WO2004044609A1 - Verfahren und system zum materialtransport - Google Patents
Verfahren und system zum materialtransport Download PDFInfo
- Publication number
- WO2004044609A1 WO2004044609A1 PCT/DE2003/003566 DE0303566W WO2004044609A1 WO 2004044609 A1 WO2004044609 A1 WO 2004044609A1 DE 0303566 W DE0303566 W DE 0303566W WO 2004044609 A1 WO2004044609 A1 WO 2004044609A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- transport
- data processing
- processing device
- detection device
- aid
- Prior art date
Links
- 239000000463 material Substances 0.000 title claims abstract description 71
- 238000000034 method Methods 0.000 title claims abstract description 24
- 238000012545 processing Methods 0.000 claims abstract description 37
- 238000001514 detection method Methods 0.000 claims abstract description 34
- 230000032258 transport Effects 0.000 claims description 80
- 230000003287 optical effect Effects 0.000 claims description 2
- 230000001502 supplementing effect Effects 0.000 claims description 2
- 238000012795 verification Methods 0.000 abstract description 2
- 238000004519 manufacturing process Methods 0.000 description 6
- 230000009471 action Effects 0.000 description 2
- 239000002994 raw material Substances 0.000 description 2
- 238000004804 winding Methods 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000007257 malfunction Effects 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/0755—Position control; Position detectors
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/74—Systems using reradiation of radio waves, e.g. secondary radar systems; Analogous systems
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/74—Systems using reradiation of radio waves, e.g. secondary radar systems; Analogous systems
- G01S13/76—Systems using reradiation of radio waves, e.g. secondary radar systems; Analogous systems wherein pulse-type signals are transmitted
- G01S13/767—Responders; Transponders
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/87—Combinations of sonar systems
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/28—Details of pulse systems
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
- G05D1/0274—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means using mapping information stored in a memory device
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/74—Systems using reradiation of electromagnetic waves other than radio waves, e.g. IFF, i.e. identification of friend or foe
Definitions
- the invention relates to a method and a system for material transport in industrial plants, in particular in the basic material or paper industry, at least one mobile means of transport being recorded with the aid of at least one data processing device.
- the object of the invention is to avoid the disadvantages described above for material transport, particularly within an industrial plant.
- the object is achieved on the one hand by a method of the type mentioned at the outset, in which a detection device connected to the means of transport emits signals and signals are sent back from answering devices to the detection device, the detection device using at least one reference coordinate system to determine the position coordinates and the position angle of the Means of transport determined.
- a detection device connected to the means of transport emits signals and signals are sent back from answering devices to the detection device, the detection device using at least one reference coordinate system to determine the position coordinates and the position angle of the Means of transport determined.
- the object is achieved according to the invention by a material transport system, the material transport system comprising at least one data processing device and at least one detection device for detecting at least one mobile means of transport.
- the detection device is connected to a means of transport and has means for transmitting and receiving signals, and stationary answering devices are provided, which in particular receive signals from the detection device and send signals back, with the aid of which the detection device with the aid of at least one reference coordinate system in particular current position coordinates, the position angle and preferably also the instantaneous speed of the means of transport.
- the determination of position coordinates, position angle and possibly instantaneous speed is advantageously carried out in real time or almost in real time.
- a module for preferably automatically calibrating the position coordinates of the means of transport to a material-relevant point is advantageously provided. In this way, particularly precise material tracking is also provided for different types of material, means of transport and modes of transport.
- the data processing device advantageously has a module for supplementing the position coordinates by at least one area identifier. It is furthermore expedient that the stationary data processing device has a device for providing and preferably also for verifying a bearing level with discrete storage spaces. In this way, the possibility of a material or warehouse management is provided, which enables an automatic division or eg cross-hall detection of the area environment for material transport.
- the data processing device advantageously has a module for determining the type of storage of the material on the basis of the position angle. In this way, automatic recording and tracking of material and its storage type is provided without the need for operator input.
- the detection device is advantageously designed as a radar device, since this ensures a particularly robust and fault-free detection of position coordinates, position angle or instantaneous speed of the means of transport.
- a data processing device connected to the means of transport is advantageously connected to a device for optically displaying the transport orders or position and / or material information or preferably has such a device as a component.
- transport orders, warning notices and / or other kinds of notices can be made particularly easily accessible to an operator of the means of transport.
- 1 shows an exemplary representation of a material transport system according to the invention
- 2 shows a schematic illustration with respect to a reference coordinate system and the position angle.
- FIG. 1 shows a section of an industrial facility in which a material transport method according to the invention or a material transport system according to the invention is used.
- the industrial facility can be divided into different areas, e.g. divide different buildings or areas, which can also be at least partially outdoors. However, a spatial division can also be carried out based on areas assigned to one or more production or storage processes.
- the method and system for material transport according to the invention can be used both in connection with production, loading, storage and other facilities. The invention is explained below using the example of a warehouse which is delimited by the walls 5.
- Each point of the storage facility can be clearly described by specifying its Cartesian coordinates.
- the storage device is divided into two areas 7a, 7b, each of which has a plurality of loading and unloading points or storage locations 8a, 8b.
- the storage locations 8a in the area 7a are designed such that preferably wound material 10 is stored on them.
- the storage spaces 8b in the area 7b are preferably designed for storing sheet material 9.
- a mobile means of transport for example by means of a heavy-duty forklift or a forklift, material 9 or 10 is moved between the storage bins 8a, 8b and loading, production or other storage facilities that are outside the boundaries 5, ie in the example outside the walls 5 , lying, transported.
- Means of transport used in the raw materials and paper industries are generally faster than so-called AGVs (automated guided vehicles).
- a data processing device preferably a stationary data processing device 2
- the entire storage device 5, 7a, 7b, 8a, 8b and the material 9, 10 are imaged on a reference coordinate system with a reference point 3.
- a single reference point is provided for the areas 7a and 7b.
- Other areas of industrial equipment are not shown in the drawings.
- One or more common and / or separate reference points can be provided for other areas. A mix of common and own reference points is possible.
- a detection device 12 is attached to the means of transport 1. Furthermore, answering devices 6 are installed in the industrial plant, e.g. 5 transponders attached to the walls.
- Mobile means of transport 1 are, for example, vehicles with a driver, such as forklift vehicles, or also automatically controlled vehicles.
- Transported material is, for example, paper rolls or tape material such as coils as cold or warm bundles 10 or e.g. also sheet material 9, such as sheets on stacks with pallets or, for example, split bundles on pallets.
- the transport means 1 preferably has a data processing device, for example a host PC, which can be located, for example, inside the cabin of the transport means 1.
- This data processing device is coupled to the detection device 12, for example wirelessly or connected by cable.
- the data processing device of the means of transport 1 is coupled to a stationary data processing device 2 with the aid of a wireless connection 4, for example via wireless LAN, a wireless local area network. pelt.
- the detection device 12 can preferably be wirelessly coupled to the stationary data processing device 2.
- the detection device 12 advantageously has a radar module, which preferably operates in the ISM frequency band.
- the detection device 12 takes over the role of a base station and, according to the radar principle, targets the responders 6 attached in the area of action of the vehicle.
- the answer transmitters 6 are preferably designed as transponders and, for example, are designed such that they respond specifically to the base station.
- the responders 6 are preferably active components based on the principle of action.
- the detection device 12 continuously determines the current position in the reference coordinate system and preferably also the airspeed or the current position angle of the means of transport 1 or of the material 9, 10.
- the position can alternatively also be determined using an optical system Detection device possible, the responders 6 being formed with the aid of reflective tape or similar materials.
- the position determination according to the invention based on the radar principle has proven to be particularly advantageous when used outdoors and when used in buildings with a large building length.
- Figure 2 shows a means of transport 1 and a storage location 8.
- a material receiving point can be defined, for example with regard to the tip of a mandrel in heavy-duty forklift vehicles or with regard to the center of the fork tips in forklift vehicles with a fork.
- the material receiving point generally does not correspond to the coordinates that the detection device 12 determines for its own position based on its installation location on the means of transport 1.
- the calibration of the coordinates on a material relevant point For example, the material pick-up point is carried out automatically based on the selected means of transport or material.
- the current coordinates of the means of transport 1 or of the material 9, 10 are determined with reference to the respective reference point 3. Not only the plane position coordinates x and y are taken into account, but also the height z.
- the height z preferably corresponds to the storage height of the material 9, 10.
- a complete and correct bearing mirror is made available by means of the stationary data processing device 2, in particular since, for example, operators involved in the transports do not have to enter any coordinates for the
- Transports can be controlled by means of the data processing device 12. Operators can use a data processing device connected to the means of transport 1 and means for visual representation
- Transport orders, position and / or material information can be made quickly accessible. In this way, warnings of incorrect material pick-up and / or deposit due to an operating error can also be immediately displayed to the operator and corrected by the operator. If an operator deposits material incorrectly despite a warning, at least the incorrect location of the material storage is correctly registered in the system.
- a module is provided that supplements the position coordinates by at least one area identifier. This ensures that the method or transport system according to the invention also covers large-scale industrial facilities with different areas, a large number of limitations, extensive or complex spatial division and / or a large number of production, loading, storage and or other devices is applicable.
- the method or system for material transport according to the invention enables clear verification of a storage location and the type of storage. For the first time, operator input for a complete description of material storage is no longer required.
Abstract
Description
Claims
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US10/535,038 US8457776B2 (en) | 2002-11-12 | 2003-10-27 | Method and system for material transport |
EP03779673A EP1563319A1 (de) | 2002-11-12 | 2003-10-27 | Verfahren und system zum materialtransport |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE10252901.9 | 2002-11-12 | ||
DE10252901A DE10252901A1 (de) | 2002-11-12 | 2002-11-12 | Verfahren und System zum Materialtransport |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2004044609A1 true WO2004044609A1 (de) | 2004-05-27 |
Family
ID=32185607
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/DE2003/003566 WO2004044609A1 (de) | 2002-11-12 | 2003-10-27 | Verfahren und system zum materialtransport |
Country Status (5)
Country | Link |
---|---|
US (2) | US8457776B2 (de) |
EP (1) | EP1563319A1 (de) |
CN (1) | CN100405382C (de) |
DE (1) | DE10252901A1 (de) |
WO (1) | WO2004044609A1 (de) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP3770107A1 (de) | 2019-07-24 | 2021-01-27 | Jungheinrich Aktiengesellschaft | Flurförderzeug mit einer assistenzeinrichtung |
Families Citing this family (18)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE10252901A1 (de) * | 2002-11-12 | 2004-05-27 | Siemens Ag | Verfahren und System zum Materialtransport |
EP3346348B1 (de) * | 2010-04-14 | 2019-11-27 | Husqvarna AB | Robotisches gartenwerkzeug mit drahtverfolgung in einer bestimmten distanz anhand von mehreren signalen |
DE102011013781A1 (de) * | 2011-03-12 | 2012-09-13 | Jungheinrich Aktiengesellschaft | Flurförderzeug mit einer Datenkommunikationseinrichtung |
DE102011018520B4 (de) | 2011-03-17 | 2023-06-15 | Jungheinrich Aktiengesellschaft | Verfahren zum Anfahren eines Lagerplatzes mit einem Flurförderzeug |
EP2797832A1 (de) * | 2011-12-30 | 2014-11-05 | Seegrid Corporation | Selbstnavigierendes fahrzeug mit sichtfeldoptimierender sensorpositionierung und verfahren zum erhalt |
CA2795624A1 (en) | 2012-11-02 | 2014-05-02 | Martin Boni | Warehouse-related method |
US9522783B2 (en) | 2012-11-02 | 2016-12-20 | Carego Innovative Solutions, Inc. | Warehouse-related method and facility |
US9965856B2 (en) | 2013-10-22 | 2018-05-08 | Seegrid Corporation | Ranging cameras using a common substrate |
WO2015172242A1 (en) | 2014-05-15 | 2015-11-19 | Carego Innovative Technologies Inc. | Method for stacking welded tube |
JP6149894B2 (ja) * | 2015-04-27 | 2017-06-21 | 沖電気工業株式会社 | 位置情報処理装置及びプログラム、並びに位置情報処理システム及び位置情報処理方法 |
ES2713683T3 (es) * | 2016-03-18 | 2019-05-23 | Balyo | Vehículo guiado automático |
WO2018140471A1 (en) * | 2017-01-24 | 2018-08-02 | Oceaneering Internatiional, Inc. | Automated guided vehicle and method of use |
CN106882734A (zh) * | 2017-04-24 | 2017-06-23 | 深圳市鸿鹭工业设备有限公司 | 智能堆垛机 |
US11474254B2 (en) | 2017-11-07 | 2022-10-18 | Piaggio Fast Forward Inc. | Multi-axes scanning system from single-axis scanner |
US11429916B2 (en) | 2018-02-27 | 2022-08-30 | Carego Tek Inc. | Facility for processing steel |
JP6958450B2 (ja) * | 2018-03-22 | 2021-11-02 | 日本製鉄株式会社 | 置場管理方法 |
CN110654766A (zh) * | 2019-09-26 | 2020-01-07 | 深圳市晨龙包装自动化有限公司 | 原纸输送方法、装置及计算机可读存储介质 |
US20210380380A1 (en) * | 2020-06-03 | 2021-12-09 | Primetals Technologies USA LLC | Autonomous coil handling system |
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US5943476A (en) * | 1996-06-13 | 1999-08-24 | August Design, Inc. | Method and apparatus for remotely sensing orientation and position of objects |
US5974348A (en) * | 1996-12-13 | 1999-10-26 | Rocks; James K. | System and method for performing mobile robotic work operations |
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SE402540B (sv) * | 1976-08-13 | 1978-07-10 | Asea Ab | Forfarande och anordning for att vid en givarstyrd industrirobot astadkomma en approximativ transformation mellan givarens och robotarmens olika koordinatsystem for styrning av roboten inom ett forutbestemt ... |
DE3741259A1 (de) * | 1987-12-05 | 1989-06-15 | Hipp Johann F | Verfahren und vorrichtung zur autonomen steuerung eines fahrzeuges |
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DE10252901A1 (de) * | 2002-11-12 | 2004-05-27 | Siemens Ag | Verfahren und System zum Materialtransport |
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-
2002
- 2002-11-12 DE DE10252901A patent/DE10252901A1/de not_active Ceased
-
2003
- 2003-10-27 EP EP03779673A patent/EP1563319A1/de not_active Ceased
- 2003-10-27 US US10/535,038 patent/US8457776B2/en not_active Expired - Fee Related
- 2003-10-27 CN CNB2003801031492A patent/CN100405382C/zh not_active Expired - Fee Related
- 2003-10-27 WO PCT/DE2003/003566 patent/WO2004044609A1/de active Application Filing
-
2013
- 2013-05-01 US US13/874,706 patent/US20130245878A1/en not_active Abandoned
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US4247922A (en) * | 1978-10-12 | 1981-01-27 | Harris Corporation | Object position and condition detection system |
US5943476A (en) * | 1996-06-13 | 1999-08-24 | August Design, Inc. | Method and apparatus for remotely sensing orientation and position of objects |
US5974348A (en) * | 1996-12-13 | 1999-10-26 | Rocks; James K. | System and method for performing mobile robotic work operations |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP3770107A1 (de) | 2019-07-24 | 2021-01-27 | Jungheinrich Aktiengesellschaft | Flurförderzeug mit einer assistenzeinrichtung |
Also Published As
Publication number | Publication date |
---|---|
US20130245878A1 (en) | 2013-09-19 |
DE10252901A1 (de) | 2004-05-27 |
CN100405382C (zh) | 2008-07-23 |
EP1563319A1 (de) | 2005-08-17 |
US20060104800A1 (en) | 2006-05-18 |
US8457776B2 (en) | 2013-06-04 |
CN1711484A (zh) | 2005-12-21 |
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