NL2014213B1 - Remote controlled electric pallet jack. - Google Patents
Remote controlled electric pallet jack. Download PDFInfo
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- NL2014213B1 NL2014213B1 NL2014213A NL2014213A NL2014213B1 NL 2014213 B1 NL2014213 B1 NL 2014213B1 NL 2014213 A NL2014213 A NL 2014213A NL 2014213 A NL2014213 A NL 2014213A NL 2014213 B1 NL2014213 B1 NL 2014213B1
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Abstract
The present invention generally relates to the field of electric pallet jacks. More specifically, to the field of means for converting an electric pallet jack to a remote controlled electric pallet jack. In a first aspect of the invention there is provided a steering arrangement for remote controlling an electric pallet jack. The electric pallet jack comprising a movable framework arranged for accommodating a pallet and lifting said pallet from a ground floor, at least one steerable motorized wheel, a driving unit for driving the at least one wheel, a steering unit for steering the movable framework and a throttle unit for moving the movable framework. The steering arrangement comprises a housing arranged for attaching to the movable framework of the electric pallet jack. The housing comprising a steering operation unit, arranged for attaching the steering unit of the electric pallet jack with the steering operation unit for steering the movable framework by controlling the steering operation unit a throttle operation unit, arranged to be attached to the throttle unit of the electric pallet jack for movement of the movable framework by controlling the throttle unit, and a control operation unit, arranged for controlling the steering operation unit, the throttle operation unit, and for wireless communication with remote control means.
Description
Title: Remote controlled electric pallet jack.
DESCRIPTION
Technical Field
The present invention generally relates to the field of electric pallet jacks. More specifically, to the field of means for converting an electric pallet jack to a remote controlled electric pallet jack.
Background of the Invention
Pallet jacks, which are also known as pallet trucks, pallet pumps, pump trucks or jiggers are tools that can be used to lift and move pallets. In a way, a pallet jack is a standard basic form of a forklift-truck and used to lift heavy goods on a pallet within a warehouse/storage or the like.
In a basis form, a pallet jack is comprised of a lift assembly in order to lift the pallet and the goods placed thereon, as well as a steering arrangement in order to move and steer the pallet with its goods from one place to the other.
Both the lifting and the steering are on most pallet jacks controlled by a tiller like lever. The lever acts as a pump handle to lift/raise the forks of the jack and hence the pallet. By making a pump movement with the lever, the forks are raised. Lowering of the forks is performed by pressing a handle. By pressing that handle the jack releases the hydraulic fluid which removes pressure and lowers the forks.
Most pallet jacks comprise front wheels which are contained inside the end of the forks and back wheels that are placed relatively close to each other in order to simplify movement of the jack. When the lever is pumped, the front wheels of the jack are pushed downwards which raises the forks and thus lifts the pallet from the ground. When the pallet is cleared from the floor, the jack can be moved in all directions and the lever acts like a tiller to steer the jack in the direction needed.
Some pallets are relatively small and carry relatively light weighted goods. However, also heavy weighted goods and large/strong pallets exist. In order to move these goods operation of a conventional pallet jack can be challenging. To this end, and to other ends, electric pallet jacks are known. Electric pallet jacks are pallet jacks that not only use hand-powered hydraulics but are motorized, powered, to allow lifting and moving of heavier goods or even stacks of pallets.
Some of the electric pallet jacks contain a platform for the user or operator to stand on while moving the pallet. The steering of the jack is performed by swinging the tiller/lever in the intended direction. A throttle on the handle enables movement forward and reverse.
In some warehouses, storages, manufacturing plants or the like, a lot of goods on pallets need to be moved around. This requires a lot of personal that operate all the pallet jacks. In the present time of automation and robotization more and more of these manual operations are to be transferred to a fully automated operation in which the amount of personal on the work floor is minimized. Minimizing of personal on the work floor requires remote controlled electric pallet jacks.
Pallet jacks are widely implemented, manufactured by a plurality of manufacturers, and hence are known in a lot of different embodiments and designs. Simple automation of the present electric pallet jacks of different designs is challenging, hence there is a need for a simple uniform arrangement to convert a conventional electric pallet jack to a remote controlled electric pallet jack.
It is thus an object of the present invention to provide a remote controllable electric pallet jack. More in particular it is an object of the present invention to provide a simple uniform arrangement to convert a conventional electric pallet jack to a remote controllable electric pallet jack.
Summary of the invention
In a first aspect of the invention there is provided a steering arrangement for remote controlling an electric pallet jack. The electric pallet jack comprises a movable framework arranged for accommodating a pallet and lifting the pallet from a ground floor, at least one steerable motorized wheel, a driving unit for driving the at least one wheel, a steering unit for steering the movable framework and a throttle unit for moving the movable framework. The steering arrangement comprises a housing arranged for attaching to the movable framework of the electric pallet jack. The housing comprising: a steering operation unit, arranged for attaching the steering unit of the electric pallet jack with the steering operation unit for steering the movable framework by controlling the steering operation unit; a throttle operation unit, arranged to be attached to the throttle unit of the electric pallet jack for movement of the movable framework by controlling the throttle operation unit; a control operation unit, arranged for controlling the steering operation unit, the throttle operation unit, and for wireless communication with remote control means.
As discussed, pallet jacks are arranged to lift objects and move these objects around, e.g. order picking. Most of these objects are placed on a pallet. A pallet jack can lift the pallet such that is comes free from the ground floor and can be moved towards any desired location. Pallet jacks for moving heavy objects are often motorized by an electric motor, hence the name electric pallet jack.
Such an electric pallet jack is comprised of a framework that is movable and can accommodate a pallet or the like. The framework is arranged to lift the pallet, often by pushing the wheels downwards, by which the forks of the framework lift the pallet free from the ground surface. The framework has two wheels on the front side, one on (below) each fork. On the backside most pallet jacks have two wheels that are placed close to each other and function as one wheel. In the case of an electric, motorized pallet jack at least one wheel is powered, mostly the back wheel(s). An electric motor drives the back wheel(s) and comprises a battery as power supply. The front wheels are mostly fixed, meaning that these can only spin in radial direction but are not arranged to steer the framework of the pallet jack. The steering is performed by the back wheel(s) mostly. These can rotate 360 degrees for example and enable easy flexible movement and manoeuvring of the framework. Electric pallet jacks are driven as described by a driving unit, powered by a battery. The speed by which the pallet jack moves, is controlled (as well as the direction, i.e. forward or reverse) by a throttle unit, for example a gas pedal, bar, accelerator or the like.
An operator of the electric pallet jack can control the speed and direction of the pallet jack by moving the steering unit in the desired direction and pressing the throttle. To that end, some electric pallet jacks are provided with a platform for the operator such that he or she does not have to walk behind the pallet jack.
Automation of the process of for example the order picking in a warehouse is restricted due to the manual operation of the electric pallet jacks. These pallet jacks require an operator. Moreover, a lot of different types of electric pallet trucks exist nowadays. Some are small for relative small pallets and corresponding goods, others are larger for large pallets and heavy goods. Besides that, different designs exist since there is no standard design used by all electric pallet jack manufacturers.
In order to automate different sizes, different types and different designs of electric pallet jack such that these do not need a manual operator which performs on-site operation of the pallet jack, the inventor has come to the insight that a steering arrangement should be able to operate and take over both the steering and throttle operation of the pallet jack in an universal manner. To that end, in a first aspect, the invention provides a steering arrangement for an electric pallet jack, such that it can be operated remotely. The steering arrangement comprises a housing that is arranged to be attached to the moveable framework of the electric pallet jack. The housing comprises a steering operation unit, a throttle operation unit and a control operation unit. The steering operation unit takes over the manual steering of the movable framework from the operator. The throttle operation unit takes over the throttle control of the operator, for speed and forward or reverse of the movable framework. The control unit communicates with remote control means, a wired or preferably in a wireless manner. Moreover, the control unit receives control instructions from the remote control means and on the basis thereof controls the throttle operation unit and the steering operation unit.
The steering operation unit is arranged to be attached to the steering unit of the electric pallet jack. In an example the steering unit of the electric pallet jack is comprised of a steering lever, i.e. tiller-like lever that is mostly directly attached to the back wheel(s) for direct steering thereof. By attaching the steering operation unit of the steering arrangement to the steering unit of the pallet jack, the control of the steering of the pallet jack is taken-over from the user/operator by the control operation unit and can as such be remotely controlled via the remote control means.
The throttle operation unit is arranged to be attached to the throttle unit of the electric pallet jack for movement of the movable frame by controlling the throttle unit. The throttle unit of the pallet jack is, as described, mostly embodied as a handlebar, twistgrip or the like, and is mostly attached to the end of the steering lever. The throttle operation unit of the steering arrangement can be attached to, or placed over the end of the steering lever in order to take over control of the throttle unit, i.e. the handlebar, twistgrip or the like. In that way the manual control of the user is take-over by the control unit for remote control via the remote control means.
In this way there is no need anymore for a user to directly and locally operate the electric pallet jack and a robotized electric pallet jack is thus obtained. That results in all kinds of advantages. For example, the pallet jack can now operate in hazardous environment in which people are not able to work, such as with highly toxic chemicals. Moreover, automation is taken to a higher level since the remote control means can be embodied as a computer which for example uses a continues running algorithm to calculate the shortest routes for picking orders, to which a person is not able to. Such a computer can also control a large amount of remote controlled electric pallet jacks in a cooperative manner with an occupation on the work floor that would most likely result in collisions when operated manually. Thus an increase of both efficiency and safety can be realized.
In an example, the steering unit of the electric pallet jack is comprised of a steering lever, and wherein the steering operation unit is arranged for attaching the steering lever of the electric pallet jack with the steering operation unit for steering the movable frame by controlling the steering operation unit.
The steering unit can be embodied in all kinds of manners, for example as a joystick. Most electric pallet jacks however comprise a steering unit in the form of a steering lever. To that end the steering operation unit can be attached to the steering lever such that movement of the steering operation unit moves the steering lever of the pallet jack and thus the movable framework in the desired direction.
In an example, the steering operation unit comprises a disk shaped engagement unit having a notch for receiving the steering lever.
Not all steering levers of all electric pallet jacks have the same dimensions, some are thick, others thin, some are long others shorter, etc.. With a disk shaped engagement unit that is provided with a notch all these different steering levers can be attached by simply putting the steering lever in the notch of the disk shaped engagement unit. Rotation of the disk will move the steering lever, hence controlling the steering direction of the pallet jack. Moreover, with a disk shaped engagement unit the safety is improved since movement of a disk makes it almost impossible for a person to have a limb getting stuck between moving parts.
In an example, the steering operation unit comprises a bar shaped engagement unit, wherein the bar shaped engagement unit is at one end fixed to the housing and at a free end arranged for attaching the steering lever, wherein the free end in particular is fork shaped.
In an alternative embodiment the disk can also be replaced by a bar that is fixed at one end and can be attached at its free end to the steering lever of the pallet jack. When the fixed end of the bar is attached to an axial motor, axial rotation will move the steering lever thereby controlling the steering of the pallet jack. Such driving of the bar can function mutatis-mutandis for a disk shaped steering operation unit.
In an example, the control operation unit and the throttle operation unit are arranged for wireless communication between both.
In an example, the control operation unit is arranged for transmitting the position of the movable frame to the remote control means.
In an example, the control operation unit is arranged for transmitting the orientation of the movable frame to the remote control means.
The control operation unit can be provided with positioning means, for example a Global Positioning System, GPS. That way the exact position of the framework, i.e. the pallet jack, can be communicated towards the remote control means. Position however is only one variable, orientation is another. The orientation can be obtained for example on the basis of a compass and communicated towards the remote control means. That way the remote control means can determine the pallet jacks location and orientation and transmit movement control instructions on the basis thereof.
In an example, the steering arrangement further comprises at least one marker for determining by the remote control means the position of the electric pallet jack on the basis of the marker.
In an example, the steering arrangement comprises at least two markers, and in particular at least three markers, for determining by the remote control means the position and orientation of the electric pallet jack on the basis of the marker.
In an example, the at least one marker is comprised of any one or more of the groups consisting of a passive visual marker, an active electromagnetic marker, a radio-frequency marker, a radio-frequency identification marker, an infrared marker, a radio beacon.
By providing the steering arrangement and hence the pallet jack with a marker, external means can determine the exact position of the pallet jack on the basis of the detection of that marker. When having two markers not only a position but also an orientation can be determined by one or more external means. Such means can be camera unit, radio-frequency unit or the like. In that way the marker is passive and the stationary detection unit(s) are active. The other way around is also possible, wherein the marker is active, i.e. by transmitting a radio-frequency identification signal, an infrared signal, electro-magnetic signal, radio-beacon signal or the like. Furthermore, the marker and detection unit(s) can also both be active.
In an example, the steering arrangement further comprises at least one camera unit for determining the position and/or orientation of the movable framework.
The camera can be mounted on top of the steering arrangement and thus forming part of the electric pallet jack. In an example this could also be multiple camera’s, for example one in each direction, i.e. forward and reverse, or even in four directions. As an alternative, and preferable embodiment, the camera or camera’s are located at fixed positions in the warehouse, preferably at strategic pre-defined high locations within the warehouse such that a top-down visualisation of the whole warehouse can be realized. Each camera has a certain area of control in which objects can be visualised and detected. With such a camera system a vision guided robotic electric pallet jack can be realized.
When multiple camera’s are used, a large area, preferably the whole warehouse, can be visualized by the camera’s and all objects (persons, goods, machinery, pallet jacks, etc.) can be detected and tracked. Multiple camera’s can also overlap each others visual area such that an object is always within the line of sight of at least two or three camera’s. This not only increases accuracy, it also increases reliability due to redundancy.
The use of a, preferably fixed stationary, camera system also has an advantage that it provides a high level of safety for persons within the warehouse. In case of objects that move on an automated basis, such as the electric pallet jack with the steering arrangement according to an example of the invention, safety of persons in the warehouse is of upmost importance. The camera’s provide the vision of the robotized electric pallet jacks. The camera’s to that end detect and recognize all objects within the warehouse, on the basis of which the electric pallet jack is guided from one position within the warehouse to another. If for example an object or obstacle in on its path, the camera’s is able to detect this and act accordingly such that the electric pallet jack alters its path and moves around the obstacle.
The camera’s can overview the whole warehouse and are also able to detect possible hazardous situations. Such detection can be performed by image processing (e.g. with motion detection software algorithms) within the individual camera or by image processing on the central (or even an external) server. If for example a person approaches a moving object such as an electric pallet jack, the camera can timely detect that event and perform precautionary measures, e.g. to warn the person with an audio and/or visual warning signal, or by reducing the speed of the moving object, i.e. the electric pallet jack, or even bring it to a halt. Different safety zones can be defined to that end. For example, if a person heads in the direction of a moving object, or if the moving object heads in the direction of the person and the distance is less than a certain amount of meters, the person is warned by a audio signal. If the person does not act, i.e. does not move out of the way, for what reason what so ever, the person will eventually reach a closer safety level at which the speed of the moving object, e.g. the electric pallet jack with steering arrangement, reduces speed. At a further safety level, the moving object will halt such that no collision can occur and safety of the person is guaranteed at all time.
In an alternative, the position and orientation can also be determined by the steering arrangement on the basis of visual detection by one or more camera units placed on the steering arrangement.
In a second aspect, remote control means are provided for remote controlling an electric pallet jack comprising a steering arrangement according to any of the previous descriptions.
In a third aspect, a method is provided of steering an electric pallet jack comprising a steering arrangement according to any of the previous descriptions.
In a forth aspect, a system is provided for automated steering of an electric pallet jack comprising a steering arrangement according to any of the previous descriptions, at least one central server as remote control unit and at least one camera for determining the location of the electric pallet jack.
In a fifth aspect, a camera is provided for a vision guided electric pallet jack comprising a steering arrangement according to any of the previous descriptions.
In a sixth aspect, remote control means are provided, such as a central server, for a vision guided electric pallet jack comprising a steering arrangement according to any of the previous descriptions.
The above-mentioned and other features and advantages of the invention are illustrated in the following description with reference to the enclosed drawings which are provided by way of illustration only and which are not limitative to the present invention.
Brief description of the drawings
Figure 1a shows, from a first perspective view, an example of a known electric pallet jack in combination with a steering arrangement according to an example of the invention;
Figure 1b shows, from a second perspective view, an example of a known electric pallet jack in combination with a steering arrangement according to an example of the invention;
Figure 2 shows, seen from above, an example of a known electric pallet jack in combination with a steering arrangement according to an example of the invention that moves within a warehouse from one location A towards another location B;
Figure 3 shows, seen from above, another example of a known electric pallet jack in combination with a steering arrangement according to an example of the invention that moves within a warehouse from one location A towards another location B;
Figure 4 shows an illustration of a warehouse and pallets within the warehouse in accordance with software used for controlling a steering arrangement according to an example of the invention.
Detailed description
In Fig. 1a an electric pallet jack 10 is shown that uses a battery driven electromotor to drive the wheels and aid an operator in movement of goods stacked for example on a pallet that is moved around in a warehouse. These electric pallet jacks are widely implemented and manufactured by a plurality of manufacturers, and hence, are known in a lot of different embodiments and designs. An operator of the electric pallet jack can control the speed and direction of the pallet jack by moving a steering unit in the desired direction and pressing a throttle. To that end, some electric pallet jacks are provided with a platform for the operator such that he or she does not have to walk behind the pallet jack. Simple automation of the present electric pallet jacks of different designs is challenging due to these different designs and different types of control hardware and software for example.
The electric pallet jack 10 shown in Fig. 1a is comprised of a framework 11 that is movable. The framework 11 is comprised of a main body and two forks 11a, 11b. The forks can accommodate a pallet or the like. The framework 11 is capable of lifting a pallet by pushing the wheels downwards, away from the framework. That way the forks 11a, 11 b lift the pallet that is on top of the forks such that the pallet comes free from the ground surface.
The framework 11 has two wheels on the front side 22a, 22b, one below each fork 11a, 11b. On the backside the pallet jack 10a is provided with two wheels 12 that are placed close to each other and function as one wheel that can easily turn in all directions. The back wheel(s) 12 is driven by a driving unit, i.e. an electric motor 14, that is contained in the framework. The electric motor 14 is powered by a battery not shown on the figure but contained in the framework as well. The front wheels 11a, 11b are fixed, meaning that these can only spin in radial direction but can are not arranged to steer the framework of the pallet jack. The steering is performed by the back wheel(s). These can rotate at least 180 degrees but mostly 360 degrees and enable easy flexible movement and manoeuvring of the framework.
The electric pallet jack 10 can move slowly or fast, depending on the amount of force applied on the throttle unit 15, i.e. a throttle bar. The harder the throttle bar is pressed the faster the electric motor 14 drives the back wheels. The back wheels can be steered by movement of the steering unit, i.e. steering lever 13. Pushing it in a direction will change the direction of the framework 11.
The steering arrangement 16 comprises a housing that can be attached to the movable framework 11 of the pallet jack 10, for example on the top/back side as shown in Fig. 1a. The housing of the steering arrangement comprises a control operation unit 19, i.e. a computer. The computer is arranged to communicate with a central server or other remote control means not shown on the figure. The central server can communicate with a single electric pallet jack that is provided with a steering arrangement according to the invention, or even with a large amount of such electric pallet jacks, all with corresponding steering arrangements. Moreover, the central server receives data from one or more detection units, provided on the steering arrangements and/or on stationary location within a warehouse, for example in the form of camera’s 21.
The control operation unit or computer 19 can communicate wirelessly with the central server and controls both the steering operation unit 17 and the throttle operation unit 18.
The steering operation unit 17 is designed as a disk that is attached on the top side of the housing of the framework 11. The disk is driven by an electric motor, for example a precise stepper-motor contained in the housing of the framework 11, by which the rotation can be controlled in a precise manner. The disk 17 is provided with a notch in which the steering lever 13 of the electric pallet jack can be received. Since most pallet jacks have steering levers that have an upright neutral position, the steering lever will stay inside the notch without permanent attaching of the lever on the disk. When the disk rotates, the steering lever moves accordingly, by which rotation of the disk 17, the movable framework 11 is moved in the desired direction. That way remote control over the steering direction of the framework 11 is obtained.
The steering arrangement 16 further consists of a throttle operation unit 18, for example in the form of a cover that can be slide over the throttle unit 15 of the pallet jack 10. The throttle operation unit 18 is able to press the throttle bar and thereby activate the driving unit 14 by which the framework 11 will move forward. The throttle operation unit 18 is also able to change directions, i.e. switch from forward to reverse direction.
With automated movement of an electric pallet jack 10 it is desired to known the exact location of the pallet jack in for example a warehouse. Position determination can be performed in different ways. The steering arrangement 16 shown in Fig. 1a is to that end provided with markers, in this example three markers 20a, 20b, 20c. By having multiple markers, it is not only possible to determine the position of the framework 11 but also the orientation thereof. Moreover, it generates more accurate and fail-proof data about the location. The markers are located at some distance above the framework 11 by use of a marker framework 23. That way the detection means 21 can easily detect the markers without objects getting in the line of sight. The markers can be passive visual markers, such as a coloured dot, a barcode, two-dimensional barcode such as a QR-code but preferably an active marker that emit a signal, i.e. a radio-frequency signal, an magnetic signal, visual signal, or the like. The markers can also contain a Radio-Frequency IDentification, RFID, chip, such that different electric pallet jacks can be distinguished from each other.
In Fig. 1b the same electric pallet jack 10 from Fig. 1a is shown, but from a different perspective. The figure clearly shows the framework 11 and the forks 11a, 11b. Furthermore, the framework of the markers and the markers 20a-20c can also be seen. The throttle operation unit 18 is put over, e.g. attached to the throttle unit 15 and the steering lever is inside the notch of the disk 17, i.e. the steering operation unit. When the steering lever 13 is inside the notch, a sensor 25 located there, detects the presence of the steering lever and activates the automated functioning and take-over from manual control of the electric pallet jack 10. When a user, i.e. operator, wants to take-over control again, he or she simply needs to take the steering lever from the disk, that way the sensor 25 detects that the steering lever is not inside the notch anymore and stops driving the driving unit, i.e. resulting in a (emergency)stop of the pallet jack. This way a safe and quick manner is provided to switch between automatic and manual control of the pallet jack. When the operator brings the pallet jack in manual operation by removing the steering lever 13 from the notch of the disk 17, the throttle operation unit 18 can be placed on a dock 26.
In Fig. 2 a floor plan of a warehouse is shown in a first (top part) and second (bottom part) moment in time. It shows an electric pallet jack 10 with a steering arrangement 16 that moves from position A to position B within the warehouse. At fixed locations within the warehouse detection units 21 in the form of camera’s 21a-21f are provided. The camera’s are positioned in such a way that they are grouped and form zones within the warehouse. Each zone 27, 28 or group can comprise for example three camera’s. That way an electric pallet jack can always be detected by three camera’s that detect the three markers 20a-20c on top of the electric pallet jack 10, which generates highly reliable data about the position and orientation of the pallet jack 10. Since the markers, or at least one of the markers, is provided with an RFID tag, the camera’s are also able to distinguish pallet jacks from each other.
Once the pallet jack 10 starts moving and reaches the end of a zone, the central server activates the camera’s of the adjacent zone, e.g. in the example shown in Fig. 2 the pallet jack 10 moves from the first zone 27 having camera’s 21a-c towards the second adjacent zone 28 having camera’s 21 d-f. When the pallet jack 10’ is in the second position close to the desired location B, the camera’s of the first zone can be de-activated. The activation and de-activation of the camera’s can be controlled by the central server on the basis of the calculated position and direction, e.g. from A towards B, but it can also be controlled on the basis of the RFID tag detection. Whenever a camera detects the (close) presence of an RFID tag, it is activated since it can then be concluded that a pallet jack is approaching the zone to which the camera belongs. In Fig. 3 a different route from A to B is illustrated by which the camera’s are still able to detect and determine the exact location, identification, direction and orientation of the pallet jack by use of the markers, an RFID tag and a set of camera’s.
The central server, or central servers operate the pallet jacks 10 within the warehouse via the steering arrangement according to the invention. Since manual operation is obsolete when all pallet jacks are remote controlled, the server also needs information about the goods to be transported around the warehouse, e.g. the order picking. These goods are provided on pallets 31, 32, 33, 34. Some pallets can be empty 31, 33, others are stacked with a single box of goods 34a, others with all kinds of boxes with goods 32a, 32b.
The central server digitalizes these pallets and goods according to the illustration shown in Fig. 4. The pallets can be identified, for example on the basis of a tag, e.g. a barcode, a two-dimensional barcode such as a QR-code but in a preferred embodiment in the form of an RFID tag. The same applies for the boxes, which can also be provided with a tag such as a barcode, a two-dimensional barcode such as a QR-code but in a preferred embodiment in the form of an RFID tag. Alternatively, one or more camera’s can detect the object such as the pallet or the boxes with goods on top of those pallets on the basis of visual object detection/recognition. The camera(s) visualize the object and that image is processed to detect details of semantic objects of a certain class (such as humans, buildings, pallets or goods). The pallets and boxes with goods on the pallets can thus be identified. These also have a corresponding location within the warehouse, which in a practical implementation is present in the form of Cartesian coordinates, having X, Y and Z positions within the warehouse. For example the (part of the) warehouse 30 shown in Fig. 4 has multiple pallets with goods, of which pallet 31 can be known within the control software of the central server as PA114, meaning pallet A on location X=1, Y=1 and Z=3. The pallet 32 below that pallet could accordingly be known with the software as PB113, etc.
Based on the above description, a skilled person may provide modifications and additions to the method and arrangement disclosed, which modifications and additions are all comprised by the scope of the appended claims.
Claims (16)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| NL2014213A NL2014213B1 (en) | 2015-01-30 | 2015-01-30 | Remote controlled electric pallet jack. |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| NL2014213A NL2014213B1 (en) | 2015-01-30 | 2015-01-30 | Remote controlled electric pallet jack. |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| NL2014213B1 true NL2014213B1 (en) | 2016-10-12 |
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ID=58232692
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| NL2014213A NL2014213B1 (en) | 2015-01-30 | 2015-01-30 | Remote controlled electric pallet jack. |
Country Status (1)
| Country | Link |
|---|---|
| NL (1) | NL2014213B1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108528481A (en) * | 2018-01-22 | 2018-09-14 | 中融飞腾（北京）科技有限公司 | A kind of electronic shipping system of heavy goods |
-
2015
- 2015-01-30 NL NL2014213A patent/NL2014213B1/en not_active IP Right Cessation
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108528481A (en) * | 2018-01-22 | 2018-09-14 | 中融飞腾（北京）科技有限公司 | A kind of electronic shipping system of heavy goods |
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