FR3143586B1 - Procédé de levage et de transport d’une charge par un chariot élévateur autonome de levage - Google Patents

Procédé de levage et de transport d’une charge par un chariot élévateur autonome de levage Download PDF

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Publication number
FR3143586B1
FR3143586B1 FR2213358A FR2213358A FR3143586B1 FR 3143586 B1 FR3143586 B1 FR 3143586B1 FR 2213358 A FR2213358 A FR 2213358A FR 2213358 A FR2213358 A FR 2213358A FR 3143586 B1 FR3143586 B1 FR 3143586B1
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FR
France
Prior art keywords
load
lifting
value
trolley
dimension
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
FR2213358A
Other languages
English (en)
Other versions
FR3143586A1 (fr
Inventor
Yann Binda
Florian Faure
Kévin Bouvet
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.)
Compagnie Generale des Etablissements Michelin SCA
Original Assignee
Compagnie Generale des Etablissements Michelin SCA
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 Compagnie Generale des Etablissements Michelin SCA filed Critical Compagnie Generale des Etablissements Michelin SCA
Priority to FR2213358A priority Critical patent/FR3143586B1/fr
Priority to CN202380086199.1A priority patent/CN120418172A/zh
Priority to PCT/FR2023/051916 priority patent/WO2024126922A1/fr
Priority to EP23834261.2A priority patent/EP4634087A1/fr
Publication of FR3143586A1 publication Critical patent/FR3143586A1/fr
Application granted granted Critical
Publication of FR3143586B1 publication Critical patent/FR3143586B1/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
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/063—Automatically guided
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
    • B65G1/02—Storage devices
    • B65G1/04—Storage devices mechanical
    • B65G1/137—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed
    • B65G1/1373—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses
    • B65G1/1375—Storage devices mechanical with arrangements or automatic control means for selecting which articles are to be removed for fulfilling orders in warehouses the orders being assembled on a commissioning stacker-crane or truck
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/0755—Position control; Position detectors
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/20—Control system inputs
    • G05D1/24—Arrangements for determining position or orientation
    • G05D1/243—Means capturing signals occurring naturally from the environment, e.g. ambient optical, acoustic, gravitational or magnetic signals
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/60—Intended control result
    • G05D1/656—Interaction with payloads or external entities
    • G05D1/667—Delivering or retrieving payloads
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/08—Logistics, e.g. warehousing, loading or distribution; Inventory or stock management
    • G06Q10/087—Inventory or stock management, e.g. order filling, procurement or balancing against orders
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
    • B65G2201/02—Articles
    • B65G2201/0232—Coils, bobbins, rolls
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2105/00—Specific applications of the controlled vehicles
    • G05D2105/20—Specific applications of the controlled vehicles for transportation
    • G05D2105/28—Specific applications of the controlled vehicles for transportation of freight
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2107/00—Specific environments of the controlled vehicles
    • G05D2107/70—Industrial sites, e.g. warehouses or factories
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2109/00—Types of controlled vehicles
    • G05D2109/10—Land vehicles
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2111/00—Details of signals used for control of position, course, altitude or attitude of land, water, air or space vehicles
    • G05D2111/10—Optical signals

Landscapes

  • Engineering & Computer Science (AREA)
  • Business, Economics & Management (AREA)
  • Structural Engineering (AREA)
  • Transportation (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Economics (AREA)
  • Mechanical Engineering (AREA)
  • Theoretical Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Entrepreneurship & Innovation (AREA)
  • Human Resources & Organizations (AREA)
  • Marketing (AREA)
  • Operations Research (AREA)
  • Quality & Reliability (AREA)
  • Strategic Management (AREA)
  • General Business, Economics & Management (AREA)
  • Tourism & Hospitality (AREA)
  • Geology (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Development Economics (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Civil Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Accounting & Taxation (AREA)
  • Finance (AREA)
  • Forklifts And Lifting Vehicles (AREA)

Abstract

Ce procédé (20) de levage et de transport d’une charge comprend : une étape (21) de réception par le chariot d’une mission comprenant une valeur théorique d’au moins une dimension de ladite charge;une étape (22) de déplacement du chariot en face de la charge à lever et à transporter ;une étape d’acquisition (23) d’au moins une image de la charge par au moins une caméra fixée sur le chariot;une étape de détermination (24) d’une valeur réelle de ladite dimension de la charge à partir de ladite image obtenue à l’étape d’acquisition ;une étape (26) de comparaison de la valeur réelle et de la valeur théorique de ladite dimension, et - une étape (27) d’arrêt du chariot si l’écart entre la valeur réelle de ladite dimension et sa valeur théorique est supérieur en valeur absolue à une valeur limite prédéfinie. Figure pour l’abrégé : figure 4
FR2213358A 2022-12-14 2022-12-14 Procédé de levage et de transport d’une charge par un chariot élévateur autonome de levage Active FR3143586B1 (fr)

Priority Applications (4)

Application Number Priority Date Filing Date Title
FR2213358A FR3143586B1 (fr) 2022-12-14 2022-12-14 Procédé de levage et de transport d’une charge par un chariot élévateur autonome de levage
CN202380086199.1A CN120418172A (zh) 2022-12-14 2023-12-04 使用自动驾驶叉车提升和运输货物的方法
PCT/FR2023/051916 WO2024126922A1 (fr) 2022-12-14 2023-12-04 Procédé de levage et de transport d'une charge par un chariot élévateur autonome de levage
EP23834261.2A EP4634087A1 (fr) 2022-12-14 2023-12-04 Procédé de levage et de transport d'une charge par un chariot élévateur autonome de levage

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR2213358 2022-12-14
FR2213358A FR3143586B1 (fr) 2022-12-14 2022-12-14 Procédé de levage et de transport d’une charge par un chariot élévateur autonome de levage

Publications (2)

Publication Number Publication Date
FR3143586A1 FR3143586A1 (fr) 2024-06-21
FR3143586B1 true FR3143586B1 (fr) 2025-03-14

Family

ID=85277992

Family Applications (1)

Application Number Title Priority Date Filing Date
FR2213358A Active FR3143586B1 (fr) 2022-12-14 2022-12-14 Procédé de levage et de transport d’une charge par un chariot élévateur autonome de levage

Country Status (4)

Country Link
EP (1) EP4634087A1 (fr)
CN (1) CN120418172A (fr)
FR (1) FR3143586B1 (fr)
WO (1) WO2024126922A1 (fr)

Family Cites Families (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102013002554A1 (de) * 2013-02-15 2014-08-21 Jungheinrich Aktiengesellschaft Verfahren zur Erkennung von Objekten in einem Lager und/oder zur räumlichen Orientierung in einem Lager
US10538421B2 (en) * 2017-05-05 2020-01-21 Atlantic Corporation Systems, devices, and methods for inventory management of carpet rolls in a warehouse

Also Published As

Publication number Publication date
CN120418172A (zh) 2025-08-01
FR3143586A1 (fr) 2024-06-21
WO2024126922A1 (fr) 2024-06-20
EP4634087A1 (fr) 2025-10-22

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