EP2385014B1 - Flurförderzeug mit einer Einrichtung zur Identifizierung eines geladenen Transportgutes, und Verfahren zur Identifizierung eines geladenen Transportgutes eines Flurförderzeugs - Google Patents

Flurförderzeug mit einer Einrichtung zur Identifizierung eines geladenen Transportgutes, und Verfahren zur Identifizierung eines geladenen Transportgutes eines Flurförderzeugs Download PDF

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Publication number
EP2385014B1
EP2385014B1 EP10004643A EP10004643A EP2385014B1 EP 2385014 B1 EP2385014 B1 EP 2385014B1 EP 10004643 A EP10004643 A EP 10004643A EP 10004643 A EP10004643 A EP 10004643A EP 2385014 B1 EP2385014 B1 EP 2385014B1
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EP
European Patent Office
Prior art keywords
ffz
industrial truck
distance
truck
objects
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.)
Not-in-force
Application number
EP10004643A
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German (de)
English (en)
French (fr)
Other versions
EP2385014A1 (de
Inventor
Walter Beichl
Thomas Dr. Wösch
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.)
Siemens AG
Original Assignee
Siemens AG
Siemens Corp
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Publication date
Application filed by Siemens AG, Siemens Corp filed Critical Siemens AG
Priority to EP10004643A priority Critical patent/EP2385014B1/de
Priority to PL10004643T priority patent/PL2385014T3/pl
Publication of EP2385014A1 publication Critical patent/EP2385014A1/de
Application granted granted Critical
Publication of EP2385014B1 publication Critical patent/EP2385014B1/de
Not-in-force legal-status Critical Current
Anticipated expiration legal-status Critical

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    • 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
    • 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

Definitions

  • the invention relates to a truck with a device for identifying its cargo in accordance with the preamble of patent claim 1, and a method for identifying the cargo of a truck according to the preamble of patent claim 9.
  • the driverless forklifts work with only one particular cargo, the entire route on which such a vehicle moves, is designed for a specific vehicle or a vehicle type and is designed for a specific cargo. In such cases, an identification of the charge is not required, because there is anyway a kind of charge. Often, however, it is also required that the storage bins, routes and trucks can be used flexibly for a wide variety of goods to be transported. In particular, in the case of the driverless means of transport or industrial trucks, it is often necessary that they are equipped with a device for identifying the cargo or the cargo. One reason for this is that, especially in the case of complex, widely branched plants, it can not always be ensured that the "right" transported goods are also available at a specific storage location.
  • Another possibility for distinguishing transport goods is the equipment of the loading area or a loading area with non-contact switches, scales or the like, with which, for example, the weight or a bearing surface of the cargo can be detected, which, however, can only be distinguished between those transport goods whose physical properties differ sufficiently in this respect.
  • sensors are used for non-contact distance measurement for the identification of a cargo.
  • the driverless industrial trucks are often equipped anyway with non-contact distance sensors, such as laser scanners, which are necessary for collision avoidance.
  • non-contact distance sensors such as laser scanners
  • a part of the transported good is also detected according to the invention, the measured values (distance values, distance values) determined thereby being processed by an evaluation device, from which a classification or identification of the loaded transported goods takes place.
  • the solution of the task provides in particular an industrial truck according to claim 1.
  • This truck is inventively provided with a device for identifying a loaded cargo, the truck is equipped with a device for measuring the distance of the truck to objects.
  • the device is linked to an evaluation device for measuring the distance, wherein the evaluation device is set up for distinguishing measured values of the distance measurements to objects outside a loading area of the industrial truck and to a loaded transport goods within the loading area of the industrial truck.
  • the evaluation device for evaluating a plurality of At least one geometric feature of the transported good is determined from the plurality of these measured values, wherein the evaluation device is set up to incorporate the determined geometrical features into stored geometric features of known transported goods, and finally the evaluation device is identified by reference to the reference in FIG loaded cargo is set up as one of the known transport goods.
  • Such a truck can identify a loaded cargo even if it is not equipped with separate identification means, such as RFID tags or barcode labels or the like. Even mechanical sensors, such as pressure sensors, proximity switches, etc., are not necessary for the identification.
  • the solution of the problem further provides a method for identifying a cargo of a truck according to claim 9.
  • a method for identifying a loaded cargo of a truck is proposed, wherein in a first step by means of a device for distance measurement a plurality of distance values to one or more objects in the detection range of the device are detected and stored.
  • such measured values are selected for further processing, which relate to one or more objects in a defined loading area of the industrial truck, and in a third step, at least one geometric feature of the object or of the objects in the loading area is determined by means of the selected measured values.
  • the geometric features determined are related to stored geometric features of known goods to be transported, and finally, in a fifth step based on the reference, the object in the loading area is identified as one of the known goods to be transported.
  • the known transport goods are advantageously divided into classes, wherein the evaluation is set up to determine the affiliation of the cargo to be identified to one of the classes. It is further advantageous that in a class-based detection in many cases blurred identification criteria can be applied, which increases the probability that successful assignment to a class and thus an identification can be made.
  • the device for measuring the distance for non-contact distance measurement is set up, that is, for example, by ultrasound technology or in particular laser-based.
  • a good detection density is obtained in particular if the device for measuring the distance is a 2-D or 3-D laser scanner.
  • industrial trucks are equipped not only in the direction of travel, but also contrary to the direction of travel ("maneuvering direction") with such laser scanners that can be advantageously used for the distance measurement, which is needed to identify the loaded cargo.
  • the installation of additional hardware can be saved, and in cases where a control device (computer oa) of the truck has free computing capacity, even a separate evaluation in terms of a separate hardware can also be saved.
  • the laser scanners which are often attached to the industrial trucks anyway, are primarily used for collision detection, so that those measurements that serve to identify the goods to be transported can be made, for example, during breaks (standstill).
  • the determined measured values can be differentiated as to whether these are arranged in a loading area of the truck or not.
  • the evaluation device advantageously has an information or definition of the distances and at which angles a measuring point or measured value belongs to a loading space or loading area, and at what distances and at which angles the environment (for example travel path) of the industrial truck lies. In this case, only such measured values are used for the identification of the transported goods, which are arranged in a loading space or loading area of the industrial truck.
  • a simple and reliable way of providing the required comparative information, that is to say the geometric features, of the already known transport goods of the evaluation unit is the manual provision.
  • forklifts can be switched to a "training mode", whereby known, defined transport goods are scanned by means of the distance measurements, wherein the measurement data obtained therefrom can be used for the later identification or classification.
  • FIG. 1 is an industrial truck FFZ shown, which is designed in the present embodiment as a driverless forklift.
  • the main direction of movement (“forward") of the truck FFZ is in the example of FIG. 1 to the right; the "backward direction” therefore to the left as a device for measuring a distance, ie in the direction of the forks.
  • the truck FFZ is equipped with a distance sensor ES, which is designed as a 2-D laser scanner and is mounted in the lower part of the truck FFZ.
  • the distance sensor ES shown here is designed for the fan-shaped emission of measuring beams in a radius of almost 180 ° in a plane parallel to the ground, wherein the almost semicircular detection range covers the "backward direction" of the truck FFZ, ie with respect to the FIG. 1 is directed to the left.
  • the loading area of the truck FFZ is essentially formed by the space above the loading fork, whereby parts of the load, in particular the support feet of a Euro pallet or another pallet, can also be arranged around the tines of the loading fork and thus into a space below the loading fork can protrude; these parts of the pallet or of the transported good TG are referred to below as pallet feet PF and form, in the context of the exemplary embodiment explained here, the geometric features on which a recognition (identification) of the transported good TG is based.
  • the distance sensor ES shown here is set up primarily for collision avoidance of the truck FFZ when reversing, wherein in the case of a reverse travel the cargo TG can be temporarily raised to a deterioration of the detection of objects and other obstacles by the cargo TG, the fork and the pallet feet PF to avoid.
  • the same distance sensor ES for identifying the transported good TG is used to determine the geometry or geometrical features.
  • a control computer of the truck FFZ is not only set up to control the movement of the truck FZ, but also has an additional evaluation, which is realized by a software of the control computer.
  • the transport goods TG which may be present in an arrangement with the industrial truck FFZ, may be of different types or may belong to different transport goods classes.
  • Each type of transport goods or each class of goods to be transported has different geometries of the pallet feet PF, so that a transport item TG or the class to which the item to be transported TG belongs is based on specific geometric features of the pallet feet PF and their arrangement, the so-called. "Foot Print", can be distinguished.
  • FIG. 2 the different "foot prints” are shown for two different transport goods TG-A, TG-B, the transport item TG-A having five pallet feet PF, and the item TG-B having six pallet legs PF.
  • Characteristic geometric features of these "foot prints” are stored in the evaluation unit of the truck FFZ or retrievable by this evaluation from a database. Not the "foot prints” are stored as such, but expected features EMM1, ..., EMM3. From the perspective of a distance sensor ES, based on the FIG. 2 is arranged on the right edge, are for the cargo TG-A in the FIG. 2 three expected features EMM1, EMM2, EMM3 shown. In the event that, based on the FIG.
  • the distance sensor ES is arranged in a vertical plane of the middle palette foot, this mean palette foot when using a 2-D laser scanner a piece of line, so that as expected feature EMM2 in a central detection area, ie in the detection direction "backwards", a line with a defined length is stored.
  • the expected features EMM1, EMM3 expected from the viewpoint of the distance sensor ES in each case a "corner" is visible, the tip is directed in the direction of the distance sensor ES, that is convex visible.
  • FIG. 3 The case where the cargo TG-A is detected by the distance sensor ES is shown in FIG. 3 shown.
  • a "beam" of various distance measurements is shown, it being assumed that each pallet foot PF is reached by a plurality of measuring beams and thus several distance measurements, wherein from the plurality of individual measurements geometric features or Objects such as lines, corners, curves etc. can be calculated.
  • FIG. 3 four measured features GMM1, ..., GMM4 are recorded; such features are also referred to as "primitives".
  • the evaluation device uses the measurement results in a right-hand region to detect the measured feature GMM1, which represents a corner (convex).
  • the measured characteristic GMM4 is detected, which appears in the two-dimensional view of the laser scanner as a short piece of closed line.
  • the measured characteristic GMM2 is detected, which is also detected as a line.
  • the measured feature GMM3 is detected to the left of the center, which may appear as a corner (convex), but due to measurement uncertainties as shown, it may also be erroneously detected as a line.
  • FIG. 4 By way of example, another arrangement of a distance sensor ESS-S on the industrial truck FFZ is shown, wherein the distance sensor ES-S (range sensor-pivotable) can scan several levels in succession and thus produce a 3-dimensional image.
  • the distance sensor ES-S is arranged such that it emits a fan-like measuring beam in a plane perpendicular to the roadway.
  • the rangefinder ES-S is for this purpose pivotable in the pivot axis SA, so that the successive scanning of multiple levels, a three-dimensional image of detected objects and objects can be obtained.
  • the pallet feet PF are examined for geometric features, but the cargo TG as such or its top surface.
  • measurement results of different distance sensors ES, ES-S can also be combined with one another.

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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)
  • Forklifts And Lifting Vehicles (AREA)
EP10004643A 2010-05-03 2010-05-03 Flurförderzeug mit einer Einrichtung zur Identifizierung eines geladenen Transportgutes, und Verfahren zur Identifizierung eines geladenen Transportgutes eines Flurförderzeugs Not-in-force EP2385014B1 (de)

Priority Applications (2)

Application Number Priority Date Filing Date Title
EP10004643A EP2385014B1 (de) 2010-05-03 2010-05-03 Flurförderzeug mit einer Einrichtung zur Identifizierung eines geladenen Transportgutes, und Verfahren zur Identifizierung eines geladenen Transportgutes eines Flurförderzeugs
PL10004643T PL2385014T3 (pl) 2010-05-03 2010-05-03 Pojazd do transportu poziomego z urządzeniem do identyfikowania załadowanego towaru transportowego oraz sposób identyfikowana załadowanego towaru transportowego dla pojazdu do transportu poziomego

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP10004643A EP2385014B1 (de) 2010-05-03 2010-05-03 Flurförderzeug mit einer Einrichtung zur Identifizierung eines geladenen Transportgutes, und Verfahren zur Identifizierung eines geladenen Transportgutes eines Flurförderzeugs

Publications (2)

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EP2385014A1 EP2385014A1 (de) 2011-11-09
EP2385014B1 true EP2385014B1 (de) 2013-03-27

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PL (1) PL2385014T3 (pl)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2026057426A1 (de) * 2024-09-13 2026-03-19 Mosca Gmbh Ladungssicherungssystem

Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP6451715B2 (ja) * 2016-10-14 2019-01-16 株式会社豊田自動織機 フォークリフト
DE102019109007A1 (de) 2019-04-05 2020-10-08 Jungheinrich Ag Flurförderzeug und Verfahren zum Betreiben desselben
DE102019115864A1 (de) * 2019-06-11 2020-12-17 Jungheinrich Aktiengesellschaft Flurförderzeug mit einer Fahrzeugsteuerung für einen automatischen Betrieb
DE102019215180A1 (de) * 2019-10-02 2021-04-08 Robert Bosch Gmbh Flurförderzeug, eingerichtet für den fahrerlosen, autonom agierenden Betrieb für eine zu transportierende Last
DE102020212971A1 (de) * 2020-10-14 2022-04-14 Robert Bosch Gesellschaft mit beschränkter Haftung Verfahren zum Erfassen einer Information über die Ausbreitung eines Warenträgers bei einem zumindest teilweise automatisiert betreibbaren Flurförderfahrzeugs
DE102020213124A1 (de) 2020-10-19 2022-04-21 Robert Bosch Gesellschaft mit beschränkter Haftung Verfahren zum Transportieren eines Warenträgers mittels eines zumindest teilweise automatisiert betreibbaren Flurförderfahrzeugs
US12269722B2 (en) 2021-08-17 2025-04-08 Schiller Automatisierungstechnik Gmbh Method for operating a means of transport
DE102021004184A1 (de) * 2021-08-17 2023-02-23 Schiller Automatisierungstechnik Gmbh Verfahren zum Betreiben eines Fördermittels

Family Cites Families (5)

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Publication number Priority date Publication date Assignee Title
DE19613386A1 (de) * 1996-04-03 1997-10-09 Fiat Om Carrelli Elevatori Flurförderzeug, das wahlweise manuell oder automatisch betreibbar ausgebildet ist
DE60235963D1 (de) * 2001-02-16 2010-05-27 Toyoda Automatic Loom Works Kamerahebevorrichtung und lasthandhabungstragvorrichtung eines hubwagens und hubwagen
DE10323641A1 (de) * 2003-05-26 2005-01-05 Daimlerchrysler Ag Bewegliche Sensoreinrichtung am Lastmittel eines Gabelstaplers
JP4583183B2 (ja) * 2005-01-07 2010-11-17 住友ナコ マテリアル ハンドリング株式会社 作業車両管理システム
US20090059004A1 (en) * 2007-08-31 2009-03-05 Speed Trac Technologies, Inc. System and Method for Monitoring the Handling of a Shipment of Freight

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2026057426A1 (de) * 2024-09-13 2026-03-19 Mosca Gmbh Ladungssicherungssystem

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EP2385014A1 (de) 2011-11-09
PL2385014T3 (pl) 2013-08-30

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