematically in the detail, for example a warehouse, and the surrounding operating area which can be driven by industrial trucks 16.
  • the goods logistics device 10 has, for example, a danger zone 12, in which dangerous situations can arise for industrial trucks and for the operating personnel for the industrial trucks.
  • a danger zone in the area of a loading ramp for loading transport vehicles, such as trucks or the like.
  • danger zone control devices 14 are arranged next to one another at regular intervals, which have means for transmitting and receiving signals, such as those used in ultra-broadband technology.
  • a signal from a transmitting and receiving device of the hazardous area control device 14 is received by a transmitting and receiving device of the industrial truck, so that due to transit time measurements between the transmitting and receiving device of the industrial truck 16 and the transmitting and receiving devices the danger zone control devices 14, the distance between the industrial truck 16 and the respective danger zone control device 14 is determined.
  • This is done, for example, by means of an on-board computer of the industrial truck 16.
  • an industrial truck extension zone 18 can be taken into account, the virtual industrial truck extension zone 18 taking into account the area in which the industrial truck is moved ,
  • the on-board computer of the industrial truck 16 is used to determine how large the distance between the industrial truck extension zone 18 and the respective danger zone control devices 14, an optical and / or acoustic warning message being generated on the industrial truck 16 if the minimum distance is undershot. which is displayed to the operating personnel on the industrial truck 16, for example by means of a display and / or by means of a sound generator.
  • the vehicle can also be braked in order to avoid a possible dangerous situation in the vicinity of the danger zone control devices 14.
  • FIG. 2 Another exemplary embodiment of a goods logistics device 10 is shown schematically, the goods logistics device 10 having a plurality of rack stores 21, 22, 23, in which goods are stored and removed.
  • further fittings or structural elements 31, 32, 33, 34 and 35 are provided in the goods logistics device 10.
  • the structural elements 31 to 35 can be columns or other structures, for example.
  • Industrial trucks 16 are moved within the goods logistics device 10, so that the industrial trucks 16 transport goods in the goods logistics device 10.
  • the absolute location system (not shown here) comprises a central computer or computer 40, in which the absolute positions of the rack stores 21, 22, 23 and the structural elements 31 to 35 are each recorded.
  • corresponding extension zones or contour zones 121, 122, 123 as well as corresponding extension zones or contour zones 131, 132, 133, 134, 135 are determined for the rack stores 21, 22, 23.
  • the positions of the industrial trucks 16 in the goods logistics device 10 and their orientation as well as their driving speed are detected by means of the absolute location system of the goods logistics device 10, the respective industrial truck extension zone 18 also being or being determined by means of the computer 40.
  • the industrial truck extension zones 18 of the respective industrial trucks 16 are determined as a dynamically adaptable and / or changeable industrial truck extension zone.
  • the industrial truck extension zone can be changed or adapted depending on the vehicle state and / or depending on the driving dynamics of the industrial truck.
  • the computer 40 can be used, for example, to determine whether an industrial truck contour zone 18 of an industrial truck 16 with an expansion zone or contour zone of a rack warehouse or of the fixed structural elements overlaps.
  • Fig. 2 schematically shows the overlap of an industrial truck extension zone 18 with the contour zone 122 of the rack storage 22 and the overlap of an industrial truck extension zone 18 with the contour zone 134 of the structural element 34, for example posts or the like, overlapping.
  • an operating control command and / or one Warning message is transmitted to the corresponding industrial truck 16, which, for example, brakes the industrial truck and warns the operating personnel accordingly in a visual and / or acoustic manner. In this way, for example, the probability of a collision of the industrial truck 16 can be significantly reduced.
  • an industrial truck extension zone 18 overlaps with a contour zone 121, 122, 123 of the rack storage units 21, 22, 23 or with the contour zones 131 to 135 of the structural elements 31 to 35, a corresponding control command is sent to the the respective industrial truck is transmitted, which, for example, brakes the industrial truck or enables the industrial truck to be operated only at a maximum speed.
  • a stroke limitation of a lifting mast of the industrial truck 16 can be transmitted as a control command from the computer 40 to the corresponding industrial truck 16.
  • the positions of the contour zones 121 to 123 of the rack storage units 21 to 23 and the contour zones 131 to 135 of the structural elements 31 to 35 are transmitted to the respective on-board computer of the industrial trucks 16, the absolute position of the industrial truck 16 within the goods logistics device 10 also being correspondingly transmitted to the on-board computer of the industrial truck 16 ,
  • the on-board computer of the industrial truck 16 can also determine an overlap of the own industrial truck expansion zone 18 with the contour zones or expansion zones 121 to 123 and 131 to 135.
  • FIG. 3 Another exemplary embodiment of a goods logistics device 10 is shown schematically.
  • an extension zone 112 of the danger zone 12 is determined on a loading ramp within the goods logistics device 10, so that the position of the extension zone 112 is determined using an absolute location system (not shown here) within the goods logistics device 10.
  • an extension zone 112 of this type can be provided, for example, on loading ramps or the like within the goods logistics device 10, which increases safety for handling of the industrial truck 16 and the safety for the operating personnel is significantly increased.

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  • Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Transportation (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Mechanical Engineering (AREA)
  • Civil Engineering (AREA)
  • Forklifts And Lifting Vehicles (AREA)
  • Warehouses Or Storage Devices (AREA)
EP19180502.7A 2018-06-22 2019-06-17 Procédé de fonctionnement d'un chariot de manutention Pending EP3587339A1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102018115035.0A DE102018115035A1 (de) 2018-06-22 2018-06-22 Verfahren zum Betreiben eines Flurförderzeugs

Publications (1)

Publication Number Publication Date
EP3587339A1 true EP3587339A1 (fr) 2020-01-01

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Family Applications (1)

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EP19180502.7A Pending EP3587339A1 (fr) 2018-06-22 2019-06-17 Procédé de fonctionnement d'un chariot de manutention

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EP (1) EP3587339A1 (fr)
DE (1) DE102018115035A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11820634B2 (en) 2020-02-21 2023-11-21 Crown Equipment Corporation Modify vehicle parameter based on vehicle position information

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20020190849A1 (en) * 2001-06-19 2002-12-19 Orzechowski Jeffery R. Industrial vehicle safety system
EP1767488A2 (fr) 2005-09-24 2007-03-28 Jungheinrich Aktiengesellschaft Système pour assister le conducteur d'un chariot élévateur lors de la conduite
DE102010005034A1 (de) 2010-01-15 2011-07-21 Jungheinrich AG, 22047 Verfahren zur Bewirtschaftung eines Lagers mit einem Flurförderzeug sowie zur Ausführung des Verfahrens geeignetes Flurförderzeug
US20110279261A1 (en) * 2010-05-12 2011-11-17 Proxisafe Ltd. Event warning system and method thereof
WO2015121818A2 (fr) * 2014-02-12 2015-08-20 Advanced Microwave Engineering S.R.L. Système pour empêcher les collisions entre des véhicules auto-propulsés et des obstacles sur les lieux de travail ou autres
US20170337820A1 (en) * 2016-05-18 2017-11-23 The Boeing Company Systems and methods for collision avoidance

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7859390B2 (en) * 2005-11-23 2010-12-28 Zbigniew Zuziak System for measuring a distance between two points and method utilizing this system
DE102006014450A1 (de) * 2006-03-29 2007-10-04 Jungheinrich Aktiengesellschaft Flurförderzeug mit einem Datenbus und einer Sende- und Empfangseinheit
DE102006040197A1 (de) * 2006-08-28 2008-03-06 Jungheinrich Aktiengesellschaft Steuersystem für Flurförderzeuge
DE102016113312A1 (de) * 2016-07-19 2018-01-25 Comnovo Gmbh Fahrzeugsicherheitsvorrichtung mit Warnzonen

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20020190849A1 (en) * 2001-06-19 2002-12-19 Orzechowski Jeffery R. Industrial vehicle safety system
EP1767488A2 (fr) 2005-09-24 2007-03-28 Jungheinrich Aktiengesellschaft Système pour assister le conducteur d'un chariot élévateur lors de la conduite
DE102010005034A1 (de) 2010-01-15 2011-07-21 Jungheinrich AG, 22047 Verfahren zur Bewirtschaftung eines Lagers mit einem Flurförderzeug sowie zur Ausführung des Verfahrens geeignetes Flurförderzeug
US20110279261A1 (en) * 2010-05-12 2011-11-17 Proxisafe Ltd. Event warning system and method thereof
WO2015121818A2 (fr) * 2014-02-12 2015-08-20 Advanced Microwave Engineering S.R.L. Système pour empêcher les collisions entre des véhicules auto-propulsés et des obstacles sur les lieux de travail ou autres
US20170337820A1 (en) * 2016-05-18 2017-11-23 The Boeing Company Systems and methods for collision avoidance

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11820634B2 (en) 2020-02-21 2023-11-21 Crown Equipment Corporation Modify vehicle parameter based on vehicle position information
US11912550B2 (en) 2020-02-21 2024-02-27 Crown Equipment Corporation Position assistance system for a materials handling vehicle

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