EP4253306B1 - Chariot de manutention doté d'un capteur et d'un dispositif de traitement de données - Google Patents

Chariot de manutention doté d'un capteur et d'un dispositif de traitement de données

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Publication number
EP4253306B1
EP4253306B1 EP23159641.2A EP23159641A EP4253306B1 EP 4253306 B1 EP4253306 B1 EP 4253306B1 EP 23159641 A EP23159641 A EP 23159641A EP 4253306 B1 EP4253306 B1 EP 4253306B1
Authority
EP
European Patent Office
Prior art keywords
industrial truck
warning signal
signal
warning
sensor
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
EP23159641.2A
Other languages
German (de)
English (en)
Other versions
EP4253306A1 (fr
EP4253306C0 (fr
Inventor
Dennis SCHÜTHE
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
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 STILL GmbH filed Critical STILL GmbH
Publication of EP4253306A1 publication Critical patent/EP4253306A1/fr
Application granted granted Critical
Publication of EP4253306B1 publication Critical patent/EP4253306B1/fr
Publication of EP4253306C0 publication Critical patent/EP4253306C0/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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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
    • B66F17/00—Safety devices, e.g. for limiting or indicating lifting force
    • B66F17/003—Safety devices, e.g. for limiting or indicating lifting force for fork-lift trucks
    • 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 forklift truck, in particular an autonomous forklift truck, according to the features of the preamble of claim 1 and according to the features of the preamble of claim 2.
  • the invention relates to a system comprising a corresponding first industrial truck and a dynamic object, as well as a method for outputting a motion characteristic of a corresponding industrial truck, in particular an autonomous industrial truck.
  • Industrial trucks include, for example, counterbalance forklifts, reach trucks, and warehouse equipment. These three types of industrial trucks, in particular, are widely used on company premises and in storage areas, such as warehouses, where people are present and visibility is restricted by storage racks, the loads stored on them, and the surrounding environment.
  • optical warning devices on industrial trucks as a warning device for approaching industrial trucks, which are intended to attract the attention of people in the vicinity, such as rotating beacons or flashing lights, which are arranged in the upper area or on a driver's protective roof of the industrial trucks, and which are often designed as yellow warning lights.
  • the printed text reveals DE 10 2006 002 960 A1 Forklifts equipped with a visual warning device project a forward-facing light effect onto the roadway at a fixed distance in front of the forklift, serving as a safety light.
  • This warning is intended to alert people in the vicinity of the approaching forklift.
  • This allows for targeted warnings of an approaching forklift, for example, in noisy environments, with the safety light typically positioned at a fixed distance. in front of the forklift and/or, in the case of reversing, behind the forklift, it is projected onto the roadway.
  • projectors are used as optical warning devices for this purpose, projecting a colored light effect, for example, blue, onto the roadway.
  • the light effect projected onto the roadway can be in the form of a dot.
  • the optical warning device is positioned on a forklift truck in such a way that the light effect projected onto the roadway points in the direction of travel of the forklift truck and precedes the truck in that direction at a certain distance, for example, forward and/or backward.
  • the function of such light effects projected onto the roadway by the optical warning device is to signal to a person that a forklift truck is approaching. Particularly in areas with poor visibility, such as at intersections, these light effects projected onto the roadway allow people to recognize an approaching forklift truck at an early stage. This leads to accident prevention, as other people or drivers can react to these light effects projected onto the roadway by, for example, reducing their speed or initiating manual evasive maneuvers.
  • spots All these light effects projected onto the road by an optical warning device are referred to below as spots.
  • the present invention is based on the objective of providing a material handling vehicle, in particular an autonomous material handling vehicle, which can be operated with a reduced risk of collision.
  • this problem is solved by a forklift truck with the features of claim 1 and by a forklift truck with the features of claim 2.
  • a forklift truck in particular an autonomous forklift truck, with a sensor which is configured to detect a warning signal and to generate a sensor signal in response to the detected warning signal, wherein the sensor signal represents the detected warning signal; and a data processing device configured to determine the spatial position of the warning signal relative to the industrial truck based on the sensor signal, wherein the data processing device is further configured to output a control signal for controlling a movement characteristic of the industrial truck depending on the determined spatial position of the warning signal
  • the sensor comprises an optical sensor, in particular a camera, which is configured to detect a light pattern projected onto a roadway as a warning signal and to generate the sensor signal in response to the detected projected light pattern, wherein the sensor signal represents the detected projected light pattern
  • the data processing device is configured to determine a position of the projected light pattern on the roadway relative to the industrial truck based on the sensor signal, and wherein the data processing device is configured to output the control signal for controlling the movement characteristic of the industrial truck depending on the determined position of the projected light pattern
  • a forklift truck in particular an autonomous forklift truck, with a sensor configured to detect a warning signal and to generate a sensor signal in response to the detected warning signal, wherein the sensor signal represents the detected warning signal; and a data processing device configured to determine a spatial orientation of the warning signal relative to the forklift truck based on the sensor signal, wherein the data processing device is further configured to output a control signal for controlling a movement characteristic of the forklift truck as a function of the determined spatial orientation of the warning signal, wherein the sensor comprises an acoustic sensor, in particular a microphone, configured to detect an acoustic warning signal as a warning signal and to generate the sensor signal in response to the detected acoustic warning signal, wherein the sensor signal represents the detected acoustic warning signal, wherein the data processing device is configured to determine the spatial orientation of the acoustic warning signal relative to the forklift truck based on a to determine the maximum signal amplitude of the sensor signal, and wherein the
  • the present invention enables, in particular, the automatic output or adjustment of movement characteristics of especially autonomously operated industrial trucks in response to a detected warning signal, such as light effects projected onto the roadway by optical warning devices.
  • an effective collision protection system is enabled, which prevents a collision between the industrial truck and the dynamic object.
  • a collision protection system for industrial trucks designed according to the first aspect, is not only capable of detecting the approaching dynamic object, particularly another industrial truck, but also of determining the spatial position of the warning signal, e.g., a light pattern projected onto the roadway by an optical warning device of the other industrial truck, such as a spotlight.
  • the system enables the industrial truck to react early to a potential collision risk between the two industrial trucks by outputting the corresponding movement characteristics, because the light pattern projected onto the roadway precedes the other industrial truck and can also illuminate areas with limited visibility, such as intersections.
  • the forklift can react by, for example, issuing a movement characteristic that causes the forklift to brake and only enter the intersection area at a reduced speed, and/or by performing an evasive maneuver.
  • this provides the function that allows such autonomous industrial trucks to react to light patterns from other dynamic objects, such as other industrial trucks projected onto the roadway, and to adjust their behavior accordingly.
  • a suitable collision avoidance system can be used with both autonomous and manual industrial trucks.
  • autonomous trucks the truck can react automatically to the risk of collision.
  • manual trucks the collision avoidance system can function as an assistance system, warning the operator of a collision risk, for example, by means of a warning signal.
  • the risk of collision can be further reduced even with manual trucks.
  • the industrial truck is designed as an autonomous industrial truck, specifically as a fully autonomous industrial truck that can perform its tasks without a driver.
  • the autonomous industrial truck can be designed as a semi-autonomous industrial truck, in which a driver is still present, but the driver's intervention in the truck's operations is limited.
  • the autonomous, especially fully autonomous or semi-autonomous, industrial truck includes a level of automation of Level 1, Level 2, Level 3, Level 4 and/or Level 5, as defined by the SAE J3016 standard of SAE International or the Federal Highway Research Institute.
  • the industrial truck is designed to change the movement characteristics of the industrial truck in response to the control signal, in particular to reduce the movement speed of the industrial truck and/or to change the direction of movement of the industrial truck.
  • the movement characteristic of the industrial truck is a movement speed of the industrial truck, an acceleration of the industrial truck and/or a direction of movement of the industrial truck.
  • the data processing device enables advantageous intervention in the relevant motion parameters of the motion characteristics of the industrial truck in order to ensure collision avoidance of the industrial truck.
  • the warning signal is assigned to a dynamic object
  • the data processing device is configured to identify the dynamic object based on the warning signal
  • the dynamic object is another industrial truck and the warning signal is assigned to the other industrial truck
  • the data processing device is configured to identify the other industrial truck based on the warning signal
  • the dynamic object is an industrial robot and the warning signal is assigned to the industrial robot
  • the data processing device is configured to identify the industrial robot based on the warning signal
  • the dynamic object is a mobile warning unit and the warning signal is assigned to the mobile warning unit, and wherein the data processing device is configured to identify the mobile warning unit based on the warning signal.
  • the dynamic object is an object that is preferably moved in a storage environment and/or not fixed in place, in particular a self-moving object, such as a person, a vehicle, or a robot.
  • the dynamic object is a warning vest, a belt, a shoe, a helmet, a holster, a backpack, a glove, a bracelet, an ankle cuff, a mobile device, a mobile phone, a tablet, a smartwatch, smart glasses, a headset or other headphones, or the like.
  • the senor comprises an optical sensor, in particular a camera, which is configured to detect a light pattern projected onto a roadway as a warning signal and to generate the sensor signal in response to the detected projected light pattern, wherein the sensor signal represents the detected projected light pattern, wherein the data processing device is configured to determine a position of the projected light pattern on the roadway relative to the industrial truck based on the sensor signal, and wherein the data processing device is configured to output the control signal for controlling the movement characteristics of the industrial truck as a function of the determined position of the projected light pattern on the roadway, wherein the optical sensor is in particular configured to detect a light pattern projected onto the roadway as a warning signal in the visible light range, in the IR light range and/or in the UV light range.
  • the optical sensor is in particular configured to detect a light pattern projected onto the roadway as a warning signal in the visible light range, in the IR light range and/or in the UV light range.
  • the projected light signal can provide a beneficial warning signal, resulting in advantageous control of the movement characteristics of the industrial truck.
  • the optical sensor is designed in particular as a camera.
  • the camera comprises, in particular, a 2D or 3D camera, wherein the light pattern projected onto the roadway can be detected, in particular, via an intensity image from the camera.
  • the senor comprises an acoustic sensor, in particular a microphone, which is configured to detect an acoustic warning signal as a warning signal and to generate the sensor signal in response to the detected acoustic warning signal, wherein the sensor signal represents the detected acoustic warning signal, wherein the data processing device is configured to determine the spatial position of the acoustic warning signal relative to the industrial truck on the basis of a maximum signal amplitude of the sensor signal, and wherein the data processing device is configured to output the control signal for controlling the movement characteristics of the industrial truck as a function of the determined spatial position of the acoustic warning signal.
  • acoustic sensor in particular a microphone
  • the data processing unit determines the spatial position of the acoustic warning signal relative to the industrial truck based on the maximum signal amplitude of the sensor signal, thus determining the direction of propagation of the acoustic warning signal and, consequently, the advantageous determination of the position of the emitter of the acoustic warning signal.
  • the senor is configured to detect the warning signal and a pattern characteristic of the warning signal, in particular a wavelength of the projected light pattern or a frequency of the acoustic warning signal, and to generate the sensor signal in response to the detected warning signal and the detected pattern characteristic, wherein the sensor signal represents the detected warning signal and the detected pattern characteristic of the warning signal; and wherein the data processing device is configured to determine the spatial position of the warning signal relative to the industrial truck on the basis of the sensor signal, and wherein the data processing device is configured to output the control signal for controlling the movement characteristic of the industrial truck as a function of the determined spatial position and the detected pattern characteristic of the warning signal.
  • the pattern characteristic can include in particular a wavelength of the projected light pattern or a frequency of a dynamically projected light pattern, so that the corresponding pattern characteristic can, for example, transmit a priority of the warning signal in order to force the industrial truck to stop immediately in the case of a particularly high priority of the warning signal.
  • the data processing device is configured to determine, based on the specific spatial orientation of the warning signal relative to the industrial truck, a direction of propagation of the warning signal originating from a further warning device emitting the warning signal, a spatial position of the warning signal, a distance between the industrial truck and a further warning device emitting the warning signal, and/or a position of a further warning device emitting the warning signal, wherein the data processing device is configured to output the control signal for controlling the movement characteristics of the industrial truck as a function of the specific direction of propagation of the warning signal originating from the further warning device emitting the warning signal, the spatial position of the warning signal, the specific distance between the industrial truck and the further warning device emitting the warning signal, and/or the specific position of the further warning device emitting the warning signal.
  • the senor is configured to detect a warning signal emitted by another warning device of a dynamic object, in particular another industrial truck, an industrial robot and/or a mobile warning unit, and to generate the sensor signal in response to the detected warning signal of the dynamic object, wherein the sensor signal represents the detected warning signal of the dynamic object; and the data processing device is configured to determine the spatial orientation of the warning signal relative to to determine the direction of movement of the industrial truck based on the sensor signal, wherein the data processing device is configured to determine a further direction of movement of the dynamic object based on the determined spatial position of the warning signal, and wherein the data processing device is configured to output the control signal for controlling the movement characteristics of the industrial truck depending on the determined further direction of movement of the dynamic object in order to prevent a collision of the industrial truck with the dynamic object.
  • the senor is configured to detect a first warning signal emitted by a further warning device of a dynamic object, in particular another industrial truck, an industrial robot and/or a mobile warning unit, at a first detection time, and to detect a second warning signal emitted by the further warning device of the dynamic object at a second detection time, and to generate the sensor signal in response to the detected first and second warning signals, wherein the sensor signal represents the detected first and second warning signals; and the data processing device is configured to determine a spatial orientation of the first warning signal and a spatial orientation of the second warning signal relative to the industrial truck based on the sensor signal, wherein the data processing device is configured to determine a further movement speed of the dynamic object based on the determined spatial orientation of the first warning signal and on the basis of the determined spatial orientation of the second warning signal, and wherein the data processing device is configured to output the control signal for controlling the movement characteristics of the industrial truck depending on the determined further movement speed of the dynamic object in order to prevent a collision of the industrial truck with the dynamic object.
  • the data processing device has an additional important parameter available, besides the determined spatial orientation of the warning signal, to determine the movement characteristics. to control the industrial truck in such a way as to prevent a collision with the dynamic object.
  • the industrial truck has a warning device configured to emit a self-warning signal
  • the data processing device is configured to filter out the self-warning signal contained in the sensor signal and to distinguish it from the detected warning signal
  • the warning device in particular comprises an optical warning device, in particular a laser and/or an LED array, an acoustic warning device, in particular a loudspeaker, a horn and/or ultrasonic emitter, and/or a radar warning device.
  • the industrial truck has a communication interface configured to transmit the sensor signal and/or the control signal via a communication network, in particular via another communication interface of a dynamic object, in particular another industrial truck, an industrial robot and/or a mobile warning unit, to a dynamic object, in particular another industrial truck, an industrial robot and/or a mobile warning unit, wherein the communication interface of the industrial truck is in particular a radio communication interface, in particular a WLAN communication interface, or a Bluetooth communication interface or a 5G communication interface, or an optical communication interface.
  • the communication interface ensures effective data exchange between the industrial truck and the dynamic object, so that For example, the dynamic object can be warned of a possible collision with the forklift.
  • the projected light pattern can, for example, serve as a communication link to send simple signals.
  • This can be achieved via frequency modulation of the light generated by the optical warning device, which can be detected by the sensor, in particular a camera system.
  • the camera frame rate must meet the Nyquist criterion and be at least twice as high as the modulated frequency signal.
  • a system comprising a first industrial truck according to the first aspect, and a dynamic object, in particular another industrial truck, an industrial robot and/or a mobile warning unit, wherein the first industrial truck has a warning device which is configured to emit a self-warning signal, wherein the dynamic object has a further sensor which is configured to detect the self-warning signal and to generate a further sensor signal in response to the detected self-warning signal, wherein the further sensor signal represents the detected self-warning signal, and wherein the dynamic object has a further data processing device which is configured to determine a spatial orientation of the self-warning signal relative to the dynamic object on the basis of the further sensor signal, wherein the further data processing device is preferably configured to output a further control signal for controlling a further movement characteristic of the dynamic object as a function of the determined spatial orientation of the self-warning signal.
  • the additional data processing equipment allows the movement characteristics of the dynamic object to be advantageously controlled, taking into account the self-warning signal of the first industrial truck, so that the dynamic object can also avoid the first industrial truck to prevent a collision.
  • the dynamic object does not include a person.
  • the first industrial truck has a communication interface
  • the dynamic object has a further communication interface
  • the data processing device of the first industrial truck is configured to transmit the sensor signal and/or the control signal to the dynamic object via the further communication interface
  • the further data processing device of the dynamic object is configured to output the further control signal for controlling the further movement characteristics of the dynamic object depending on the specific spatial position of the self-warning signal and/or the transmitted sensor signal and/or the transmitted control signal.
  • the system may cause a deadlock when one truck stops due to the detection of a light effect projected onto the roadway by the other.
  • Mutual obstruction can be advantageously prevented, in particular, by configuring the data processing unit and/or other data processing units to consider the traffic rules of the industrial trucks' operating environment when initiating the collision avoidance function.
  • the applicable traffic rules for warehouses can be taken into account, such as the right-of-way rule (right before left). This right-of-way rule can also apply to manually operated industrial trucks crossing the path.
  • a deadlock can always be resolved by the operator of the manually operated industrial truck.
  • Another way to resolve a situation where two industrial trucks are obstructing each other is for the trucks to establish communication with each other in the event of a deadlock.
  • the trucks are equipped with communication devices designed to exchange information before and/or during the initiation of the collision avoidance function.
  • the invention according to the first and second aspects offers significant advantages: Wherever light effects are projected onto the roadway using an optical warning device, autonomous or automated vehicles are particularly well-equipped to react to these effects and adjust their behavior accordingly. This allows accidents between manual and autonomous industrial trucks, as well as between autonomous and autonomous trucks themselves, to be prevented early on, thus increasing safety. Furthermore, no equipment is required on the truck to coordinate its driving behavior with other trucks in advance. For example, it is not necessary to communicate that both trucks are approaching an intersection. Finally, no changes to the infrastructure of a warehouse or company premises are required.
  • Figure 1 shows a system comprising a first industrial truck and a dynamic object according to an embodiment of the present invention.
  • the in Figure 1 The system 1 shown comprises the first industrial truck 3, in particular a first autonomous industrial truck 3, and the dynamic object 5, in particular a further industrial truck 5-1, in particular a further autonomous industrial truck 5-1.
  • the dynamic object 5 can alternatively or additionally also be an industrial robot and/or a mobile warning unit, such as a safety vest, a belt, a shoe, a helmet, a holster, a backpack, a glove, a wristband, an ankle cuff, a mobile
  • a mobile warning unit such as a safety vest, a belt, a shoe, a helmet, a holster, a backpack, a glove, a wristband, an ankle cuff, a mobile
  • a mobile warning unit such as a safety vest, a belt, a shoe, a helmet, a holster, a backpack, a glove, a wristband, an ankle cuff, a mobile
  • a mobile warning unit such as a safety vest, a belt, a shoe, a helmet, a holster, a backpack, a glove, a wristband, an ankle cuff, a mobile
  • the end device such as a mobile phone, tablet, smartwatch, smart glasses, headset or
  • the first industrial truck 3 and the second industrial truck 5-1 are each specifically designed as an autonomous first industrial truck 3 and autonomous second industrial truck 5-1, respectively.
  • the corresponding autonomous first and second industrial trucks 3 and 5-1 are specifically designed as fully autonomous industrial trucks 3 and 5-1, which can perform their tasks without a driver.
  • the autonomous first and second industrial trucks 3 and 5-1 can be specifically designed as semi-autonomous first and second industrial trucks 3 and 5-1, in which a driver is still present, but the driver's intervention in the tasks of the industrial truck 3 and 5-1 is limited.
  • the autonomous first or further industrial truck 3, 5-1, or the fully autonomous or semi-autonomous first or further industrial truck 3, 5-1 each includes a level of automation of Level 1, Level 2, Level 3, Level 4 and/or Level 5, as defined according to the SAE J3016 standard of SAE International or the Federal Highway Research Institute.
  • the Figure 1 The diagram shows a top view of an intersection 7 in a storage area, for example a warehouse, into which the first forklift 3 and the second forklift 5-1 are entering.
  • the intersection 7 is difficult to see due to shelves 9 that are positioned in front of it.
  • the additional industrial truck 5-1 which includes the dynamic object 5, has a further warning device 11, which is designed to emit a warning signal 13.
  • the further warning device 11 comprises a further projection device 11-1, which is configured to output the warning signal 13 as a light pattern 13-1 projected onto the roadway 15.
  • the light pattern 13-1 projected onto the roadway 15 can, in particular, be a static light pattern 13-1 or a dynamic light pattern 13-1.
  • the light pattern 13-1 can be, as in Fig. 1
  • the depicted pattern comprises a plurality of light points, in particular light spots.
  • the light pattern 13-1 projected onto the roadway 15 can include at least one colored light point or a traffic sign.
  • the light pattern 13-1 The light pattern 13-1 can be projected onto the roadway 15 by means of the additional projection device 11-1 in such a way that it precedes the further industrial truck 5-1 in the direction of travel at a predetermined distance.
  • the further warning device 11 of the further industrial truck 5-1 may alternatively or additionally comprise an acoustic warning device, in particular a loudspeaker, a horn and/or ultrasonic emitter, for emitting an acoustic warning signal 13, and/or a radar warning device for emitting a radar warning signal 13.
  • an acoustic warning device in particular a loudspeaker, a horn and/or ultrasonic emitter, for emitting an acoustic warning signal 13, and/or a radar warning device for emitting a radar warning signal 13.
  • the first industrial truck 3 shown, which is approaching the intersection area 7, has a sensor 17 which is designed to detect the warning signal 13, in particular the light pattern 13-1, and to generate a sensor signal in response to the detected warning signal 13, wherein the sensor signal represents the detected warning signal 13.
  • the senor 17 comprises an optical sensor 17-1, in particular a camera, which is configured to detect the light pattern 13-1 projected onto the roadway 15 as a warning signal 13 and to generate the sensor signal in response to the detected projected light pattern 13-1, wherein the sensor signal represents the detected projected light pattern 13-1.
  • the sensor 17, in particular the optical sensor 17-1, is specifically designed to detect a light pattern 13-1 projected onto the roadway 15 in the visible light range, in the IR light range and/or in the UV light range as a warning signal 13.
  • the senor 17 can also include an acoustic sensor, in particular a microphone, which is configured to detect an acoustic warning signal 13 as a warning signal 13 and to generate the sensor signal in response to the detected acoustic warning signal 13, wherein the sensor signal represents the detected acoustic warning signal 13 in order to detect an acoustic warning signal 13 emitted by a further acoustic warning device 11 of the further industrial truck 5-1.
  • an acoustic sensor in particular a microphone, which is configured to detect an acoustic warning signal 13 as a warning signal 13 and to generate the sensor signal in response to the detected acoustic warning signal 13, wherein the sensor signal represents the detected acoustic warning signal 13 in order to detect an acoustic warning signal 13 emitted by a further acoustic warning device 11 of the further industrial truck 5-1.
  • the first industrial truck 3 has a data processing device 19 which is designed to determine a spatial position of the warning signal 13 relative to the first industrial truck 3 on the basis of the sensor signal.
  • the data processing device 19 of the first industrial truck 3 is designed to determine a position of the projected light pattern 13-1 on the roadway 15 relative to the first industrial truck 3 on the basis of the sensor signal as the spatial position of the warning signal 13.
  • the data processing device 19 of the first industrial truck 3 is designed to determine the spatial position of the acoustic warning signal 13 relative to the first industrial truck 3 on the basis of a maximum signal amplitude of the sensor signal.
  • the data processing unit 19 of the first industrial truck 3 is further configured to output a control signal for controlling a movement characteristic of the first industrial truck 3 depending on the specific spatial position of the warning signal 13.
  • the data processing device 19 of the first industrial truck 3 is designed to output the control signal for controlling the movement characteristics of the first industrial truck 3 as a function of the determined position of the projected light pattern 13-1 on the roadway 15.
  • the data processing device 19 of the first industrial truck 3 is designed to output the control signal for controlling the movement characteristics of the first industrial truck 3 depending on the specific spatial position of the acoustic warning signal 13.
  • the movement characteristics of the first industrial truck 3, output by the data processing unit 19 of the first industrial truck 3, include in particular a movement speed of the first industrial truck 3, a Acceleration of the first industrial truck 3 and/or a direction of movement of the first industrial truck 3.
  • the data processing unit 19 of the first industrial truck 3 outputs a reduced movement speed of the first industrial truck 3 to the drive of the first industrial truck 3, the movement speed of the first industrial truck 3 is thereby reduced such that the further industrial truck 5-1 can pass the intersection area 7 before the first industrial truck 3 reaches the intersection area 7. This prevents a collision between the first industrial truck 3 and the further industrial truck 5-1.
  • the data processing unit 19 of the first industrial truck 3 outputs a change in the direction of movement of the first industrial truck 3 to a steering device of the first industrial truck 3, the direction of movement of the first industrial truck 3 is thereby changed in such a way that the first industrial truck 3 is guided past the further industrial truck 5-1. This also prevents a collision between the first industrial truck 3 and the further industrial truck 5-1.
  • the data processing unit 19 of the first industrial truck 3 can be designed to identify the further industrial truck 5-1 on the basis of the warning signal 13.
  • the data processing device 19 of the first industrial truck 3 can be designed to determine, based on the determined spatial position of the warning signal 13 relative to the first industrial truck 3, a direction of propagation of the warning signal 13 originating from the further warning device 11 emitting the warning signal 13, a spatial position of the warning signal 13, a distance between the first industrial truck 3 and the further warning device 11 emitting the warning signal 13 and/or a position of the further warning device 11 emitting the warning signal 13.
  • the data processing unit 19 is specifically designed to transmit the control signal for controlling the movement characteristics of the first industrial truck 3. depending on the specific direction of propagation of the warning signal 13 originating from the further warning device 11 emitting the warning signal 13, the spatial position of the warning signal 13, the specific distance between the first industrial truck 3 and the further warning device 11 emitting the warning signal 13 and/or the specific position of the further warning device 11 emitting the warning signal 13.
  • the sensor 17, 17-1 can further be configured to detect the warning signal 13 and a pattern characteristic of the warning signal 13, in particular a wavelength of the projected light pattern 13-1 or a frequency of the acoustic warning signal 13, and to generate the sensor signal in response to the detected warning signal 13 and the detected pattern characteristic, wherein the sensor signal represents the detected warning signal 13 and the detected pattern characteristic of the warning signal 13.
  • the data processing device 19 of the first industrial truck 3 is specifically configured to determine the spatial position of the warning signal 13 relative to the first industrial truck 3 on the basis of the sensor signal, and wherein the data processing device 19 is configured to output the control signal for controlling the movement characteristics of the first industrial truck 3 as a function of the determined spatial position and the detected pattern characteristics of the warning signal 13.
  • the data processing unit 19 of the first industrial truck 3 can detect different priorities of the further industrial truck 5-1 by means of a color of the light projection 13-1 on the roadway 15 and/or a frequency of a flashing light projection 13-1 on the roadway 15, which can force the first industrial truck 3, e.g. in the case of a high priority, to make an evasive maneuver or to stop immediately.
  • the sensor 17, 17-1 of the first industrial truck 3 can be configured to detect, at a first detection time, a first warning signal 13, in particular a light projection 13-1, emitted by the further warning device 11 of the further industrial truck 5-1, and at a second detection time, a second warning signal 13, emitted by the further warning device 11 of the further industrial truck 5-1.
  • a first warning signal 13 in particular a light projection 13-1
  • second warning signal 13 emitted by the further warning device 11 of the further industrial truck 5-1.
  • the sensor 17, 17-1 of the first industrial truck 3 can be configured to detect, at a first detection time, a first warning signal 13, in particular a light projection 13-1, emitted by the further warning device 11 of the further industrial truck 5-1, and at a second detection time, a second warning signal 13, emitted by the further warning device 11 of the further industrial truck 5-1.
  • the data processing unit 19 is specifically configured to determine the further movement speed of the second industrial truck 5-1 based on the spatial position of the first warning signal 13, in particular the position of the light projection 13-1 on the roadway 15, and based on the spatial position of the second warning signal 13, in particular the position of the light projection 13-1 on the roadway 15.
  • the data processing unit 19 is configured to output the control signal for controlling the movement characteristics of the first industrial truck 3 as a function of the determined further movement speed of the second industrial truck 5-1, in order to prevent a collision between the first industrial truck 3 and the second industrial truck 5-1.
  • the data processing unit 19 of the first industrial truck 3 can particularly advantageously determine the further speed of movement of the further industrial truck 5-1 by subsequently capturing two light projections 13-1 on the roadway 15, so that the data processing unit 19 can particularly effectively calculate, taking into account the movement characteristics of the first industrial truck 3, whether a collision will occur at all between the first industrial truck 3 and the further industrial truck 5-1.
  • the first industrial truck 3 (even if this is in Figure 1 (not shown) can obviously also have a warning device which is designed to emit a self-warning signal of the first industrial truck 3 in order to warn, for example, the further industrial truck 5-1.
  • the sensor signal output by the sensor 17 of the first industrial truck 3 can thus represent not only the further warning signal 13 of the further industrial truck 5-1, but under certain circumstances also include the self-warning signal of the first industrial truck 3.
  • the data processing unit 19 of the first industrial truck 3 is specifically designed to filter out the self-warning signal of the first industrial truck 3 contained in the sensor signal and to distinguish it from the detected warning signal 13 of the to differentiate between the other industrial truck 5-1 in order to ensure that only the warning signal 13 of the other industrial truck 5-1 is taken into account for the output of the movement characteristics of the first industrial truck 3.
  • the two industrial trucks 3, 5-1 communicate with each other in the event of an impending collision.
  • the first industrial truck 3 can... Figure 1 not shown, and the further industrial truck 5-1 can have a communication interface in Figure 1 other communication interfaces not shown.
  • the data processing unit 19 of the first industrial truck 3 is configured to transmit the sensor signal and/or the control signal to the second industrial truck 5-1 via the further communication interface.
  • the further data processing unit of the second industrial truck 5-1 is configured to output the further control signal for controlling the further movement characteristics of the second industrial truck 5-1 depending on the specific spatial position of the self-warning signal and/or the transmitted sensor signal and/or the transmitted control signal.
  • the communication interfaces of the two industrial trucks 3, 5-1 can include, in particular, a radio communication interface, especially a WLAN communication interface, or a Bluetooth communication interface or a 5G communication interface, or an optical communication interface.
  • a corresponding optical information transmission between the two industrial trucks 3, 5-1 via a corresponding optical communication interface can, in particular, be effected by frequency modulation of the light pattern 13-1 projected onto the roadway 15, which is detected by the respective sensor 17, in particular the respective sensor 17.
  • the camera system is perceptible. In particular, the camera frame rate must be at least twice as high as the modulated frequency signal.
  • corresponding movement characteristics of the respective industrial trucks 3, 5-1 can be advantageously determined and controlled in such a way as to detect a collision risk of both industrial trucks 3, 5-1 and then to initiate a collision-avoiding reaction function of the respective industrial truck 3, 5-1.
  • Figure 1 shows a schematic representation of a method for outputting a motion characteristic of a forklift truck according to an embodiment of the present invention.
  • the industrial truck 3 is in particular an autonomous industrial truck 3.
  • the industrial truck 3 comprises a sensor 17 and a data processing unit 19.
  • Procedure 50 comprises the following procedural steps:
  • the first procedural step of procedure 50 includes the detection 51 of a warning signal 13 by the sensor 17.
  • the second process step of the process 50 comprises generating 53 a sensor signal responding to the detected warning signal 13 by the sensor 17, wherein the sensor signal represents the detected warning signal 13.
  • the third procedural step of procedure 50 comprises determining 55 a spatial position of the warning signal 13 relative to the industrial truck 3 on the basis of the sensor signal by the data processing unit 19.
  • the fourth step of the procedure 50 includes the output 57 of a control signal to control a movement characteristic of the industrial truck 3 depending on the determined spatial position by the data processing unit 19.

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

Claims (14)

  1. Chariot de manutention (3), en particulier chariot de manutention (3) autonome, avec :
    un capteur (17), qui est réalisé pour détecter un signal d'avertissement (13) et pour générer, en réponse au signal d'avertissement (13) détecté, un signal de capteur, le signal de capteur représentant le signal d'avertissement (13) détecté ; et
    un système de traitement de données (19), qui est réalisé pour déterminer une position spatiale du signal d'avertissement (13) par rapport au chariot de manutention (3) sur la base du signal de capteur, le système de traitement de données (19) étant réalisé en outre pour envoyer un signal de commande destiné à commander une caractéristique de déplacement du chariot de manutention (3) en fonction de la position spatiale déterminée du signal d'avertissement (13),
    le capteur (17) comprenant un capteur optique (17-1), en particulier une caméra, qui est réalisé pour détecter en tant que signal d'avertissement (13) un motif lumineux (13-1) projeté sur une voie de déplacement (15) et pour générer, en réponse au motif lumineux (13-1) projeté détecté, le signal de capteur, le signal de capteur représentant le motif lumineux (13-1) projeté détecté,
    caractérisé en ce que le système de traitement de données (19) est réalisé pour déterminer la position spatiale du motif lumineux (13-1) projeté sur la voie de déplacement (15) par rapport au chariot de manutention (3) sur la base du signal de capteur, et le système de traitement
    de données (19) étant réalisé pour envoyer le signal de commande destiné à commander la caractéristique de déplacement du chariot de manutention (3) en fonction de la position déterminée du motif lumineux (13-1) projeté sur la voie de déplacement (15).
  2. Chariot de manutention (3), en particulier chariot de manutention (3) autonome, avec :
    un capteur (17), qui est réalisé pour détecter un signal d'avertissement (13) et pour générer, en réponse au signal d'avertissement (13) détecté, un signal de capteur, le signal de capteur représentant le signal d'avertissement (13) détecté ; et
    un système de traitement de données (19), qui est réalisé pour déterminer une position spatiale du signal d'avertissement (13) par rapport au chariot de manutention (3) sur la base du signal de capteur, le système de traitement de données (19) étant réalisé en outre pour envoyer un signal de commande destiné à commander une caractéristique de déplacement du chariot de manutention (3) en fonction de la position spatiale déterminée du signal d'avertissement (13),
    caractérisé en ce que le capteur (17) comprend un capteur acoustique, en particulier un microphone, qui est réalisé pour détecter en tant que signal d'avertissement (13) un signal d'avertissement (13) acoustique et pour générer, en réponse au signal d'avertissement (13) acoustique détecté, le signal de capteur, le signal de capteur représentant le signal d'avertissement (13) acoustique détecté,
    le système de traitement de données (19) étant réalisé pour déterminer la position spatiale du signal d'avertissement (13) acoustique par rapport au chariot de manutention (3) sur la base d'une amplitude maximale de signal du signal de capteur, et le système de traitement de données (19) étant réalisé pour envoyer le signal de commande destiné à commander la caractéristique de déplacement du chariot de manutention (3) en fonction de la position spatiale déterminée du signal d'avertissement (13) acoustique.
  3. Chariot de manutention (3) selon la revendication 1 ou 2, caractérisé en ce que le chariot de manutention (3) est réalisé pour modifier la caractéristique de déplacement du chariot de manutention (3) en réponse au signal de commande, en particulier réduire une vitesse de déplacement du chariot de manutention (3) et/ou modifier une direction de déplacement du chariot de manutention (3).
  4. Chariot de manutention (3) selon l'une des revendications 1 à 3, caractérisé en ce que la caractéristique de déplacement du chariot de manutention (3) est une vitesse de déplacement du chariot de manutention (3), une accélération du chariot de manutention (3) et/ou une direction de déplacement du chariot de manutention (3).
  5. Chariot de manutention (3) selon l'une des revendications 1 à 4, caractérisé en ce que le signal d'avertissement (13) est associé à un objet dynamique (5), et le système de traitement de données (19) étant réalisé pour identifier l'objet dynamique (5) sur la base du signal d'avertissement (13),
    - l'objet dynamique (5) étant de préférence un autre chariot de manutention (5-1) et le signal d'avertissement (13) étant associé à l'autre chariot de manutention (5-1), et le système de traitement de données (19) étant réalisé pour identifier l'autre chariot de manutention (5-1) sur la base du signal d'avertissement (13) ; et/ou
    - l'objet dynamique (5) étant de préférence un robot industriel et le signal d'avertissement (13) étant associé au robot industriel, et le système de traitement de données (19) étant réalisé pour identifier le robot industriel sur la base du signal d'avertissement (13) ; et/ou
    - l'objet dynamique (5) étant de préférence une unité d'avertissement mobile et le signal d'avertissement (13) étant associé à l'unité d'avertissement mobile, et le système de traitement de données (19) étant réalisé pour identifier l'unité d'avertissement mobile sur la base du signal d'avertissement (13).
  6. Chariot de manutention (3) selon l'une des revendications 1 ou 3 ou 4 ou 5, caractérisé en ce que le capteur optique (17-1) est réalisé pour détecter en tant que signal d'avertissement (13) un motif lumineux (13-1) projeté sur la voie de déplacement (15) dans la plage de lumière visible, dans la plage de lumière IR et/ou dans la plage de lumière UV.
  7. Chariot de manutention (3) selon l'une des revendications 1 à 6, caractérisé en ce que le capteur (17) est réalisé pour détecter le signal d'avertissement (13) et une caractéristique de motif du signal d'avertissement (13), en particulier une longueur d'onde du motif lumineux (13-1) projeté ou une fréquence du signal d'avertissement (13) acoustique, et pour générer, en réponse au signal d'avertissement (13) détecté et à la caractéristique de motif détectée, le signal de capteur, le signal de capteur représentant le signal d'avertissement (13) détecté et la caractéristique de motif détectée du signal d'avertissement (13) ; et
    le système de traitement de données (19) étant réalisé pour déterminer la position spatiale du signal d'avertissement (13) par rapport au chariot de manutention (3) sur la base du signal de capteur, et le système de traitement de données (19) étant réalisé pour envoyer le signal de commande destiné à commander la caractéristique de déplacement du chariot de manutention (3) en fonction de la position spatiale déterminée et de la caractéristique de motif détectée du signal d'avertissement (13).
  8. Chariot de manutention (3) selon l'une des revendications 1 à 7, caractérisé en ce que le système de traitement de données (19) est réalisé pour déterminer, sur la base de la position spatiale déterminée du signal d'avertissement (13) par rapport au chariot de manutention (3), une direction de propagation du signal d'avertissement (13) en partant d'un autre dispositif d'avertissement (11) émettant le signal d'avertissement (13), une position spatiale du signal d'avertissement (13), un éloignement entre le chariot de manutention (3) et un autre dispositif d'avertissement (11) émettant le signal d'avertissement (13) et/ou une position d'un autre dispositif d'avertissement (11) émettant le signal d'avertissement (13),
    le système de traitement de données (19) étant réalisé pour envoyer le signal de commande destiné à commander la caractéristique de déplacement du chariot de manutention (3) en fonction de la direction de propagation déterminée du signal d'avertissement (13) en partant de l'autre dispositif d'avertissement (11) émettant le signal d'avertissement (13), de la position spatiale du signal d'avertissement (13), de l'éloignement déterminé entre le chariot de manutention (3) et l'autre dispositif d'avertissement (11) émettant le signal d'avertissement (13) et/ou de la position déterminée de l'autre dispositif d'avertissement (11) émettant le signal d'avertissement (13).
  9. Chariot de manutention (3) selon l'une des revendications 1 à 8, caractérisé en ce que le capteur (17) est réalisé pour détecter un signal d'avertissement (13) émis par un autre dispositif d'avertissement (11) d'un objet dynamique (5), en particulier d'un autre chariot de manutention (5-1), d'un robot industriel et/ou d'une unité d'avertissement mobile et pour générer, en réponse au signal d'avertissement (13) détecté de l'objet dynamique (5), le signal de capteur, le signal de capteur représentant le signal d'avertissement (13) détecté de l'objet dynamique (5) ; et
    le système de traitement de données (19) étant réalisé pour déterminer la position spatiale du signal d'avertissement (13) par rapport au chariot de manutention (3) sur la base du signal de capteur, le système de traitement de données (19) étant réalisé pour déterminer une autre direction de déplacement de l'objet (5) dynamique sur la base de la position spatiale déterminée du signal d'avertissement (13), et le système de traitement de données (19) étant réalisé pour envoyer le signal de commande destiné à commander la caractéristique de déplacement du chariot de manutention (3) en fonction de l'autre direction de déplacement déterminée de l'objet dynamique (5) pour empêcher une collision du chariot de manutention (3) avec l'objet dynamique (5).
  10. Chariot de manutention (3) selon l'une des revendications 1 à 9, caractérisé en ce que le capteur (17) est réalisé pour détecter, à un premier moment de détection, un premier signal d'avertissement (13) émis par un autre dispositif d'avertissement (11) d'un objet dynamique (5), en particulier d'un autre chariot de manutention (5-1), d'un robot industriel et/ou d'une unité mobile d'avertissement et pour détecter, à un deuxième moment de détection, un deuxième signal d'avertissement (13) émis par l'autre dispositif d'avertissement (11) de l'objet dynamique (5), et pour générer, en réponse au premier et au deuxième signal d'avertissement (13) détecté, le signal de capteur, le signal de capteur représentant le premier et le deuxième signal d'avertissement (13) détecté ; et
    le système de traitement de données (19) étant réalisé pour déterminer une position spatiale du premier signal d'avertissement (13) et une position spatiale du deuxième signal d'avertissement (13) par rapport au chariot de manutention (3) sur la base du signal de capteur, le système de traitement de données (19) étant réalisé pour déterminer une autre vitesse de déplacement de l'objet dynamique (5)sur la base de la position spatiale
    déterminée du premier signal d'avertissement (13) et sur la base de la position spatiale déterminée du deuxième signal d'avertissement (13), et le système de traitement de données (19) étant réalisé pour envoyer le signal de commande destiné à commander la caractéristique de déplacement du chariot de manutention (3) en fonction de l'autre vitesse de déplacement déterminée de l'objet dynamique (5) pour empêcher une collision du chariot de manutention (3) avec l'objet dynamique (5).
  11. Chariot de manutention (3) selon l'une des revendications 1 à 10, caractérisé en ce que le chariot de manutention (3) comporte un dispositif d'avertissement, qui est réalisé pour émettre un signal d'avertissement propre, le système de traitement de données (19) étant réalisé pour filtrer le signal d'avertissement propre contenu dans le signal de capteur et le distinguer du signal d'avertissement (13) détecté, le dispositif d'avertissement comprenant en particulier un dispositif d'avertissement optique, en particulier un laser et/ou un réseau de DEL, un dispositif d'avertissement acoustique, en particulier un hautparleur, un avertisseur et/ou un émetteur d'ultrasons et/ou un dispositif d'avertissement radar.
  12. Chariot de manutention (3) selon l'une des revendications 1 à 11, caractérisé en ce que le chariot de manutention (3) comporte une interface de communication qui est réalisée pour transmettre le signal de capteur et/ou le signal de commande, par un réseau de communication, en particulier par une autre interface de communication d'un objet dynamique (5), en particulier d'un autre chariot de manutention (5-1) d'un robot industriel et/ou d'une unité mobile d'avertissement, à un objet dynamique (5), en particulier un autre chariot de manutention (5-1), un autre robot industriel et/ou une autre unité mobile d'avertissement, l'interface de communication du chariot de manutention (3) étant en particulier une interface de communication radio, en particulier une interface de communication WLAN, ou une interface de communication Bluetooth ou une interface de communication 5G, ou une interface de communication optique.
  13. Système (1) comprenant un premier chariot de manutention (3) selon l'une des revendications 1 à 12, et un objet dynamique (5), en particulier un autre chariot de manutention (5-1), un robot industriel et/ou une unité mobile d'avertissement,
    le premier chariot de manutention (3) comportant un dispositif d'avertissement qui est réalisé pour émettre un signal d'avertissement propre,
    l'objet dynamique (5) comportant un autre capteur qui est réalisé pour détecter le signal d'avertissement propre et pour, en réponse au signal d'avertissement propre, générer un autre signal de capteur, l'autre signal de capteur représentant le signal d'avertissement propre détecté, et
    l'objet dynamique (5) comportant un autre système de traitement de données, qui est réalisé pour déterminer une position spatiale du signal d'avertissement propre par rapport à l'objet dynamique (5) sur la base de l'autre signal de capteur, l'autre système de traitement de données étant réalisé de préférence pour envoyer un autre signal de commande destiné à commander une autre caractéristique de déplacement de l'objet dynamique (5) en fonction de la position spatiale déterminée du signal d'avertissement propre.
  14. Système (1) selon la revendication 13, caractérisé en ce que le premier chariot de manutention (3) comporte une interface de communication, et en ce que l'objet dynamique (5) comporte une autre interface de communication,
    le système de traitement de données (19) du premier chariot de manutention (3) étant réalisé pour transmettre le signal de capteur et/ou le signal de commande par
    l'autre interface de communication à l'objet dynamique (5), et
    l'autre système de traitement de données de l'objet dynamique (5) étant réalisé pour envoyer l'autre signal de commande destiné à commander l'autre caractéristique de déplacement de l'objet dynamique (5) en fonction de la position spatiale déterminée du signal d'avertissement propre et/ou du signal de capteur transmis et/ou du signal de commande transmis.
EP23159641.2A 2022-03-30 2023-03-02 Chariot de manutention doté d'un capteur et d'un dispositif de traitement de données Active EP4253306B1 (fr)

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