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EP2851331B1 - Procédé de commande d'un chariot de manutention pour la préparation de commandes - Google Patents

Procédé de commande d'un chariot de manutention pour la préparation de commandes Download PDF

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Publication number
EP2851331B1
EP2851331B1 EP14183114.9A EP14183114A EP2851331B1 EP 2851331 B1 EP2851331 B1 EP 2851331B1 EP 14183114 A EP14183114 A EP 14183114A EP 2851331 B1 EP2851331 B1 EP 2851331B1
Authority
EP
European Patent Office
Prior art keywords
person
truck
optical sensor
industrial truck
monitoring
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP14183114.9A
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German (de)
English (en)
Other versions
EP2851331A1 (fr
Inventor
Tino Krüger-Basjmeleh
Volker Viereck
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
STILL GmbH
Original Assignee
STILL GmbH
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Publication date
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Priority to PL14183114T priority Critical patent/PL2851331T3/pl
Publication of EP2851331A1 publication Critical patent/EP2851331A1/fr
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Publication of EP2851331B1 publication Critical patent/EP2851331B1/fr
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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
    • B66F9/07581—Remote controls
    • 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

Definitions

  • the invention relates to a method for controlling a picking truck.
  • the invention relates to a method for controlling an industrial truck, especially in picking, wherein the truck has an optical sensor with a monitoring area, which is connected to a control device, and the control device by evaluating the data of the optical sensor, the position of a person within of the monitoring area is determined and tracked.
  • the pedestrian pallet truck For picking, the compilation of goods deliveries in a warehouse, very often pedestrian pallet trucks are used as a form of material handling equipment.
  • the pedestrian pallet truck is moved with a charge carrier on load forks, such as a pallet or a wire mesh basket, through the rack aisles of a warehouse in which the goods to be picked or picked are stored.
  • load forks such as a pallet or a wire mesh basket
  • the order picker or the person removing the goods picks up the goods located on the shelf, places them on or in the load carrier of the drawbar lift truck and then has to drive to the next picking location within the goods warehouse or the rack aisle of the goods warehouse for the next goods.
  • the order picker moves to a goods delivery with the pedestrian pallet truck.
  • a solution with a wireless glove is known, which attracts the picking person and through which the control of the truck is made possible. It can be integrated as a command button in the glove individual functions such as "forward", "back”, etc., which can be pressed by the picking person or the order picker. After picking up a particular product at a pickup location, thus after picking, for example, the "before" command key on the glove can be pressed by the order picker and the truck continues to move in the aisle as long as the order picker presses the command key on the glove holds. Due to the integration of the radio command transmitter in the glove, it does not have to be worn as a separate object by the order picker and does not disturb the latter in its freedom of movement.
  • Another known method is the control by voice commands, in which, however, additional location information or information about the position is required to automatically lead the truck between the receiving locations of the goods of the picking process.
  • the truck is automatically guided to the next location via a goods management systems and a voice input from the order picker, when the picking is completed at a recording location.
  • the Goods removal manually.
  • a disadvantage of this prior art is that background noise can interfere. Also, the additional location information must be available.
  • partially automated systems based on commands via voice input have the disadvantage that they have to be laboriously installed. For example, installations in warehouses are required for navigation and communication, a goods management system must be connected and servers must be made available in order to achieve the functionality of such a system. However, this suffers from the flexibility of the logistics processes, as rapid changes are only possible to a limited extent. Also, the economic and time effort is often spared. In all the systems described above, there is also a fundamental need for the employees performing the order picking to be trained and instructed in the system.
  • US 2002/190849 A1 discloses a method according to the preamble of claim 1.
  • the present invention has for its object to provide a method for controlling an industrial truck, in particular an industrial truck for picking, available, which avoids the aforementioned disadvantages and with which the truck in a simple manner with a person together when loading goods can be moved.
  • the object is achieved in that in a method for controlling an industrial truck, in particular during order picking, wherein the truck has an optical sensor with a monitoring area which is connected to a control device, and the control device by evaluating the data of the optical sensor Position of a person within the surveillance area determines and tracks, within the surveillance area is defined at least one monitoring limit and is detected by the control device when the person's position has exceeded the monitoring limit, and the truck is driven by the control device via a traction drive of the truck until the position of the person is back on the original side of the monitoring limit ,
  • the monitoring boundary provides a kind of virtual or invisible boundary established within the area of the environment monitored by the optical sensor, the surveillance area. Whenever a person exceeds this limit, the truck automatically tracks. This can be compared in the figurative sense as two magnets that are held together with the same polarity and thus the one is always pushed on too close approach of the other.
  • the optical sensor can be any type of sensor from a laser scanner, which detects the environment alone in one plane, up to a camera. It can be a capture only one-dimensional act up to a three-dimensional detection of pixels, in which the distance to the optical sensor is detected.
  • the data points corresponding to a person within the surveillance area are detected, and as these points move beyond the monitoring boundary, the truck is tracked by the control device, which may be part of a vehicle control, for example, or a separate computer, specifically for this purpose.
  • the truck is moved and with this together the monitoring area including the monitoring limit until it is moved back over the position of the person and the person is back on the original side of the monitoring boundary.
  • the inventive method allows a particularly advantageous semi-automated picking.
  • An employee, the picker has no time to track or move the truck.
  • the truck so to speak, automatically follows its running movements while, for example, it goes along a series of containers with the goods to be picked or a rack aisle and removes these goods.
  • the employee can remove the goods completely freely and place them on, for example, a pallet or a container on the fork of the truck. Whenever all the goods have been picked in one area and the employee continues to move along the rack aisle, the truck follows him automatically.
  • Advantageous for this is no fixed installation in For example, a warehouse needed and no additional device that would have to be carried by the employee. In particular, however, no elaborate training or briefing is required because the operation by the picking employee is ultimately only to pick the goods as usual and continue each.
  • Industrial trucks with the method according to the invention can be used as a single or in a variety of vehicles in a warehouse without major preparations must be made.
  • the optical sensor can detect distances to objects in the surveillance area.
  • the optical sensor can detect the monitoring area in three dimensions.
  • the optical sensor detects not only distances in a plane but also with a certain height extent and thus the objects three-dimensionally, for example a time of flight camera compared to a simple laser scanner, the detection and the tracking or "tracking" of a person can continue be improved.
  • changes in the position of the person are tracked and the changes in the values are only judged as correct with continuous changes.
  • the data of the position of the person are differentiated from data of further moving objects or persons in the case of an at least partial optical overlap by recognizing the image data with constant change as the position of the tracking person.
  • a second person runs in the optical axis between the optical sensor and the tracked person and partially covers them, it can thus be recognized by the control device "which" person is the right one to carry on.
  • the pixels of the second person have opposite the pixels of the first person an instant jump in the distance.
  • forecast values are determined for the future position of the person within which the position should be located.
  • a prognosis value for temporally subsequent positions of the person to be tracked can be created.
  • the person should therefore be in a certain position or within a certain range of positions after the previous movements up to the time of determining this forecast value for the future.
  • the originally tracked person is detected by means of a search within the prognosis values.
  • a search using the forecast values makes it possible to track the person again capture. This applies at least, as long as the coverage does not last too long.
  • the position of a person to be tracked in a learning phase is detected by a movement of the person.
  • the person to be tracked can be identified by the control device.
  • a short phase of the detection of a targeted movement of the serving or commissioning person which can be triggered for example by a special circuit or command input in the truck.
  • the optical sensor can be a camera and the position of a person to be tracked can be detected by means of image processing methods.
  • the monitoring boundary on one side or on both sides of the industrial truck separates a front area of the monitoring area from a rear area with respect to a movement direction of the industrial truck.
  • an employee is usually taken from a shelf or containers in an area on the side of the truck and the goods are loaded onto the truck.
  • the truck is a pallet truck with a corresponding container or a pallet on the forks, which is moved forward with rearward oriented fork with a drawbar.
  • Such a truck is then moved by the inventive method in an optimal way with the picking staff when the monitoring limit is positioned substantially transverse to the direction of travel in the front region of the vehicle.
  • the monitoring limit starting from the truck perpendicular to the direction of movement of the truck to a maximum of 45 ° to Movement direction arranged.
  • the optical sensor can advantageously be arranged and yet the monitoring limit be located at the front of the industrial truck.
  • the truck can be moved with the steering set in the straight-ahead position.
  • both the data of the optical sensor can be used, and also or alternatively data of a personal protection device, as far as such is provided and installed in the truck.
  • personal protection devices are present in autonomous vehicles and monitor a nearby area for collisions with obstacles or people. These are usually based on monitoring at a low altitude above the ground, for example by laser scanners, which scan surfaces in accordance with standards at a height of approx. 150 mm above the ground.
  • edge and the orientation of one or both sides of a rack aisle are detected and at a distance from the edge or both edges a target track is set.
  • the shelf columns are detected as components of the shelves of the rack aisle. From the positions of the components of the shelf can be determined at a distance from a target track on which the truck should move.
  • This setpoint track can also be placed in the middle of a rack aisle in double-sided shelves or, depending on the wishes of the serving person On one side of the rack aisle, so that the most ergonomic work possible. It is also possible that such a specification of a target track, an alignment of the truck takes place and it is not necessary at the beginning of order picking in a rack aisle, that the truck is aligned exactly by hand. Rather, the truck must only be driven into the rack aisle and aligns with the first movement movements to this rack aisle.
  • the end of a rack aisle is detected and terminated on reaching the end of the rack aisle the process.
  • the truck can then stop automatically or follow the succession to the person.
  • the data obtained by the optical sensor in particular when it comes to three-dimensional data, in addition to the tracking of the person and the determination of a desired track also be used in general for the vehicle guidance, for example in the sense of an autonomously driving vehicle.
  • the truck can be designed so that after completion of a picking on request or by entering a command the truck automatically moves to a goods delivery and drops the container or pallet. This leads to a further time saving, since the commissioning person does not have to control the truck there. This is optimally supplemented if it is provided that the truck also drives autonomously on request to a first working position of a picking person.
  • the object is also achieved by an industrial truck with an optical sensor having a monitoring area, which is connected to a control device, which performs a method described above.
  • the truck has the advantages already described.
  • the Fig. 1 1 shows schematically in plan view an industrial truck 1, in which the method according to the invention is used, with a picking person 2.
  • An observation area 7 is detected within the rack aisle 3 by an optical sensor 5, which in the present example is designed as a camera 6 with an all-round pick-up area and the ability to detect clearances.
  • the data of the optical sensor 5 are processed and the position of the person to be tracked 2 detected.
  • a monitoring limit 8 is stored in the control device, which includes a front area 9 of the monitoring area 7 from a rear area 10 of the monitoring area 7 separates. While the truck is 1, the picking person 2 removes goods from the load rack 4 and places them on a transport pallet 11.
  • the Fig. 2 schematically shows in plan the truck 1 with the transport pallet 11 and the person 2 of Fig. 1 in a driving movement of the truck 1 in the direction of movement shown by the arrow.
  • the position of the person 2 is now in the front area 9 of the monitoring area 7. Therefore, the control device controls a traction drive of the truck 1 so long and moves the truck 1 in the direction of movement until the person 2 again behind the monitoring limit 8 in the Rear area 10 of the monitoring area 7 is located.
  • the edge 12 of the load rack 4 is determined from the data of the optical sensor 5 and set at a distance from this edge 12 a target track on which the truck 1 is moved by the control device.
  • the Fig. 3 shows the truck 1 of Figure. 1 in a side view with the load shelf 4 of the rack aisle 3 and additional goods containers 13 from which goods can also be removed during order picking.
  • the truck 1 with the optical sensor 5, which is designed as a camera 6, has the monitoring area 7.
  • the camera 6 can record, for example as a time of flight camera (ToF) via runtime measurements, the distance of the pixels to the camera 6.
  • the optical sensor 5 can also be designed as a laser scanner 14, which scans in a plane 15 and thereby detects the distances to target objects. This corresponds to a two-dimensional detection.

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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)
  • Warehouses Or Storage Devices (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Claims (17)

  1. Procédé de commande la chariot de manutention (1), notamment lors de la préparation de commandes, dans lequel le chariot de manutention (1) comprend un capteur optique (5) ayant une zone de surveillance (7), qui est connecté au dispositif de commande, et le dispositif de commande détermine la position d'une personne (2) à l'intérieur de la zone de surveillance (7) par évaluation des données du capteur optique (5),
    caractérisé en ce que,
    à l'intérieur de la zone de surveillance (7), au moins une limite de surveillance (8) est définie et est détectée par le dispositif de commande lorsque la position de la personne (2) a dépassé la limite de surveillance (8), et en ce que le chariot de manutention (1) est déplacé par le dispositif de commande par l'intermédiaire d'un système de propulsion du chariot de manutention (1) jusqu'à ce que la position de la personne (2) se situe de nouveau du côté initial de la limite de surveillance (8).
  2. Procédé selon la revendication 1,
    caractérisé en ce que le capteur optique (5) peut détecter des distances d'objets dans la zone de surveillance (7).
  3. Procédé selon la revendication 2,
    caractérisé en ce que le capteur optique (5) peut détecter de manière tridimensionnelle la zone de surveillance (7).
  4. Procédé selon l'une quelconque des revendications 2 à 3,
    caractérisé en ce que des variations de la position de la personne (2) sont suivies et en ce que les variations des valeurs ne sont évaluées comme étant correctes que lors de variations continues.
  5. Procédé selon la revendication 4,
    caractérisé en ce que les données de la position de la personne (2) se différencient de données d'autres objets ou personnes en mouvement dans le cas d'une occultation optique au moins partielle, les données d'images présentant une variation continue étant reconnues comme étant la position de la personne (2) suivie.
  6. Procédé selon la revendication 4 ou 5,
    caractérisé en ce que, pour la position future de la personne (2), on détermine des valeurs pronostiquées en deçà desquelles la position doit se trouver.
  7. Procédé selon la revendication 6,
    caractérisé en ce que, lors d'une occultation optique de la personne suivie (2) par d'autres objets ou personnes, la personne (2) initialement suivie est détectée sur la base d'une recherche parmi les valeurs pronostiquées.
  8. Procédé selon l'une quelconque des revendications 1 à 7,
    caractérisé en ce que la position d'une personne (2) à suivre est reconnue au cours d'une phase d'apprentissage par un déplacement de la personne.
  9. Procédé selon l'une quelconque des revendications 1 à 8,
    caractérisé en ce que le capteur optique (5) est une caméra (6) et en ce que la position d'une personne (2) à suivre est reconnue au moyen de méthodes de traitement d'images.
  10. Procédé selon l'une quelconque des revendications 1 à 9,
    caractérisé en ce que la limite de surveillance (8), d'un côté ou des deux côtés du chariot de manutention, sépare une zone avant (9) de la zone de surveillance (7) d'une zone arrière (10) par rapport à une direction de déplacement du chariot de manutention.
  11. Procédé selon la revendication 10,
    caractérisée en ce que la limite de surveillance (8) partant du chariot de manutention (1) est disposée perpendiculairement à la direction de déplacement du chariot de manutention (1) jusqu'à une valeur maximale inférieure à 45° par rapport à la direction de déplacement.
  12. Procédé selon l'une quelconque des revendications 1 à 11,
    caractérisé en ce que le chariot de manutention (1) est déplacé dans une direction orientée en ligne droite.
  13. Procédé selon l'une quelconque des revendications 1 à 11,
    caractérisé en ce qu'une reconnaissance de voie est effectuée pour une voie à parcourir par le chariot de manutention (1) à l'aide des données du capteur optique et/ou des données d'un dispositif de protection des personnes.
  14. Procédé selon la revendication 13,
    caractérisé en ce que le bord (12) et l'orientation d'un côté ou des deux côtés d'une allée (3) sont détectés et en ce qu'une voie nominale est fixée à une certaine distance du bord (12) ou des deux bords.
  15. Procédé selon la revendication 14,
    caractérisé en ce que l'extrémité de l'allée (3) est reconnue et en ce que, lorsque l'extrémité de l'allée (3) est atteinte, le procédé se termine.
  16. Procédé selon l'une quelconque des revendications 13 à 15,
    caractérisé en ce que des obstacles sont reconnus à partir des données et en ce que la commande du chariot les évite lors du mouvement de translation.
  17. Chariot de manutention comportant un capteur optique (5) ayant une zone de surveillance (7), dans lequel le capteur optique (5) est connecté à un dispositif de commande qui met en oeuvre un procédé selon l'une quelconque des revendications 1 à 16.
EP14183114.9A 2013-09-21 2014-09-02 Procédé de commande d'un chariot de manutention pour la préparation de commandes Active EP2851331B1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PL14183114T PL2851331T3 (pl) 2013-09-21 2014-09-02 Sposób sterowania pojazdem transportu poziomego do komisjonowania

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102013110456.8A DE102013110456A1 (de) 2013-09-21 2013-09-21 Verfahren zur Steuerung eines Kommissionierflurförderzeugs

Publications (2)

Publication Number Publication Date
EP2851331A1 EP2851331A1 (fr) 2015-03-25
EP2851331B1 true EP2851331B1 (fr) 2016-02-24

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DE (1) DE102013110456A1 (fr)
PL (1) PL2851331T3 (fr)

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EP3287412A1 (fr) * 2016-08-24 2018-02-28 Jungheinrich Aktiengesellschaft Chariot de manutention ainsi que procédé de commande d'un chariot de manutention
DE102016123541A1 (de) 2016-12-06 2018-06-07 Jungheinrich Aktiengesellschaft Verfahren zur automatischen Ausrichtung eines Flurförderzeugs in einem Warenlager sowie System aus einem Flurförderzeug und einem Warenlager
DE102016123542A1 (de) 2016-12-06 2018-06-07 Jungheinrich Aktiengesellschaft Verfahren zur automatischen Ausrichtung eines Flurförderzeugs in einem Warenlager sowie System aus einem Flurförderzeug und einem Warenlager
EP3511884A1 (fr) 2018-01-10 2019-07-17 STILL GmbH Procédé et système de communication bidirectionnelle dans une logistique interne au moyen d'un appareil intelligent
EP3511885A1 (fr) 2018-01-10 2019-07-17 STILL GmbH Procédé et système de communication bidirectionnelle dans une logistique interne au moyen d'un appareil mobile d'entrée vocale et de sortie vocale
EP3511287A1 (fr) 2018-01-10 2019-07-17 STILL GmbH Procédé d'échange des informations entre des charriots de manutention et système intralogistique doté des charriots de manutention correspondants
EP3511288A1 (fr) 2018-01-10 2019-07-17 STILL GmbH Procédé de commande de la petite fonctionnalité d'un chariot de manutention au moyen d'un programme macro et chariot de manutention correspondant
DE102018104998A1 (de) 2018-03-05 2019-09-05 Jungheinrich Ag Verfahren zum Einrichten einer Überwachungszone in einer Warenlogistikeinrichtung und Ortungssystem für eine Warenlogistikeinrichtung
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EP3216745B1 (fr) * 2016-03-07 2018-04-11 STILL GmbH Procédé de commande de chariot élévateur
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EP3216746B1 (fr) * 2016-03-07 2022-11-23 STILL GmbH Chariot de manutention doté de capteurs d'environnement
DE102016104089A1 (de) * 2016-03-07 2017-09-07 Still Gmbh Verfahren zur Steuerung eines Flurförderzeugs beim Kommissionieren
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DE102018109299A1 (de) 2018-01-10 2019-07-11 Still Gmbh Verfahren zum Informationsaustausch zwischen Flurförderzeugen und intralogistisches System mit entsprechenden Flurförderzeugen
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DE102016115703A1 (de) 2016-08-24 2018-03-01 Jungheinrich Aktiengesellschaft Flurförderzeug sowie Verfahren zur Steuerung eines Flurförderzeugs
EP3287412A1 (fr) * 2016-08-24 2018-02-28 Jungheinrich Aktiengesellschaft Chariot de manutention ainsi que procédé de commande d'un chariot de manutention
US10556785B2 (en) 2016-08-24 2020-02-11 Jungheinrich Aktiengesellschaft Industrial truck and method for controlling an industrial truck
DE102016123541A1 (de) 2016-12-06 2018-06-07 Jungheinrich Aktiengesellschaft Verfahren zur automatischen Ausrichtung eines Flurförderzeugs in einem Warenlager sowie System aus einem Flurförderzeug und einem Warenlager
DE102016123542A1 (de) 2016-12-06 2018-06-07 Jungheinrich Aktiengesellschaft Verfahren zur automatischen Ausrichtung eines Flurförderzeugs in einem Warenlager sowie System aus einem Flurförderzeug und einem Warenlager
EP3333115A1 (fr) * 2016-12-06 2018-06-13 Jungheinrich Aktiengesellschaft Procédé d'alignement automatique d'un chariot de manutention dans un entrepôt ainsi que système comportant un chariot de manutention et un entrepôt
US10289118B2 (en) 2016-12-06 2019-05-14 Jungheinrich Aktiengesellschaft Method for automatically aligning an industrial truck in a warehouse, and system comprising an industrial truck and a warehouse
US10482760B2 (en) 2017-12-01 2019-11-19 Jungheinrich Aktiengesellschaft Method for linking a second remote control unit to a first remote control unit
EP3511884A1 (fr) 2018-01-10 2019-07-17 STILL GmbH Procédé et système de communication bidirectionnelle dans une logistique interne au moyen d'un appareil intelligent
EP3511288A1 (fr) 2018-01-10 2019-07-17 STILL GmbH Procédé de commande de la petite fonctionnalité d'un chariot de manutention au moyen d'un programme macro et chariot de manutention correspondant
EP3511287A1 (fr) 2018-01-10 2019-07-17 STILL GmbH Procédé d'échange des informations entre des charriots de manutention et système intralogistique doté des charriots de manutention correspondants
EP3511885A1 (fr) 2018-01-10 2019-07-17 STILL GmbH Procédé et système de communication bidirectionnelle dans une logistique interne au moyen d'un appareil mobile d'entrée vocale et de sortie vocale
DE102018104998A1 (de) 2018-03-05 2019-09-05 Jungheinrich Ag Verfahren zum Einrichten einer Überwachungszone in einer Warenlogistikeinrichtung und Ortungssystem für eine Warenlogistikeinrichtung
DE102018104998B4 (de) 2018-03-05 2023-09-21 Jungheinrich Ag Verfahren zum Einrichten einer Überwachungszone in einer Warenlogistikeinrichtung und Ortungssystem für eine Warenlogistikeinrichtung

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