WO2022199912A1 - Procédé de commande automatique d'un chariot de manutention et chariot de manutention pour un procédé de commande automatique et système pour un chariot de manutention à commande automatique - Google Patents

Procédé de commande automatique d'un chariot de manutention et chariot de manutention pour un procédé de commande automatique et système pour un chariot de manutention à commande automatique Download PDF

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Publication number
WO2022199912A1
WO2022199912A1 PCT/EP2022/052434 EP2022052434W WO2022199912A1 WO 2022199912 A1 WO2022199912 A1 WO 2022199912A1 EP 2022052434 W EP2022052434 W EP 2022052434W WO 2022199912 A1 WO2022199912 A1 WO 2022199912A1
Authority
WO
WIPO (PCT)
Prior art keywords
industrial truck
aisle
guide wire
predefined
virtual guide
Prior art date
Application number
PCT/EP2022/052434
Other languages
German (de)
English (en)
Inventor
Thore Kleinke
Original Assignee
Hubtex Maschinenbau Gmbh & Co. Kg
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Hubtex Maschinenbau Gmbh & Co. Kg filed Critical Hubtex Maschinenbau Gmbh & Co. Kg
Publication of WO2022199912A1 publication Critical patent/WO2022199912A1/fr

Links

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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/063—Automatically guided
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/20—Means for actuating or controlling masts, platforms, or forks
    • B66F9/24—Electrical devices or systems

Definitions

  • the invention relates to a method for automatically controlling an industrial truck when driving in and out of an aisle or an aisle along at least one shelf wall.
  • the invention also relates to an industrial truck for carrying out such a method and a system for such an industrial truck.
  • satellite-controlled systems are therefore usually supplemented by an additional position detection system, such as a lane detection system, for example.
  • an additional position detection system such as a lane detection system, for example.
  • guide wires are embedded in a floor on which the industrial truck is moved, which can be inductively detected on a lower side of the vehicle and used to correspondingly steer the vehicle along the guide wire.
  • the guide wires are subjected to a predefined electrical frequency by means of a frequency generator.
  • the arrangement of the guide wire is usually defined when planning the racking system and is usually unchangeable after installation. This means that an installed system can no longer be used after the shelving system has been redesigned and the shelving walls have been moved. In addition, the installation and assembly of such a guide wire in the floor of a shelving hall or a factory site is associated with not inconsiderable costs.
  • the object of the present invention is therefore to provide a method for automatically controlling an industrial truck and a corresponding industrial truck and system that improves at least one of the disadvantages mentioned above and in particular enables a particularly flexible and cost-effective automatic control of the industrial truck.
  • the invention solves the problem by a method with the features of the main claim and by an industrial truck with the features of claim 11 and by a system with the features of claim 12.
  • Advantageously tive refinements and developments of the invention are disclosed in the under-claims, the description and the figures.
  • the method according to the invention for automatically controlling an industrial truck when entering and driving along an aisle along at least one shelf wall provides that the industrial truck is driven into the aisle under a threading or tracking that takes place here in a predefined entry area of the aisle.
  • the vehicle can be driven into the entry area from any desired position, for example manually, that is to say by hand by an operator or driver.
  • the drive-in area can, for example, be a place in the area of the front side of a shelf wall, from which the shelf aisle extends along the shelf wall.
  • a predefined virtual guide wire is detected, along which the industrial truck is automatically guided or steered, at least from the drive-in area into the aisle.
  • the guide wire is not physically present, but merely virtual, that is to say it is computer-assisted.
  • the detection takes place in particular in such a way that by comparing a position of the industrial truck with the position of the predefined virtual guide wire, a match is detected and a corresponding signal is transmitted to the vehicle controller.
  • the detection can, for example, be computer-assisted when the virtual guidance rate is “run over”, particularly when the driver drives the industrial truck into the entry area.
  • the alignment of the industrial truck is determined, in particular with regard to the arrangement or the course of the guide wire.
  • the orientation of the industrial truck can be determined, for example, using previously recorded GPS data.
  • the industrial truck is automatically aligned in a predefined position relative to the virtual guide wire, in particular in the middle of the lane on the longitudinal extension of the virtual guide wire with a vehicle front in the direction of the alley.
  • an automatic steering program is activated by the driver, which controls the position of the vehicle's steering wheels in such a way that the industrial truck is aligned parallel to the virtual guide wire within the entry area, in order to enable subsequent straight entry into the aisle.
  • the alignment of the steering of the industrial truck takes place here in particular as a function of the alignment of the vehicle relative to the virtual guide wire.
  • the industrial truck is particularly preferably located in the middle of the lane in front of the aisle of the shelf wall after it has been aligned in the main direction of travel, in particular parallel and at a predefined distance from at least one shelf wall, so that the vehicle only has to be moved straight ahead in order to drive into the center of the aisle.
  • the next step is to drive the industrial truck into the aisle, with the industrial truck being at least steered, preferably fully controlled, automatically along the virtual guide wire.
  • the vertical distance between tween an actual coordinate of the truck and the virtual guide wire, and the angle between the current direction of travel and the virtual guide wire is regulated.
  • This virtual guide wire not only avoids time-consuming and costly installations and repairs, but also allows the system to be adapted particularly quickly and easily to changes such as the arrangement of the shelving walls.
  • this method according to the invention is also suitable for retrofitting existing shelves.
  • the industrial truck is finally controlled automatically with regard to its steering, and is operated manually by a driver with regard to its driving speed.
  • the driver can maintain control over the movement of the vehicle, and there is no need for a complex or cost-intensive detection system to protect the area around the vehicle, particularly to avoid an accident.
  • the virtual guide wire or the virtual guide wire line is preferably arranged virtually in the middle of the lane of the aisle.
  • the virtual guide wire can in particular define the center of the lane of the aisle for the industrial truck.
  • the industrial truck can be guided in a particularly simple and safe manner with its track centered in the center of the aisle.
  • an automatic, in particular computer-aided, determination and definition of coordinates for a Starting point and an end point of a virtual guide wire line, in particular a straight line takes place.
  • the lane of the industrial truck can be recorded and stored by means of a computer.
  • an average of several lanes can be defined for a virtual guide wire.
  • the coordinates for a starting point and an end point can be selected so that they are within or in front of a rack aisle, so that the industrial truck can follow the virtual guide wire in the aisle.
  • the starting point is in the entry area and the end point is in an exit area, which is located at an end of the aisle of a shelf wall that is opposite the entry area.
  • the virtual guide wire can thus extend from the entry area through the entire aisle to the exit area.
  • the industrial truck can be automatically steered by means of the virtual guide wire in a particularly simple and safe manner, at least from the entry area into the aisle.
  • the coordinates for the start and end point of the guide wire line, and optionally the entry area, in which the mapping is defined or projected onto it, are particularly preferred.
  • the vehicle may be able to locate itself within this created map, ie to determine its current position and angle in relation to the map origin.
  • the position and angle can be communicated in particular for driving and steering control and with be converted into corresponding steering movements in an automatic steering program.
  • a map of the racking system is automatically created, in particular by detecting and recording the environment using at least a 2D laser scanner arranged on the industrial truck.
  • the detection and recording can take place both during manually operated driving of the industrial truck and during automatic control of the industrial truck.
  • capturing and recording can be permanent, with captured changes being stored in the map.
  • the position and orientation of the industrial truck is preferably recorded at least in the entry area and in the aisle, preferably in the entire area of the mapping, using a position determination technique such as GPS.
  • a position determination technique such as GPS.
  • the automatic control of the industrial truck by means of the guide wire can be automatically terminated and distance-based automatic steering of the industrial truck can be started.
  • laser distance sensors and/or optical sensors can be arranged on the industrial truck. These sensors can use predefined environmental objects, such as a shelf foot Capture and detect shelving wall.
  • the computer can recognize that the truck has fully entered the aisle and can automatically switch from the virtual guide wire guidance to the distance guidance of the vehicle.
  • the automatic steering program can remain active continuously during this switchover, so that the switchover described above does not necessarily have to be noticed by a vehicle operator. Rather, the vehicle can be continuously automatically steered and operated or controlled manually by the vehicle operator solely with regard to the driving speed in order to move and position the industrial truck within the aisle.
  • the laser distance sensors are preferably arranged on the wheel arms, and the optical sensors are preferably arranged on the frame of the industrial truck.
  • the distance to at least one shelf wall is particularly preferably detected by means of at least one distance sensor, in particular by means of an optical sensor, in particular a laser distance sensor.
  • the lateral distance to a shelf wall can be continuously recorded, monitored and corrected by means of the laser distance sensor while the vehicle is moving within the aisle.
  • the vehicle can be guided at a predefined distance along the shelf wall with the steering control.
  • the horizontal positioning of the vehicle within the rack aisle that is to say in particular the position of the vehicle in relation to the longitudinal extension of the aisle, can be carried out here by detecting the position using at least one 2D laser scanner.
  • an industrial truck for carrying out a method with the features according to one of the preceding claims 1 to 10 is provided.
  • this vehicle can have the structural features already mentioned above for carrying out the method.
  • a computer-assisted steering program a device for satellite-assisted detection of the position of the vehicle, at least one 2D laser scanner, a computer-aided device for creating a coordinate map or mapping of an environment and for detecting the be arranged virtual guide wire and / or at least one laser distance sensor.
  • a control system for such an industrial truck is provided.
  • the system relates in particular to hardware and software for virtual guide wire guidance of an industrial truck.
  • FIG. 1 shows a top view of a shelving system with a virtual guide wire guide according to the invention for an industrial truck
  • FIG. 2 shows an example of an arrangement of coordinates for such a stringline guide.
  • FIG. 1 shows a view of a shelving system 100 from above.
  • the shelving system 100 can be designed as part of a large shelving system or mobile shelving system and in the present case includes two ordinary shelves 4, also called shelving walls.
  • aisles 2, 3 of the shelves extend between or along the long sides of the wall of shelves 4.
  • the aisle of the shelves 2 is delimited by a wall of shelves 4 on only one side, the aisles of the shelves 3 on both sides.
  • the Re galgassen 2, 3 are used for storing or retrieving goods in and out of the shelf 4 and can be driven over by a truck 1 in particular.
  • each aisle 2, 3 has a width that is only slightly larger than the width of the industrial truck 1 used for storage and retrieval, in particular the width of the industrial truck 1 in relation to its main direction of travel, which is shown in Figure 1 with the Arrow 10 is marked.
  • the industrial truck 1 is formed here as a side stacker.
  • a vehicle usually has a chassis with a running gear, which as a rule comprises four wheels or wheel assemblies that are each mounted such that they can rotate through 360°, of which two are usually driven.
  • the industrial truck 1 is very agile and can rotate on the spot itself.
  • two distance sensors 11 designed as laser distance sensors are arranged on a left side of the industrial truck 1 with respect to the main travel direction 10 in a front side area and in a rear side area.
  • the laser distance sensors 11 enable a quick and precise detection of a distance between the industrial truck 1, in particular its left-hand side of the vehicle, and a surrounding obstacle, in particular the shelf wall 4 as in the present case.
  • the laser distance sensors 11 are each equipped with a control device (not shown) for automatically steering the industrial truck 1 connected.
  • further aisle detection sensors 12 are arranged on a right-hand side of the industrial truck 1 with respect to the main direction of travel 10, particularly in a front-side area and in a rear-side area.
  • the aisle detection sensors 12 are used in particular for aisle detection, ie for the detection of the shelf wall 4 and thus to detect whether the industrial truck convincing 1 is fully retracted into the aisle 2.3.
  • the gear detection sensors 12 are also connected to the control device (not shown) for automatically steering the industrial truck 1 .
  • the industrial truck 1 has a 2D laser scanner 13 which, in the example shown here, is located on the rear right corner of the industrial truck 1 .
  • This 2D laser scanner 13 is used to detect objects in the area surrounding the industrial truck 1 and in the example shown can detect surrounding objects at an angle of 270°. It is also possible to use 2D laser scanners that capture objects in the surrounding area at an angle of 360°.
  • the 2D laser scanner 13 is used in particular for mapping the surroundings of the industrial truck 1 and is connected to a non-illustrated computer of the industrial truck 1 for this purpose.
  • the industrial truck 1 has a satellite and/or antenna-based navigation device (not shown here) for determining the position and alignment of the industrial truck 1, in particular within the shelving system 100.
  • a virtual guide wire 5 is provided according to the invention. As the name suggests, this guide wire does not exist physically, but is stored purely virtually on the non-illustrated computer of the industrial truck 1 .
  • the industrial truck 1 is first driven manually through the racking system 100 by a driver for a certain time.
  • the surroundings of the industrial truck 1 are recorded by means of the 2D laser scanner and recorded or stored on the computer of the industrial truck 1 (not shown).
  • the computer can be used to create a map of the rack system 100. This mapping takes place in particular in the form of a coordinate system.
  • the position and alignment of the industrial truck 1 in the mapping of the shelving system 100 can be displayed by merging the data from the navigation system into the previously created coordinate system.
  • the virtual guide wire 5 can either be defined by entering coordinates for a starting point 5a and an end point 5b, or alternatively the first time the driver manually navigates the respective lane 2, 3 by pressing a button.
  • the starting point 5a of the virtual guide wire line 5 is provided in the embodiment shown in FIG.
  • the drive-in area 6 is arranged in particular in a first face area 8 of the shelf 4 and the exit area 7 in a second face area 9 of the shelf 4, in particular where there is sufficient space for turning and maneuvering the truck 1.
  • the virtual guide wire line 5 can also be made much shorter, and for example within the aisle 2, 3, in particular in a special area of the aisle 2, 3 facing the entry area 6.
  • the computer-assisted system of the industrial truck 1 then generates a virtual guide wire line 5 from the information about the starting point 5a and the end point 5b, as is shown, for example, in FIG.
  • the virtual guide wire line 5 is optimally arranged in the map of the industrial truck 1 in such a way that the guide wire line 5 is in the middle of one of the lanes 2 , 3 .
  • the position of the vehicle 1 and the corresponding virtual guide wire 5 of the lane 3 are automatically detected by the navigation device.
  • the position and the orientation of the industrial truck 1 in relation to the longitudinal extension of the virtual stringline 5 is automatically detected or determined. The driver is now given the opportunity to activate an automatic steering program of the industrial vehicle 1.
  • the industrial truck 1 After activation of the automatic steering program, the industrial truck 1 is placed in a predefined position relative to the virtual guide wire 5 by means of automatic steering of the industrial truck 1, in particular in the main direction of travel 10 in the middle of the virtual guide wire 5 at a predefined distance from the end face 8 of the shelf wall 4. The industrial truck 1 is now steered exclusively automatically.
  • FIG. 1 shows the situation in which the industrial truck 1 is about to enter the aisle 3 completely.
  • the control of the industrial truck 1 previously guided by the virtual guide wire 5 is switched to distance-based steering of the industrial truck 1, in which the industrial truck 1 is at a predefined distance from at least one the shelves 4 is performed.
  • the data recorded by the distance sensors 11 and/or 12 are used here. This enables the industrial truck 1 to be positioned and driven on particularly precisely within the aisle 3 and, in particular, a collision with the shelf wall 4 can be avoided.
  • the horizontal positioning of the industrial truck 1 within the aisle 3, that is to say in particular the position of the vehicle 1 in relation to the longitudinal extension of the aisle 3, can be carried out by detecting the position using the 2D laser scanner.
  • the driver can deactivate the automatic steering program and take over the manual control of the truck 1 again.

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Structural Engineering (AREA)
  • Civil Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

Procédé de commande automatique d'un chariot de manutention (1) lors de l'entrée et d'un déplacement dans une allée (2, 3) le long d'au moins une paroi (4) d'étagères d'un système d'étagères (100), comprenant les étapes suivantes consistant : à se déplacer dans une zone d'entrée prédéfinie (6) pour entrer dans l'allée (2, 3), à détecter une ligne de guidage virtuel prédéfinie (5) le long de laquelle le chariot de manutention (1) est dirigé automatiquement au moins à partir de la zone d'entrée (6) dans l'allée respective (2, 3), à orienter le chariot de manutention (1) dans une position prédéfinie par rapport au fil de guidage virtuel (5), en particulier parallèlement à et à une distance prédéfinie de ladite paroi (4) d'étagères, au moyen d'un système de direction automatique, en particulier guidé par fil de guidage, du chariot de manutention (1), et à faire entrer le chariot de manutention (1) dans l'allée (2, 3).
PCT/EP2022/052434 2021-03-25 2022-02-02 Procédé de commande automatique d'un chariot de manutention et chariot de manutention pour un procédé de commande automatique et système pour un chariot de manutention à commande automatique WO2022199912A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102021107530.0A DE102021107530B3 (de) 2021-03-25 2021-03-25 Verfahren zum automatischen Steuern eines Flurförderzeugs und Flurförderzeug für ein Verfahren zum automatischen Steuern und System für ein automatisch gesteuertes Flurförderzeug
DE102021107530.0 2021-03-25

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Publication Number Publication Date
WO2022199912A1 true WO2022199912A1 (fr) 2022-09-29

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PCT/EP2022/052434 WO2022199912A1 (fr) 2021-03-25 2022-02-02 Procédé de commande automatique d'un chariot de manutention et chariot de manutention pour un procédé de commande automatique et système pour un chariot de manutention à commande automatique

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DE (1) DE102021107530B3 (fr)
WO (1) WO2022199912A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102023106517A1 (de) 2023-03-15 2024-09-19 Hubtex Maschinenbau Gmbh & Co. Kg Verfahren zum automatischen Steuern eines Flurförderzeugs und Flurförderzeug

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB1548307A (en) * 1975-11-06 1979-07-11 Logisticon Inc Selfhuided vehicle having reverse direction goidance systems
US9146559B2 (en) * 2011-03-18 2015-09-29 The Raymond Corporation System and method for gathering video data related to operation of an autonomous industrial vehicle
DE102015111697A1 (de) * 2015-07-17 2017-01-19 Still Gmbh Verfahren zur Steuerung eines Kommissionierflurförderzeugs
DE102015111699A1 (de) * 2015-07-17 2017-01-19 Still Gmbh Steuerverfahren für ein Kommissionierflurförderzeug

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102010021042A1 (de) 2010-05-19 2011-11-24 Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. Verfahren zur rechnergestützten Spurführung von Fahrzeugen
DE102012207269A1 (de) 2012-05-02 2013-11-07 Kuka Laboratories Gmbh Fahrerloses Transportfahrzeug und Verfahren zum Betreiben eines fahrerlosen Transportfahrzeugs

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB1548307A (en) * 1975-11-06 1979-07-11 Logisticon Inc Selfhuided vehicle having reverse direction goidance systems
US9146559B2 (en) * 2011-03-18 2015-09-29 The Raymond Corporation System and method for gathering video data related to operation of an autonomous industrial vehicle
DE102015111697A1 (de) * 2015-07-17 2017-01-19 Still Gmbh Verfahren zur Steuerung eines Kommissionierflurförderzeugs
DE102015111699A1 (de) * 2015-07-17 2017-01-19 Still Gmbh Steuerverfahren für ein Kommissionierflurförderzeug

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102023106517A1 (de) 2023-03-15 2024-09-19 Hubtex Maschinenbau Gmbh & Co. Kg Verfahren zum automatischen Steuern eines Flurförderzeugs und Flurförderzeug

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