EP4253306A1 - Industrial truck with a sensor and a data processing device - Google Patents

Abstract

The invention relates to an industrial truck (3), in particular an autonomous industrial truck (3), with a sensor (17), which is designed to detect a warning signal (13) and to generate a sensor signal in response to the detected warning signal (13), wherein the sensor signal represents the detected warning signal (13); and a data processing device (19), which is designed to determine a spatial position of the warning signal (13) relative to the industrial truck (3) on the basis of the sensor signal, wherein the data processing device (19) is further designed to provide a control signal for controlling a movement characteristic of the Industrial truck (3) depending on the specific spatial position of the warning signal (13).

Description

The invention relates to an industrial truck, in particular an autonomous industrial truck, with a sensor and a data processing device, in particular an industrial truck with a sensor, which is designed to detect a warning signal and to generate a sensor signal in response to the detected warning signal, the sensor signal detecting the Represents a warning signal, and with a data processing device which is designed to determine a spatial position of the warning signal relative to the industrial truck on the basis of the sensor signal, wherein the data processing device is further designed to generate a control signal for controlling a movement characteristic of the industrial truck depending on the specific spatial position of the to issue a warning signal.

The invention also relates to a system comprising a corresponding first industrial truck and a dynamic object, as well as a method for outputting a movement characteristic of a corresponding industrial truck, in particular an autonomous industrial truck.

Industrial trucks are known, for example, as counterbalance forklifts, reach trucks and warehouse equipment. These three types of industrial trucks in particular are used extensively on company premises and in storage areas, such as warehouses, in which people are present, while at the same time the visibility is limited by storage shelves and loads stored therein as well as by the spatial surroundings.

It is known to provide visual warning devices on the industrial trucks as a warning device for approaching industrial trucks, which are intended to attract the attention of people in the area, such as rotating beacons or flashing lights, which are arranged in the upper area or on a driver's protection roof of the industrial trucks, and which are often designed as yellow warning lights.

Furthermore, the publication discloses DE 10 2006 002 960 A1 Industrial trucks with an optical warning device in which a light effect pointing in the direction of travel is projected onto the road in front of the industrial truck as a safety light at a fixed distance from the industrial truck in order to warn people in the area of the approaching industrial truck. This makes it possible, for example, to specifically warn of an approaching industrial truck in noisy environments, with the safety light usually being projected onto the road at a fixed distance in front of the industrial truck and/or, in the case of reversing, behind the industrial truck.

Corresponding projectors are often used as visual warning devices for this purpose, which project a colored, for example blue, light effect onto the road. The light effect projected onto the road can have the shape of a dot. The optical warning device is arranged on an industrial truck in such a way that the light effect projected onto the roadway points in the direction of travel of the industrial truck and leads the industrial truck in the direction of travel by a certain distance, for example to the front and / or rear. The function of such light effects projected onto the roadway by means of the optical warning device is to signal to a person that an industrial truck is approaching. Particularly in areas that are difficult to see, e.g. at intersections, people can use these light effects projected onto the road to recognize early on that an industrial truck is approaching. This leads to accident prevention because other people or vehicle drivers can react to these light effects projected onto the road, for example by reducing their speed or initiating manual evasive actions.

All of these light effects projected onto the road by an optical warning device are referred to below as spots.

The present invention is based on the object of providing an industrial truck, in particular an autonomous industrial truck, which can be operated with a reduced risk of collision.

This task is solved according to a first aspect by an industrial truck, in particular an autonomous industrial truck, with a sensor which is designed detect a warning signal, and generate a sensor signal in response to the detected warning signal, the sensor signal representing the detected warning signal; and a data processing device which is designed to determine a spatial position of the warning signal relative to the industrial truck on the basis of the sensor signal, wherein the data processing device is further designed to output a control signal for controlling a movement characteristic of the industrial truck depending on the specific spatial position of the warning signal.

This achieves the technical advantage that by determining the spatial position of the warning signal of the data processing device of the industrial truck, a sufficient information base is available to output or adapt the movement characteristics of the industrial truck in such a way as to prevent a collision of the industrial truck with an obstacle, such as an to avoid additional industrial trucks.

In warehouses or on company premises in front of warehouses, there is a need to transport goods using autonomous industrial trucks in order to ensure particularly efficient transport of goods. The present invention enables in particular an automatic output or adjustment of movement characteristics of, in particular, autonomously operated industrial trucks in response to a detected warning signal, such as in response to light effects projected onto the road by optical warning devices.

If the warning signal is emitted, for example, by a dynamic object, such as another industrial truck, an effective collision protection system is made possible, which prevents a collision between the industrial truck and the dynamic object.

A corresponding collision protection system of the industrial truck designed according to the first aspect is not only able to detect the approaching dynamic object, in particular the further industrial truck, but also the spatial position of the warning signal, for example one from an optical warning device of the further industrial truck onto the road to determine a projected light pattern, such as a light spot. In this way, the truck is provided with the output of the Corresponding movement characteristics make it possible to react early to a possible risk of collision between the two industrial trucks because the light pattern projected onto the road precedes the other industrial truck and can also illuminate confusing areas, such as intersection areas.

If in certain situations, for example at intersections, the spatial position of the warning signal, such as the light pattern projected onto the road by the other industrial truck, is determined by the industrial truck, the industrial truck can react by, for example, the movement characteristics of the Industrial truck is issued in such a way that the industrial truck is braked and only moves into the intersection area at reduced speed, and / or that an evasive movement of the industrial truck is carried out.

In particular, with autonomous industrial trucks, the function is provided that corresponding autonomous industrial trucks can react to light patterns from other dynamic objects, such as other industrial trucks that are projected onto the road, and can adapt their behavior accordingly.

In particular, a corresponding collision protection system can be used on both autonomous and manual industrial trucks. With autonomous industrial trucks, the industrial truck can automatically react to the risk of collision. In manual industrial trucks, the collision protection system can function as an assistance system that warns an operator of the industrial truck of a risk of collision, for example by means of a warning signal. This means that the risk of collision can be further reduced, even with manual industrial trucks.

In particular, the industrial truck is designed as an autonomous industrial truck, in particular designed as a fully autonomous industrial truck, which can carry out its activity without a driver. Alternatively, the autonomous industrial truck can in particular be designed as a semi-autonomous industrial truck, in which a driver is still present, but the driver only intervenes to a limited extent in the activities of the industrial truck.

In particular, the autonomous, in particular fully autonomous or semi-autonomous, industrial truck includes a level of automation of Level 1, Level 2, Level 3, Level 4 and/or Level 5, as defined in accordance with the SAE J3016 standard of SAE International or the Federal Highway Research Institute .

According to an advantageous embodiment, the industrial truck is designed to change the movement characteristics of the industrial truck in response to the control signal, in particular to reduce a movement speed of the industrial truck and/or to change a direction of movement of the industrial truck.

This achieves the technical advantage that a collision of the industrial truck, in particular with a dynamic object emitting the warning signal, is prevented by reducing the movement speed and/or by changing the direction of movement of the industrial truck.

According to an advantageous embodiment, the movement characteristic of the industrial truck is a movement speed of the industrial truck, an acceleration of the industrial truck and / or a direction of movement of the industrial truck.

This achieves the technical advantage that the data processing device enables an advantageous intervention in the corresponding movement parameters of the movement characteristics of the industrial truck in order to ensure collision avoidance of the industrial truck.

According to an advantageous embodiment, the warning signal is assigned to a dynamic object, and the data processing device is designed to identify the dynamic object on the basis of the warning signal, wherein preferably the dynamic object is a further industrial truck and the warning signal is assigned to the further industrial truck, and wherein the Data processing device is designed to identify the further industrial truck based on the warning signal; and/or wherein preferably the dynamic object is an industrial robot and the warning signal is assigned to the industrial robot, and wherein the data processing device is designed to identify the industrial robot on the basis of the warning signal; and/or wherein preferably that dynamic object is a mobile warning unit and the warning signal is assigned to the mobile warning unit, and wherein the data processing device is designed to identify the mobile warning unit on the basis of the warning signal.

This achieves the technical advantage that a collision between the industrial truck and the dynamic object that is assigned to the warning signal can be effectively prevented.

The dynamic object is an object that is preferably moved in a storage environment and/or is not arranged in a stationary manner, in particular an independently moving object, such as a person, a vehicle, or a robot.

In particular, the dynamic object is a high-visibility vest, a belt, a shoe, a helmet, a holster, a backpack, a glove, a bracelet, an ankle cuff, a mobile device, a cell phone, a tablet, a smart watch, smart glasses , a headset or other headphones, or the like.

According to an advantageous embodiment, the sensor comprises an optical sensor, in particular a camera, which is designed to detect a light pattern projected onto a road as a warning signal and to generate the sensor signal in response to the detected projected light pattern, the sensor signal representing the detected projected light pattern, wherein the data processing device is designed to determine a position of the projected light pattern on the roadway relative to the industrial truck on the basis of the sensor signal, and wherein the data processing device is designed to use the control signal to control the movement characteristics of the industrial truck depending on the specific position of the projected light pattern on the road, the optical sensor being designed in particular to detect a light pattern projected onto the road in the visible light range, in the IR light range and/or in the UV light range as a warning signal.

This achieves the technical advantage that an advantageous warning signal can be provided by the projected light signal, which results in an advantageous control of the movement characteristics of the industrial truck.

The optical sensor is designed in particular as a camera. The camera includes in particular a 2D or 3D camera, wherein the light pattern projected onto the road can be captured in particular via an intensity image of the camera.

According to an advantageous embodiment, the sensor comprises an acoustic sensor, in particular a microphone, which is designed to detect an acoustic warning signal as a warning signal and to generate the sensor signal in response to the detected acoustic warning signal, wherein the sensor signal represents the detected acoustic warning signal, wherein the data processing device is designed to determine the spatial position of the acoustic warning signal relative to the industrial truck on the basis of a maximum signal amplitude of the sensor signal, and wherein the data processing device is designed to output the control signal for controlling the movement characteristics of the industrial truck depending on the specific spatial position of the acoustic warning signal.

This achieves the technical advantage that effective collision avoidance can also be achieved through the acoustic warning signal. Here, the data processing device determines the spatial position of the acoustic warning signal relative to the industrial truck on the basis of a maximum signal amplitude of the sensor signal, so that in particular the direction of propagation of the acoustic warning signal is determined and the position of the emitter of the acoustic warning signal can be advantageously determined therefrom.

According to an advantageous embodiment, the sensor is designed to detect the warning signal and a pattern characteristic of the warning signal, in particular a wavelength of the projected light pattern or a frequency of the acoustic warning signal, and to generate the sensor signal in response to the detected warning signal and to the detected pattern characteristic, whereby the sensor signal represents the detected warning signal and the detected pattern characteristic of the warning signal; and wherein the data processing device is designed to determine the spatial position of the warning signal relative to the industrial truck on the basis of the sensor signal, and wherein the data processing device is designed to use the control signal to control the movement characteristics of the to output the industrial truck depending on the specific spatial position and the detected pattern characteristics of the warning signal.

This achieves the technical advantage that, by taking into account the pattern characteristics of the warning signal of the data processing device, further parameters are available in order to advantageously control the movement characteristics of the industrial truck. For example, the pattern characteristic can in particular include a wavelength of the projected light pattern or a frequency of a dynamically projected light pattern, so that a priority of the warning signal can be transmitted by the corresponding pattern characteristic, for example in order to cause the industrial truck to stop immediately if the priority of the warning signal is particularly high to force.

According to an advantageous embodiment, the data processing device is designed, based on the specific spatial position of the warning signal relative to the industrial truck, a direction of propagation of the warning signal starting from a further warning device emitting the warning signal, a spatial position of the warning signal, a distance between the industrial truck and another emitting the warning signal Warning device and / or a position of a further warning device emitting the warning signal, the data processing device being designed to control the control signal for controlling the movement characteristics of the industrial truck depending on the specific propagation direction of the warning signal, starting from the further warning device emitting the warning signal, from the spatial position of the warning signal, from the specific distance between the industrial truck and the further warning device emitting the warning signal and / or from the specific position of the further warning device emitting the warning signal.

This achieves the technical advantage that the further detailed parameters of the warning signal, which are determined by the data processing device, provide particularly precise information to the data processing device in order to control the movement characteristics of the industrial truck in a particularly advantageous manner.

According to an advantageous embodiment, the sensor is designed to detect a warning signal emitted by a further warning device of a dynamic object, in particular a further industrial truck, an industrial robot and/or a mobile warning unit, and to respond to the detected warning signal of the dynamic object, the sensor signal generate, wherein the sensor signal represents the detected warning signal of the dynamic object; and the data processing device is designed to determine the spatial position of the warning signal relative to the industrial truck on the basis of the sensor signal, wherein the data processing device is designed to determine a further direction of movement of the dynamic object based on the specific spatial position of the warning signal, and wherein the data processing device is designed is to output the control signal for controlling the movement characteristics of the industrial truck depending on the specific further direction of movement of the dynamic object in order to prevent a collision of the industrial truck with the dynamic object.

This achieves the technical advantage that a particularly advantageous collision avoidance of the industrial truck with the dynamic object is achieved.

According to an advantageous embodiment, the sensor is designed to detect, at a first detection time, a first warning signal emitted by a further warning device of a dynamic object, in particular a further industrial truck, an industrial robot and/or a mobile warning unit, and at a second detection time, a first warning signal emitted by the further warning device to detect the second warning signal emitted by the dynamic object, and to generate the sensor signal in response to the detected first and second warning signals, the sensor signal representing the detected first and second warning signals; and the data processing device is designed to determine a spatial position of the first warning signal and a spatial position of the second warning signal relative to the industrial truck on the basis of the sensor signal, wherein the data processing device is designed to determine a further movement speed of the dynamic object based on the determined spatial position of the first Warning signal and on the basis of the specific spatial position of the second warning signal, and wherein the data processing device is designed to control the control signal for controlling the movement characteristics of the industrial truck depending on the specific to output a further movement speed of the dynamic object in order to prevent a collision of the industrial truck with the dynamic object.

This achieves the technical advantage that by determining the movement speed of the dynamic object, an additional important parameter is available to the data processing device in addition to the specific spatial position of the warning signal in order to control the movement characteristics of the industrial truck in such a way that a collision with the dynamic object is prevented .

According to an advantageous embodiment, the industrial truck has a warning device which is designed to emit a self-warning signal, the data processing device being designed to filter out the self-warning signal contained in the sensor signal and to distinguish it from the detected warning signal, the warning device in particular being an optical warning device, in particular a laser and/or an LED array, an acoustic warning device, in particular a loudspeaker, a horn and/or ultrasonic emitter, and/or a radar warning device.

This achieves the technical advantage that, through the effective distinction between the detected warning signal and the truck's own warning signal, the data processing device can ensure that the control of the truck's movement characteristics is not distorted by the truck's own warning signal.

According to an advantageous embodiment, the industrial truck has a communication interface which is designed to transmit the sensor signal and/or the control signal via a communication network, in particular via a further communication interface of a dynamic object, in particular a further industrial truck, an industrial robot and/or a mobile warning unit a dynamic object, in particular another industrial truck, another industrial robot and/or another mobile warning unit, wherein the communication interface of the industrial truck is in particular a radio communication interface, in particular a WLAN communication interface, or a Bluetooth communication interface or is a 5G communication interface, or is an optical communication interface.

This achieves the technical advantage that the communication interface can ensure effective data exchange between the industrial truck and the dynamic object, so that, for example, the dynamic object can also be warned of a possible collision with the industrial truck.

In the case of an optical communication interface, for example, the projected light pattern can serve as a communication link to send simple signals. This can be done via frequency modulation of the light generated by the optical warning device, which can be perceived by means of the sensor, in particular a camera system. In particular, the camera frame rate meets the Nyquist criterion and is at least twice as large as the modulated frequency signal.

This object is achieved according to a second aspect by a system comprising a first industrial truck according to the first aspect, and a dynamic object, in particular a further industrial truck, an industrial robot and / or a mobile warning unit, wherein the first industrial truck has a warning device which is designed to emit a self-warning signal, the dynamic object having a further sensor which is designed to detect the self-warning signal, and to generate a further sensor signal in response to the detected self-warning signal, the further sensor signal representing the detected self-warning signal, and the dynamic object has a further data processing device which is designed to determine a spatial position of the self-warning signal relative to the dynamic object on the basis of the further sensor signal, wherein the further data processing device is preferably designed to provide a further control signal for controlling a further movement characteristic of the dynamic object depending on the to issue the self-warning signal at a certain spatial position.

This achieves the technical advantage that a mutual exchange of data between the first industrial truck and the dynamic object can be achieved can. In this case, the further data processing device can advantageously control the movement characteristics of the dynamic object, taking into account the self-warning signal of the first industrial truck, in such a way that the dynamic object can also avoid the first industrial truck to avoid collisions.

According to the second aspect, the dynamic object in particular does not include a person.

According to an advantageous embodiment, the first industrial truck has a communication interface, and the dynamic object has a further communication interface, wherein the data processing device of the first industrial truck is designed to transmit the sensor signal and / or the control signal to the dynamic object via the further communication interface, and wherein the further data processing device of the dynamic object is designed to output the further control signal for controlling the further movement characteristics of the dynamic object depending on the specific spatial position of the self-warning signal and/or the transmitted sensor signal and/or the transmitted control signal.

This achieves the technical advantage that effective communication between the first industrial truck and the dynamic object is ensured, with the dynamic object in particular comprising a further industrial truck.

If two autonomous industrial trucks meet each other, for example at an intersection, in the system according to the second aspect, when one of the two industrial trucks stops due to detection of a light effect projected onto the road by the other industrial truck, the two industrial trucks may be obstructed by the respective others, ie a so-called deadlock, occurs. A mutual obstruction of both industrial trucks can advantageously be prevented in particular by the fact that the data processing device and / or further data processing device is set up to take traffic rules of an operating environment of the industrial trucks into account when initiating the collision-avoiding reaction function. In particular, the applicable traffic regulations for warehouses can be taken into account be, for example, a right-of-way regulation by right over left. This right-of-way regulation can also apply in particular to manually operated industrial trucks that cross the path. However, a deadlock can always be eliminated by a driver of the manually operated industrial truck.

Another way to resolve such a situation in which two industrial trucks interfere with each other can be for the industrial trucks to establish communication with each other in the event of a deadlock. For this purpose, the industrial trucks have communication devices that are set up to exchange information before and/or when the collision-avoiding reaction function is initiated.

The embodiments described as advantageous for the industrial truck according to the first aspect are also advantageous embodiments for the system according to the second aspect and vice versa.

This object is achieved according to a third aspect by a method for outputting a movement characteristic of an industrial truck, in particular an autonomous industrial truck, wherein the industrial truck comprises a sensor and a data processing device, and wherein the method comprises the following method steps: detecting a warning signal by the sensor, generating a sensor signal responsive to the detected warning signal by the sensor, the sensor signal representing the detected warning signal; Determining a spatial position of the warning signal relative to the industrial truck on the basis of the sensor signal by the data processing device, and outputting a control signal for controlling a movement characteristic of the industrial truck depending on the determined spatial position by the data processing device.

This achieves the technical advantage that the warning signal ensures effective collision avoidance for the first industrial truck.

Significant advantages are associated with the invention according to the first, second and third aspects:
Wherever light effects are used that are projected onto the road using an optical warning device, autonomous or automated vehicles in particular are able to react to these light effects and adapt their behavior accordingly. In particular, accidents between manual and autonomous industrial trucks or between autonomous and autonomous industrial trucks can be avoided at an early stage and safety can be increased. In addition, there is no need for any equipment on the truck to coordinate the driving behavior in advance with other trucks. In particular, it is not necessary to communicate, for example, that both industrial trucks are moving towards an intersection. In particular, no changes to the infrastructure of a warehouse or company premises are required.

• Figur 1 ein System umfassend ein erstes Flurförderzeug und ein dynamisches Objekt gemäß einer Ausführungsform der vorliegenden Erfindung; und
• Figur 2 eine schematische Darstellung eines Verfahrens zum Ausgeben einer Bewegungscharakteristik eines Flurförderzeugs gemäß einer Ausführungsform der vorliegenden Erfindung.

Further advantages and details of the invention are explained in more detail using the exemplary embodiments shown in the schematic figures. This shows

• Figure 1 a system comprising a first industrial truck and a dynamic object according to an embodiment of the present invention; and
• Figure 2 a schematic representation of a method for outputting a movement characteristic of an industrial truck according to an embodiment of the present invention.

Figure 1 shows a system comprising a first industrial truck and a dynamic object according to an embodiment of the present invention.

This in Figure 1 System 1 shown includes the first industrial truck 3, in particular a first autonomous industrial truck 3, and the dynamic object 5, in particular a further industrial truck 5-1, in particular a further autonomous industrial truck 5-1.

Even if this is in Figure 1 is not shown, the dynamic object 5 can alternatively or additionally also be an industrial robot and/or a mobile warning unit, such as a warning vest, a belt, a shoe, a helmet, a holster, a backpack, a glove, a bracelet, an ankle cuff , a mobile End device, a mobile phone, a tablet, a smart watch, smart glasses, a headset or other headphones, or the like.

The first industrial truck 3 and the further industrial truck 5-1 are each designed as an autonomous first industrial truck 3 or an autonomous further industrial truck 5-1. This means that the corresponding autonomous first or further industrial trucks 3, 5-1 are designed, in particular, as fully autonomous industrial trucks 3, 5-1, which can carry out their activities without a driver. Alternatively, the autonomous first or further industrial truck 3, 5-1 can be designed, in particular, as a semi-autonomous first or further industrial truck 3, 5-1, in which a driver is still present, but the driver only has limited access Activities of the industrial truck 3, 5-1 intervenes.

In particular, the autonomous first or further industrial truck 3, 5-1, or the fully autonomous or semi-autonomous first or further industrial truck 3, 5-1, each includes a level of automation of Level 1, Level 2, Level 3, Level 4 and /or Level 5, as defined according to the SAE J3016 standard of SAE International or the Federal Highway Research Institute.

The Figure 1 shows a top view of an intersection area 7 in a storage area, for example a warehouse, into which the first industrial truck 3 and the further industrial truck 5-1 drive. The intersection area 7 is difficult to see due to shelves 9 that are set up in front of the intersection area 7.

The further industrial truck 5-1, which includes the dynamic object 5, has a further warning device 11, which is designed to emit a warning signal 13. In the in Figure 1 In the embodiment shown, the further warning device 11 comprises a further projection device 11-1, which is designed to output the warning signal 13 as a light pattern 13-1 projected onto the roadway 15. The light pattern 13-1 projected onto the roadway 15 can in particular be a static light pattern 13-1 or a dynamic light pattern 13-1. For example, the light pattern 13-1, as in Fig. 1 shown, include a plurality of light points, in particular light spots. For example, the light pattern 13-1 projected onto the roadway 15 may include at least one colored light point or a traffic sign. The light pattern 13-1 can be projected onto the roadway 15 by means of the further projection device 11-1 in such a way that the light pattern 13-1 leads the further industrial truck 5-1 in the direction of travel at a predetermined distance.

Even if this is in Fig. 1 is not shown, the further warning device 11 of the further industrial truck 5-1 can alternatively or additionally be an acoustic warning device, in particular a loudspeaker, a horn and/or ultrasonic emitter, for emitting an acoustic warning signal 13, and/or a radar warning device for emitting a radar warning signal 13 include.

That in the Figure 1 First industrial truck 3 shown, which approaches the intersection area 7, has a sensor 17, which is designed to detect the warning signal 13, in particular the light pattern 13-1, and to generate a sensor signal in response to the detected warning signal 13, whereby the Sensor signal represents the detected warning signal 13.

In the in Figure 1 In the exemplary embodiment shown, the sensor 17 comprises an optical sensor 17-1, in particular a camera, which is designed to detect the light pattern 13-1 projected onto the roadway 15 as a warning signal 13 and to generate the sensor signal in response to the detected projected light pattern 13-1 , where the sensor signal represents the captured projected light pattern 13-1.

The sensor 17, in particular the optical sensor 17-1, is designed in particular to detect a light pattern 13-1 projected onto the roadway 15 in the visible light range, in the IR light range and/or in the UV light range as a warning signal 13.

Alternatively or additionally, the sensor 17 can also include an acoustic sensor, in particular a microphone, which is designed to detect an acoustic warning signal 13 as a warning signal 13 and to generate the sensor signal in response to the detected acoustic warning signal 13, the sensor signal being the detected acoustic Warning signal 13 is represented in order to detect an acoustic warning signal 13 emitted by a further acoustic warning device 11 of the further industrial truck 5-1.

The first industrial truck 3 has a data processing device 19, which is designed to determine a spatial position of the warning signal 13 relative to the first industrial truck 3 on the basis of the sensor signal.

In the in Figure 1 In the case shown, the data processing device 19 of the first industrial truck 3 is designed to determine a position of the projected light pattern 13-1 on the roadway 15 relative to the first industrial truck 3 on the basis of the sensor signal as the spatial position of the warning signal 13.

In the case of an acoustic warning signal 13 emitted by the further industrial truck 5-1, the data processing device 19 of the first industrial truck 3 is designed to determine the spatial position of the acoustic warning signal 13 relative to the first industrial truck 3 on the basis of a maximum signal amplitude of the sensor signal.

The data processing device 19 of the first industrial truck 3 is further designed to output a control signal for controlling a movement characteristic of the first industrial truck 3 depending on the specific spatial position of the warning signal 13.

In the in Figure 1 In the embodiment shown, the data processing device 19 of the first industrial truck 3 is designed to output the control signal for controlling the movement characteristics of the first industrial truck 3 depending on the specific position of the projected light pattern 13-1 on the roadway 15.

In the case of an acoustic warning signal 13 emitted by the further industrial truck 5-1, the data processing device 19 of the first industrial truck 3 is designed to output the control signal for controlling the movement characteristics of the first industrial truck 3 depending on the specific spatial position of the acoustic warning signal 13.

The movement characteristic of the first industrial truck 3 output by the data processing device 19 of the first industrial truck 3 includes in particular a movement speed of the first industrial truck 3, a Acceleration of the first industrial truck 3 and/or a direction of movement of the first industrial truck 3.

If the data processing device 19 of the first industrial truck 3, for example, outputs a reduced movement speed of the first industrial truck 3 to the drive of the first industrial truck 3, the movement speed of the first industrial truck 3 is reduced in such a way that the further industrial truck 5-1 can pass the intersection area 7 before the first industrial truck 3 reaches the intersection area 7. This allows a collision between the first industrial truck 3 and the further industrial truck 5-1 to be prevented.

If the data processing device 19 of the first industrial truck 3, for example, outputs a changed direction of movement of the first industrial truck 3 to a steering device of the first industrial truck 3, the direction of movement of the first industrial truck 3 is thereby changed such that the first industrial truck 3 is guided past the further industrial truck 5-1 . This can also prevent a collision between the first industrial truck 3 and the further industrial truck 5-1.

Furthermore, the data processing device 19 of the first industrial truck 3 can be designed to identify the further industrial truck 5-1 on the basis of the warning signal 13.

Furthermore, the data processing device 19 of the first industrial truck 3 can be designed, based on the specific spatial position of the warning signal 13 relative to the first industrial truck 3, a direction of propagation of the warning signal 13 starting from the further warning device 11 emitting the warning signal 13, a spatial position of the warning signal 13, a To determine the distance between the first industrial truck 3 and the further warning device 11 emitting the warning signal 13 and/or a position of the further warning device 11 emitting the warning signal 13.

The data processing device 19 is designed in particular to provide the control signal for controlling the movement characteristics of the first industrial truck 3 depending on the specific direction of propagation of the warning signal 13, starting from the further warning device 11 emitting the warning signal 13, on the spatial position of the warning signal 13, on the specific distance between the first industrial truck 3 and the further warning device 11 emitting the warning signal 13 and/or from the specific position of the further warning device 11 emitting the warning signal 13.

The sensor 17, 17-1 can further be designed to detect the warning signal 13 and a pattern characteristic of the warning signal 13, in particular a wavelength of the projected light pattern 13-1 or a frequency of the acoustic warning signal 13, and in response to the detected warning signal 13 and to generate the sensor signal based on the detected pattern characteristic, the sensor signal representing the detected warning signal 13 and the detected pattern characteristic of the warning signal 13.

In this case, the data processing device 19 of the first industrial truck 3 is designed in particular to determine the spatial position of the warning signal 13 relative to the first industrial truck 3 on the basis of the sensor signal, and the data processing device 19 is designed to use the control signal to control the movement characteristics of the first industrial truck 3 depending on the specific spatial position and the detected pattern characteristics of the warning signal 13.

For example, a color of the light projection 13-1 on the roadway 15 and/or a frequency of a visible light projection 13-1 on the roadway 15 can be used by the data processing device 19 of the first industrial truck 3 to detect different priorities of the further industrial truck 5-1, whereby, for example the first industrial truck 3, for example in the case of a high priority, can be forced to make an evasive movement or to stop immediately.

Furthermore, the sensor 17, 17-1 of the first industrial truck 3 can be designed to detect a first warning signal 13, in particular light projection 13-1, emitted by the further warning device 11 of the further industrial truck 5-1 at a first detection time, and at a second Detection time a second emitted by the further warning device 11 of the further industrial truck 5-1 To detect warning signal 13, in particular light projection 13-1, and to generate the sensor signal in response to the detected first and second warning signal 13, wherein the sensor signal represents the detected first and second warning signal 13.

Here, the data processing device 19 is designed in particular to set a further movement speed of the further industrial truck 5-1 based on the specific spatial position of the first warning signal 13, in particular the position of the light projection 13-1 on the road 15, and on the basis of the specific spatial position of the second warning signal 13, in particular the position of the light projection 13-1 on the road 15, to be determined. The data processing device 19 is designed to output the control signal for controlling the movement characteristics of the first industrial truck 3 depending on the specific further movement speed of the further industrial truck 5-1 in order to prevent a collision of the first industrial truck 3 with the further industrial truck 5-1.

Thus, the data processing device 19 of the first industrial truck 3 can particularly advantageously determine the further movement speed of the further industrial truck 5-1 by the subsequent detection of two light projections 13-1 on the roadway 15, so that the data processing device 19 takes into account the movement characteristics of the first industrial truck 3 can calculate particularly effectively whether there is a collision between the first industrial truck 3 and the further industrial truck 5-1.

It is also noted that the first industrial truck 3 (even if this is in Figure 1 not shown) can obviously also have a warning device, which is designed to emit a self-warning signal of the first industrial truck 3, for example to warn the further industrial truck 5-1. The sensor signal output by the sensor 17 of the first industrial truck 3 can therefore not only represent the further warning signal 13 of the further industrial truck 5-1, but may also include the self-warning signal of the first industrial truck 3.

Here, the data processing device 19 of the first industrial truck 3 is designed in particular to filter out the self-warning signal of the first industrial truck 3 contained in the sensor signal and to separate it from the detected warning signal 13 of the first industrial truck 3 further industrial truck 5-1 to ensure that only the warning signal 13 of the further industrial truck 5-1 is taken into account for the output of the movement characteristics of the first industrial truck 3.

In addition, it is also possible for the two industrial trucks 3, 5-1 to communicate with one another in the event of an impending collision. The first industrial truck 3 can have an in Figure 1 have a communication interface, not shown, and the further industrial truck 5-1 can have an in Figure 1 have a further communication interface, not shown.

The data processing device 19 of the first industrial truck 3 is designed to transmit the sensor signal and/or the control signal to the further industrial truck 5-1 via the further communication interface. The further data processing device of the further industrial truck 5-1 is designed to output the further control signal for controlling the further movement characteristics of the further industrial truck 5-1 depending on the specific spatial position of the self-warning signal and/or the transmitted sensor signal and/or the transmitted control signal.

There is therefore the possibility within the system 1 of the first industrial truck 3 and another industrial truck 5-1 that information is transmitted from the data processing device 19 of the first industrial truck 3 to the further data processing device of the further industrial truck 5-1 in order to determine the movement characteristics of the further industrial truck 5 -1 to control accordingly.

Here, the communication interfaces of the two industrial trucks 3, 5-1 can in particular include a radio communication interface, in particular a WLAN communication interface, or a Bluetooth communication interface or a 5G communication interface, or include an optical communication interface. A corresponding optical information transmission between the two industrial trucks 3, 5-1, via a corresponding optical communication interface, can take place in particular by frequency modulation of the light pattern 13-1 projected onto the roadway 15, which is carried out by means of the respective sensor 17, in particular the respective one Camera system, is perceptible. In particular, the camera frame rate must be at least twice as large as the modulated frequency signal.

In summary, it can be stated that by evaluating sensor signals from sensors 17 of the respective industrial trucks 3, 5-1 by corresponding data processing devices 19, which can in particular include image processing software and / or artificial intelligence methods, advantageously corresponding movement characteristics of the respective industrial trucks 3, 5-1 can be determined and controlled in such a way as to detect a risk of collision between both industrial trucks 3, 5-1 and then initiate a collision-avoiding reaction function of the respective industrial truck 3, 5-1.

This enables a collision protection system which is capable of not only recognizing an approaching dynamic object 5, in this case the further industrial truck 5-1, as such, but also that of the further optical warning device 11 of the further industrial truck 5- 1 light patterns projected onto the road 15 13-1. In this way, it is possible for the industrial truck 3 to react much earlier to a possible risk of collision between both industrial trucks 3, 5-1, because the light pattern 13-1 projected onto the roadway 15 runs ahead of the other industrial truck 5-1 and also into confusing areas. e.g. the intersection area 7, can illuminate.

Figure 2 shows a schematic representation of a method for outputting a movement characteristic of an industrial truck according to an embodiment of the present invention.

The industrial truck 3 is in particular an autonomous industrial truck 3. The industrial truck 3 includes a sensor 17 and a data processing device 19.

The method 50 includes the following process steps:
The first method step of the method 50 includes the detection 51 of a warning signal 13 by the sensor 17.

The second method step of the method 50 includes generating 53 a sensor signal in response to the detected warning signal 13 by the sensor 17, the sensor signal representing the detected warning signal 13.

The third method step of the method 50 includes determining 55 a spatial position of the warning signal 13 relative to the industrial truck 3 on the basis of the sensor signal by the data processing device 19.

The fourth method step of the method 50 includes the output 57 of a control signal for controlling a movement characteristic of the industrial truck 3 depending on the specific spatial position by the data processing device 19.

Reference symbol list

1

system

3

First industrial truck

5

Dynamic object

5-1

Additional industrial truck

7

Crossing area

9

shelf

11

Additional warning device of the additional industrial truck

11-1

Projection device

13

Warning signal

13-1

Projected light pattern

15

roadway

17

sensor

17-1

Optical sensor

19

Data processing device

50

Method for outputting a movement characteristic of an industrial truck

51

First procedural step: detecting a warning signal through the sensor

53

Second method step: Generating a sensor signal in response to the detected warning signal by the sensor

55

Third method step: Determining a spatial position of the warning signal relative to the industrial truck

57

Fourth method step: Outputting a control signal to control a movement characteristic of the industrial truck

Claims (15)

Industrial truck (3), in particular autonomous industrial truck (3), with: a sensor (17) which is designed to detect a warning signal (13) and to generate a sensor signal in response to the detected warning signal (13), the sensor signal representing the detected warning signal (13); and a data processing device (19), which is designed to determine a spatial position of the warning signal (13) relative to the industrial truck (3) on the basis of the sensor signal, wherein the data processing device (19) is further designed to provide a control signal for controlling a movement characteristic of the industrial truck (3) depending on the specific spatial position of the warning signal (13). Industrial truck (3) according to claim 1, characterized in that the industrial truck (3) is designed to change the movement characteristics of the industrial truck (3) in response to the control signal, in particular to reduce a movement speed of the industrial truck (3) and / or a direction of movement of the to change the truck (3). Industrial truck (3) according to claim 1 or 2, characterized in that the movement characteristic of the industrial truck (3) is a movement speed of the industrial truck (3), an acceleration of the industrial truck (3) and / or a direction of movement of the industrial truck (3). Industrial truck (3) according to one of claims 1 to 3, characterized in that the warning signal (13) is assigned to a dynamic object (5), and wherein the data processing device (19) is designed to detect the dynamic object (5) on the basis of the to identify warning signal (13), - wherein preferably the dynamic object (5) is a further industrial truck (5-1) and the warning signal (13) is assigned to the further industrial truck (5-1), and wherein the data processing device (19) is designed to handle the further industrial truck (5 -1) to identify based on the warning signal (13); and or - wherein preferably the dynamic object (5) is an industrial robot and the warning signal (13) is assigned to the industrial robot, and wherein the data processing device (19) is designed to identify the industrial robot on the basis of the warning signal (13); and or - wherein preferably the dynamic object (5) is a mobile warning unit and the warning signal (13) is assigned to the mobile warning unit, and wherein the data processing device (19) is designed to identify the mobile warning unit on the basis of the warning signal (13). Industrial truck (3) according to one of claims 1 to 4, characterized in that the sensor (17) comprises an optical sensor (17-1), in particular a camera, which is designed to project a light pattern (15) onto a roadway (15). 13-1) to detect as a warning signal (13) and to generate the sensor signal in response to the detected projected light pattern (13-1), the sensor signal representing the detected projected light pattern (13-1), wherein the data processing device (19) is designed to determine a position of the projected light pattern (13-1) on the roadway (15) relative to the industrial truck (3) on the basis of the sensor signal, and wherein the data processing device (19) is designed, to output the control signal for controlling the movement characteristics of the industrial truck (3) depending on the specific position of the projected light pattern (13-1) on the roadway (15), wherein the optical sensor (17-1) is designed in particular to detect a light pattern (13-1) projected onto the roadway (15) in the visible light range, in the IR light range and/or in the UV light range as a warning signal (13). Industrial truck (3) according to one of claims 1 to 5, characterized in that the sensor (17) comprises an acoustic sensor, in particular a microphone, which is designed to detect and respond to an acoustic warning signal (13) as a warning signal (13). to generate the sensor signal in response to the detected acoustic warning signal (13), the sensor signal representing the detected acoustic warning signal (13),
wherein the data processing device (19) is designed to determine the spatial position of the acoustic warning signal (13) relative to the industrial truck (3) on the basis of a maximum signal amplitude of the sensor signal, and wherein the data processing device (19) is designed to use the control signal to control the To output the movement characteristics of the industrial truck (3) depending on the specific spatial position of the acoustic warning signal (13). Industrial truck (3) according to one of claims 1 to 6, characterized in that the sensor (17) is designed to detect the warning signal (13) and a pattern characteristic of the warning signal (13), in particular a wavelength of the projected light pattern (13-1) or to detect a frequency of the acoustic warning signal (13), and to generate the sensor signal in response to the detected warning signal (13) and to the detected pattern characteristic, the sensor signal representing the detected warning signal (13) and the detected pattern characteristic of the warning signal (13). ; and
wherein the data processing device (19) is designed to determine the spatial position of the warning signal (13) relative to the industrial truck (3) on the basis of the sensor signal, and wherein the data processing device (19) is designed to use the control signal to control the movement characteristics of the industrial truck ( 3) depending on the specific spatial position and the detected pattern characteristics of the warning signal (13). Industrial truck (3) according to one of claims 1 to 7, characterized in that the data processing device (19) is designed, based on the specific spatial position of the warning signal (13) relative to the industrial truck (3), a direction of propagation of the warning signal (13) starting from a further warning device (11) emitting the warning signal (13), a spatial position of the warning signal (13), a distance between the industrial truck (3) and a further warning device (11) emitting the warning signal (13) and / or a position of the to determine a further warning device (11) emitting a warning signal (13),
wherein the data processing device (19) is designed to control the control signal for controlling the movement characteristics of the industrial truck (3) depending on the specific propagation direction of the warning signal (13) starting from the further warning device (11) emitting the warning signal (13), from the spatial position of the warning signal (13), from the specific distance between the industrial truck (3) and the further warning device (11) emitting the warning signal (13) and/or from the specific position of the further warning device (11) emitting the warning signal (13). Industrial truck (3) according to one of claims 1 to 8, characterized in that the sensor (17) is designed to be a by a further warning device (11) of a dynamic object (5), in particular a further industrial truck (5-1). Industrial robot and / or a mobile warning unit to detect the emitted warning signal (13), and to generate the sensor signal in response to the detected warning signal (13) of the dynamic object (5), the sensor signal being the detected warning signal (13) of the dynamic object ( 5) represents; and
wherein the data processing device (19) is designed to determine the spatial position of the warning signal (13) relative to the industrial truck (3) on the basis of the sensor signal, wherein the data processing device (19) is designed to have a further direction of movement of the dynamic object (5). to determine the basis of the specific spatial position of the warning signal (13), and wherein the data processing device (19) is designed to output the control signal for controlling the movement characteristics of the industrial truck (3) depending on the specific further direction of movement of the dynamic object (5). to prevent a collision between the industrial truck (3) and the dynamic object (5). Industrial truck (3) according to one of claims 1 to 9, characterized in that the sensor (17) is designed, at a first detection time, by a further warning device (11) of a dynamic object (5), in particular a further industrial truck (5- 1), an industrial robot and / or a mobile warning unit, to detect the first warning signal (13) emitted, and to detect a second warning signal (13) emitted by the further warning device (11) of the dynamic object (5) at a second detection time, and in response to the detected first and second warning signals (13), to generate the sensor signal, the sensor signal representing the detected first and second warning signals (13); and
wherein the data processing device (19) is designed to determine a spatial position of the first warning signal (13) and a spatial position of the second warning signal (13) relative to the industrial truck (3) on the basis of the sensor signal, wherein the data processing device (19) is designed, to determine a further movement speed of the dynamic object (5) on the basis of the specific spatial position of the first warning signal (13) and on the basis of the specific spatial position of the second warning signal (13), and wherein the data processing device (19) is designed to provide the control signal Control of the movement characteristics of the industrial truck (3) depending on the specific to output a further movement speed of the dynamic object (5) in order to prevent a collision of the industrial truck (3) with the dynamic object (5). Industrial truck (3) according to one of claims 1 to 10, characterized in that the industrial truck (3) has a warning device which is designed to emit a self-warning signal, the data processing device (19) being designed to filter out the self-warning signal contained in the sensor signal and to distinguish it from the detected warning signal (13),
wherein the warning device comprises in particular an optical warning device, in particular a laser and/or an LED array, an acoustic warning device, in particular a loudspeaker, a horn and/or ultrasonic emitter, and/or a radar warning device. Industrial truck (3) according to one of claims 1 to 11, characterized in that the industrial truck (3) has a communication interface which is designed to transmit the sensor signal and/or the control signal via a communication network, in particular via a further communication interface of a dynamic object (5 ), in particular a further industrial truck (5-1) of an industrial robot and/or a mobile warning unit, to a dynamic object (5), in particular a further industrial truck (5-1), a further industrial robot and/or a further mobile warning unit transmit, wherein the communication interface of the industrial truck (3) is in particular a radio communication interface, in particular a WLAN communication interface, or a Bluetooth communication interface or a 5G communication interface, or is an optical communication interface. System (1) comprising a first industrial truck (3) according to one of claims 1 to 12, and a dynamic object (5), in particular a further industrial truck (5-1), an industrial robot and/or a mobile warning unit, wherein the first industrial truck (3) has a warning device which is designed to emit a self-warning signal, wherein the dynamic object (5) has a further sensor which is designed to detect the self-warning signal and in response to the detected Self-warning signal to generate a further sensor signal, the further sensor signal representing the detected self-warning signal, and wherein the dynamic object (5) has a further data processing device which is designed to determine a spatial position of the self-warning signal relative to the dynamic object (5) on the basis of the further sensor signal, wherein the further data processing device is preferably designed to control a further control signal to output a further movement characteristic of the dynamic object (5) depending on the specific spatial position of the self-warning signal. System (1) according to claim 13, characterized in that the first industrial truck (3) has a communication interface, and that the dynamic object (5) has a further communication interface, wherein the data processing device (19) of the first industrial truck (3) is designed to transmit the sensor signal and/or the control signal to the dynamic object (5) via the further communication interface, and wherein the further data processing device of the dynamic object (5) is designed to output the further control signal for controlling the further movement characteristics of the dynamic object (5) depending on the specific spatial position of the self-warning signal and/or the transmitted sensor signal and/or the transmitted control signal. Method (50) for outputting a movement characteristic of an industrial truck (3), in particular an autonomous industrial truck (3), wherein the industrial truck (3) comprises a sensor (17) and a data processing device (19), and wherein the method (50) has the following Process steps includes: Detecting (51) a warning signal (13) by the sensor (17), generating (53) a sensor signal in response to the detected warning signal (13) by the sensor (17), the sensor signal representing the detected warning signal (13); Determining (55) a spatial position of the warning signal (13) relative to the industrial truck (3) based on the sensor signal by the data processing device (19), and Outputting (57) a control signal for controlling a movement characteristic of the industrial truck (3) depending on the specific spatial position by the data processing device (19).

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