WO2024258391A1 - Procédé de sécurité de chariot élévateur pour systèmes rtls - Google Patents

Procédé de sécurité de chariot élévateur pour systèmes rtls Download PDF

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Publication number
WO2024258391A1
WO2024258391A1 PCT/TR2024/050673 TR2024050673W WO2024258391A1 WO 2024258391 A1 WO2024258391 A1 WO 2024258391A1 TR 2024050673 W TR2024050673 W TR 2024050673W WO 2024258391 A1 WO2024258391 A1 WO 2024258391A1
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WO
WIPO (PCT)
Prior art keywords
forklift
anchor
zone
distance
marked
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.)
Ceased
Application number
PCT/TR2024/050673
Other languages
English (en)
Inventor
Erman SAVUT
Omer GENC
Burak CELIKKAYA
Burak Yasar COLDAS
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.)
Litum Bilgi Teknolojileri Sanayi Ve Dis Ticaret AS
Original Assignee
Litum Bilgi Teknolojileri Sanayi Ve Dis Ticaret AS
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
Priority claimed from TR2023/006967A external-priority patent/TR2023006967A1/tr
Priority claimed from TR2024/004441A external-priority patent/TR2024004441A2/tr
Priority claimed from TR2024/007574A external-priority patent/TR2024007574A2/tr
Application filed by Litum Bilgi Teknolojileri Sanayi Ve Dis Ticaret AS filed Critical Litum Bilgi Teknolojileri Sanayi Ve Dis Ticaret AS
Publication of WO2024258391A1 publication Critical patent/WO2024258391A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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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
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/029—Location-based management or tracking services
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
    • H04W4/44—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Program-control systems
    • G05B19/02—Program-control systems electric
    • G05B19/04—Program control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/042—Program control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/20—Pc systems
    • G05B2219/26—Pc applications
    • G05B2219/2641—Fork lift, material handling vehicle
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45049—Forklift
    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
    • G07C5/00—Registering or indicating the working of vehicles
    • G07C5/02—Registering or indicating driving, working, idle, or waiting time only
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W12/00—Security arrangements; Authentication; Protecting privacy or anonymity
    • H04W12/08—Access security

Definitions

  • the invention relates to a forklift safety method for RTLS systems, said method enabling to take the safety measures and prevent the likely accidents in an area (warehouse, etc.) with a great number of employees and material handling means.
  • the present invention relates to a forklift safety method, said method having the ability to prevent likely accidents such as injuries and loss of life and property and preclude halts in the work flow by enabling the distances between the electronic devices to be calculated as a result of the communication between said electronic devices and by enabling a moving member that approaches certain zones to take action.
  • the patent document no. W02019120491A1 discloses a system for the real-time management of the evacuation of a building.
  • the evacuation process comprises obtaining the location information of the personal UWB devices inside the building, determining the evacuation plans, and providing real-time guidance information.
  • the evacuation management system in the document comprises an analytical engine.
  • the analytical engine is configured in a way compatible with machine learning, wherein said analytical engine allows the use of past data analysis, pattern recognition, and navigation algorithms, taking the layout and construction plans of a building into account.
  • said moving member is defined as a forklift, heavy equipment, human, etc.
  • Our invention mainly operates on the basis of taking actions for the moving member that is entering or approaching a forbidden zone.
  • Said document discloses an evacuation system for enabling people to evacuate a building in a safe manner during an emergency.
  • the routes are generated, which lead to the personal UWB devices (tag) carried by the people, with the help of machine learning.
  • our invention does not employ any machine learning methods.
  • the patent document no. KR101806027B1 discloses a RTLS-based danger notification system for a worker at a nighttime bridge construction and bridge deck pavement construction site.
  • a helmet tag fitted to the helmets of the workers includes the identification information of the workers.
  • Said helmet tag detects the movement of a worker by means of an acceleration measurement sensor.
  • an occupational risk notification server is used to estimate the locations of the workers and identify the risky situations by analyzing the RTLS-based data.
  • a moving member that is in motion may be enabled to take action by performing the location calculation owing to the communication only between the mobile devices and the fixed anchor devices, without having to communicate with any server, and by rapidly issuing a command.
  • said moving member is defined as a heavy equipment, human, etc.
  • the heavy equipment may be a forklift.
  • Our invention mainly operates on the basis of taking actions for the moving member that is entering or approaching a forbidden zone. On the other hand, our invention does not employ any acceleration sensor.
  • the patent document no. KR20140137507A discloses a smart security laboratory system.
  • an RTLS server performs the real-time tracking of the locations of the researchers in the laboratory.
  • the access control server in said document monitors the entries to and exits from the laboratory and detects the unauthorized entries.
  • the reagent management server another server in said document, tracks the locations of the reagents inside the laboratory.
  • the function of the server mentioned in said document is to manage the data flow between different systems in order to ensure the security of the laboratory.
  • said moving member is defined as a heavy equipment, human, etc.
  • the heavy equipment may be a forklift.
  • Our invention mainly operates on the basis of taking actions for the moving member that is entering or approaching a forbidden zone.
  • the patent document no. KR20120031787A discloses a security and management system inside a smart building, intended to provide an effective work environment. Said system basically consists of an RTLS tag attached to the workers inside the building, a reader, and a server. The server calculates the location of a worker in real time by using the signals of the readers. However, in our invention, it is possible to calculate the locations owing to the communication only between the mobile devices and the fixed anchor devices, without having to communicate with any server.
  • said moving member is defined as a heavy equipment, human, etc.
  • the heavy equipment may be a forklift.
  • Our invention mainly operates on the basis of taking actions for the moving member that is entering or approaching a forbidden zone.
  • EP2244098A1 discloses the transceiver apparatus for calculating the range information. Even though the operation is considered as a real-time location calculation method, it is not able to offer a method and/system providing the possibility to take the necessary actions in the hazard zones by calculating the location of a mobile device.
  • the patent document no. WO2021018386A1 discloses a method for calculating the differences between the previous positions and the new position of a device, in order to identify the zones where the reflection is excessive, and it is difficult to the calculate the position information.
  • the document is not able to provide a solution for performing the calculation on a mobile device and taking the actions at the hazardous instances where an action is deemed necessary.
  • a safety measure is needed, which enables to take the actions such as warning a pedestrian and an operator in the danger zones and stopping, in cases necessary, the vehicle within the boundaries of a danger zone, etc.
  • An object of the invention is to enable a forklift associated with a forklift anchor to take action in a rapid manner when approaching/entering the marked zones within an area based on the real-time location of said forklift, without the forklift anchor and the fixed anchors within said area having to communicate with a server.
  • Another object of the invention is to enable a moving member associated with a mobile device to take action in a rapid manner when approaching/entering the marked zones within an area based on the real-time location of said moving member, without the mobile device and the fixed anchor devices within said area having to communicate with a server.
  • a forklift safety method for the RTLS systems said method having the ability to prevent likely accidents such as the injuries and the loss of life and property and preclude halts in the work flow by means of the components of at least one forklift, which is able to move within an area, at least one marked zone, which defines the region where said forklift is to take action by implementing at least one operational instruction and which is located within said area, at least one forklift anchor, which is connected with said forklift and is able to send and receive the RF messages, and at least two fixed anchors, which are fixedly positioned within said area and are able to send and receive the RF messages, wherein said method comprises, in order to enable a forklift approaching/entering the marked zone to take action in a rapid manner without the forklift anchor and the fixed anchors having to communicate with a server, the process steps of defining/identifying the two fixed anchors that are nearest to the marked zone as a first anchor and a second anchor; the tolerance value in case the forklift that is within the communication range
  • the forklift anchor periodically sending a RF message information to the ambience within the area
  • the nearest two fixed anchors which detect said RF message information sent to the ambience, starting to communicate with the forklift anchor, in the processor of the forklift anchor, obtaining the distance information by periodically calculating the distances between the forklift anchor and the nearest two fixed anchors, in the processor of the forklift anchor, obtaining the data about the zone of the determined virtual boundary in which the forklift is present, by using the periodically calculated distance information, in the processor of the forklift anchor, obtaining the data about the direction in which the forklift approaches the marked zone and the fixed anchors, by using the periodically calculated distance information, and periodically checking in the processor of the forklift anchor the state of approaching and distancing from the marked zone and the forklift taking an action upon the forklift anchor issuing said operational instruction to said forklift control unit according to the periodically obtained distance information, the data about the zone of the virtual boundary in which the forklift is present, and the data about the direction in which the forklift approaches the marked zone and the fixed anchors.
  • Our invention relates in particular to a safety method for RTLS systems, said method having the ability to prevent likely accidents such as injuries and loss of life and property and preclude halts in the work flow by enabling the distances between the electronic devices to be calculated as a result of the communication between said electronic devices subsequent to the performance of mapping in a respective area and by enabling a moving member that approaches certain zones to take action.
  • Figure-1 A view illustrating the general operation of an RTLS system according to the prior art
  • Figure-2 A representative view of the communication between a mobile device and a fixed anchor device
  • Figure-3 A representative view of the communication of a moving member with the fixed anchor devices
  • Figure-4 A representative view showing the state after the mapping process
  • Figure-5 A view illustrating the marked zones inside an area
  • Figure-6 A view illustrating the marked zones
  • Figure-7 Another view illustrating the marked zones Figure-8 A graph, which is plotted on the analytical plane in the computer environment, for the formulas used when forming the virtual boundary
  • Figure-9 A representative view of the marked zone and the fixed anchor devices in the state where the moving member is in a zone on the side with the first fixed anchor device inside the virtual boundary
  • Figure-10 A representative view of the marked zone and the fixed anchor devices in the state where the moving member is in a zone between the first and the second fixed anchor devices within the virtual boundary
  • Figure-11 A representative view of the marked zone and the fixed anchor devices in the state where the moving member is in a zone on the side with the second fixed anchor device inside the virtual boundary
  • Figure-12 A representative view of the axial distances from the first and the second fixed anchor devices in the state where the moving member is in a zone on the side with the first fixed anchor device
  • Figure-13 A representative view of the axial distances from the first and the second fixed anchor devices in the state where the moving member is in a zone between the first and the second fixed anchor devices
  • Figure-14 A representative view of the axial distances from the first and the second fixed anchor devices in the state where the moving member is in a zone on the side with the second fixed anchor device
  • Figure-15 A representative view of the communication of the forklift anchor with the fixed anchors
  • Figure-16 A representative view of the axial distances from the first and the second anchors in the state where the forklift is in a zone on the side with the first anchor
  • Figure-17 A representative view of the axial distances from the first and the second anchors in the state where the forklift is in a zone between the first and the second anchors
  • Figure-18 A representative view of the axial distances from the first and the second anchors in the state where the forklift is in a zone on the side with the second anchor
  • Figure-19 A view illustrating the first zone, the second zone, the third zone, and the directions (right, left)
  • the present invention relates to a method for taking action based on the real-time location, said method having the ability to prevent the likely accidents such as injuries and the loss of life and property and preclude the halts in the workflow in an area (30).
  • loT Internet of Things
  • the physical objects may be the sensors, controllers, etc. Said objects are able to communicate via the Internet using various protocols.
  • a communication infrastructure is required in order to form an loT structure.
  • the communication infrastructure may take the form of a cloud.
  • a gateway is needed in order to transmit the sensor data to a server.
  • loT is used in very diverse fields.
  • loT studies especially on the topics of control systems and machine networks, in the industry.
  • energy industry it is possible to perform data collection and supervision control by means of SCADA systems.
  • loT technology is often used in the management of warehouses and in warning and alarm systems.
  • the locations of said components may be determined by means of the applications of RTLS, which is an loT solution.
  • RTLS Real Time Location System
  • the basic components employed in the RTLS solutions appear as the mobile devices (10.1) and the fixed anchor devices (20).
  • the mobile devices (10.1) are the devices, which are capable of transmitting UWB radio frequency pulses, and which are disposed on the objects, employees or heavy equipment that are to be tracked.
  • the fixed anchor devices (20) take the form of an RF (radio frequency) signal reader.
  • the TWR (two-way ranging) method employed in the RTLS systems is defined as a method enabling to determine the distance between the mobile device (10.1) and the fixed anchor devices (20) as a result of the communication between said mobile device (10.1) and fixed anchor devices (20) ( Figure 2).
  • the mobile device (10.1) sends a first message (poll) to the ambience.
  • the fixed anchor devices (20) that are nearest to the mobile device (10.1) -the state where the message of the mobile device (10.1) is within the coverage of a fixed anchor device (20)- send a second response message to the mobile device (10.1).
  • the mobile device (10.1) sends a third message (final) to the fixed anchor device (20).
  • the distance between the mobile device (10.1) and the fixed anchor device (20) it is needed to determine the times for the three messages sent.
  • all the sent messages are the RF messages in the UWB (ultra wideband) range, wherein the time of flight that the RF signal - message- in the UWB range sent to the ambience spends in said ambience is determined.
  • the information about the distance between the mobile device (10.1) and the fixed anchor device (20) is obtained by multiplying the obtained times by the speed of light according to a formula.
  • Figure 1 provides a general operation routine of RTLS where the mobile device (10.1) communicates with the fixed anchor devices (20). According to Figure 1;
  • the fixed anchor devices (20) calculate their distances from the mobile device (10.1) by using the communication data.
  • the distance data calculated in the fixed anchor devices (20) are transmitted to the gateway via a mesh topology and the gateway forwards the received data to a cloud.
  • the cloud in turn forwards the received data to a server.
  • the server by processing the received data, performs a series of calculations and determines the location of the mobile device (10.1). Subsequently, said server transmits the calculated location information and the instructions, if any, set according to the location information first to the gateway.
  • the gateway forwards the received data to the fixed anchor devices (20) and the fixed anchor devices (20) forward the data received from the gateway to the mobile device (10.1). In this way, the determination of the location is realized.
  • the time elapsing from the first step through the last step of the flow given in Figure 1 for the location calculation process mentioned in the previous paragraph may be as long as a duration on the order of 4-5 s.
  • a time delay of 4-5 s is undesirable in a situation where the mobile device (10.1) is positioned on a moving member (10) (such as heavy equipment/human, etc.).
  • a moving member (10) though capable of rapid movement, is unable to carry out the instructions in the desired manner as a result of the time delay (4-5 s) when said moving member (10) is required, via some issued instructions, to take an action (such as slowing down, stopping, etc.) in certain zones based on its location.
  • the performance of the estimation of the location via a server may result in the message traffic due to the communication between the devices and the server. In a scenario where the communication with the server is interrupted, the system becomes entirely unable to operate.
  • a moving member (10) in order to ensure that the above-described adverse situations are not experienced, a moving member (10) is able to take action in a rapid manner when approaching a marked zone (40), with the help of a determined virtual boundary (50) and without having to communicate with a server.
  • another main object is to end the dependence on a server to thereby eliminate the adverse situations arising during the communication with the server and enable the system to operate in the absence of the server.
  • the invention is a safety method, said method having the ability to prevent the likely accidents such as the injuries and the loss of life and property and preclude the halts in the work flow by means of the components of a moving member (10), which is able to move within an area (30) having a marked zone (40), a mobile device (10.1), which is connected with said moving member (10) and is able to send and receive the RF messages, and two fixed anchor devices (20), which are fixedly positioned within said area (30) and are able to send and receive the RF messages, wherein said method is configured to enable a moving member (10) approaching/entering the marked zone (40) to take action in a rapid manner without the mobile device (10.1) and the fixed anchor devices (20) having to communicate with a server.
  • Said mobile device (10.1) is an electronic device, which is able to be positioned on a moving member -human, heavy equipment, etc.- (10) whose location is desired to be determined and which is able to perform UWB (ultra wideband) communication. During said communication, the mobile device (10.1) is able to send the RF (radio frequency) messages in the UWB range and is able to detect the RF messages sent by other electronic devices. Said mobile device (10.1) has a processor, in which the calculations of the virtual boundary (50) and the distances are performed. The mobile device (10.1) is capable of operating both as a RF message-signal- receiver and a RF message-signal- transmitter.
  • said mobile device (10.1) is positioned on the moving member (10) whose location is desired to be determined, is able to periodically send to and receive from the ambience the RF messages, identifies the entry of said moving member (10) to the marked zone (40) by communicating with the first fixed anchor device and the second fixed anchor device and by performing the calculations, and issues the instructions required to be carried out by said moving member (10) in case of entry to said marked zone (40).
  • Said fixed anchor device (20) is an electronic device with a RF transmitter and RF receiver feature, wherein said fixed anchor device (20) detects the RF messages in the UWB range that come within its detection range and sends a RF response message in the UWB range when it is required to respond to said message.
  • Said fixed anchor device (20) has a processor, in which the location calculations are performed.
  • the fixed anchor device (20) is fixed at the determined points in order to allow the performance of the mapping within the area (30) where the determination of location is to be performed.
  • Each fixed anchor device (20) has its unique ID (identification number). With the help of said IDs, it is possible to understand which fixed anchor device (20) is involved in the messaging during the communication.
  • the communication mode of all the fixed anchor devices (20) is in the on state at all times in order to be able to get involved in all kinds of RTLS communication. More specifically, said fixed anchor device (20) is fixed within an area (30) where the determination of location is to be performed, is able to periodically send to and receive from the ambience the RF messages, is able to calculate, via a distance calculation method, its distance from the mobile device (10.1) by communicating with said mobile device (10.1), and transmits the calculated distance values to said mobile device (10.1).
  • Said marked zone (40) may be identified as a zone, which includes at least one of the front zone of the area where the forklift (F) is to take action and the pedestrian crossing.
  • the marked zone (40) may include only the front zone where the action is to be taken or only the pedestrian crossing, it is also possible for the same to include both the front zone where the action is to be taken and the pedestrian crossing.
  • the moving member (10) is configured to comply with some instructions when it approaches said marked zone (40).
  • the marked zones (40) can be seen in Figures 5, 6 and 7.
  • the marked zones (40) have a certain direction. More specifically, the moving member (10) is enabled to slow down when approaching the marked zone (40) in the specified direction. Under the other conditions, the system will continue with its usual operation.
  • the mapping is performed.
  • the fixed anchor devices (20) are deployed at different positions of the area (30) according to the need.
  • a reference point (the point Z in Figure 4) is determined, and the fixed anchor devices (20) are positioned according to this reference point ( Figure 4).
  • said fixed anchor devices (20) are positioned according to a certain order (A1, A2, A3.. . In this way, which fixed anchor device (20) is located at what position is determined ( Figure 4).
  • the locations of the marked zones (40) are determined by taking the reference point as the basis, in a manner compatible with a simulation of the coordinate system.
  • the part marked as PRST in Figure 4 refers to a marked zone (40).
  • the axial (e.g., x,y) distances from the reference point are taken as the basis for determining the locations of both the fixed anchor device (20) and the marked zones (40). More specifically, the locations of all the devices (mobile device (10.1) and fixed anchor device (20)) and of all the zones (marked zone (40)) are named according to the described simulation of the coordinate system. Subsequently, the fixed anchor devices (20) that are nearest to the marked zones (40) are determined. In Figure 4, the fixed anchor devices determined to be nearest are represented by A8 and A9 where it is possible to name A8 as the first fixed anchor device and A9 as the second fixed anchor device.
  • a device and another device from among at least two of said fixed anchor devices (20) that are nearest to the marked zones (40) are determined as a first fixed anchor device and a second fixed anchor device, respectively, wherein the determination is specific to each marked zone (40).
  • the information about the first and the second fixed anchor devices determined specifically for each marked zone (40) is included in the data set notified to the devices.
  • the area (30) refers to an indoor warehouse and is able to be used for performing the location estimation in any ambience. Said mapping process should not be considered limited to the form of the same disclosed herein.
  • the instructions for the situations of “take no action” and “take action” to be issued by the mobile device (10.1) to the moving member (10) are defined
  • said mobile device (10.1) is able to understand that it is communicating with the fixed anchor devices (20) that are nearest to the marked zone (40).
  • the mobile device (10.1) realizes during the routine RTLS communication that it is communicating with the first fixed anchor device -A8- near the marked zone (40)
  • said mobile device (10.1) starts to communicate specifically with said first fixed anchor device.
  • the mobile device (10.1) realizes during the routine RTLS communication that it is communicating with the second fixed anchor device -AO- near the marked zone (40)
  • said mobile device (10.1) starts to communicate specifically with said second fixed anchor device.
  • said specific communication means that the mobile device (10.1) communicates with the first and second fixed anchor devices at different periods. More specifically, the mobile device (10.1) communicates with the first and second fixed anchor devices at different periods, more frequently compared to its communication with the other fixed anchor devices (20).
  • the mobile device (10.1) communicates with the first and second fixed anchor devices at different periods, more frequently compared to its communication with the other fixed anchor devices (20).
  • the mobile device (10.1) is connected with a moving member (10). While the moving member (10) moves within the area (30), said mobile device (10.1) periodically sends a RF message to the ambience within said area (30) and the fixed anchor devices (20) that are able to receive the message send the response messages to said mobile device (10.1). Said messaging process and the resulting communication are described below.
  • the mobile device (10.1) periodically sends to the ambience a first RF message -signal- in the UWB range while the moving member (10) is in motion.
  • Each of the fixed anchor devices (20) that are able to receive the sent message -if within the message detection range- sends a second RF response message in the UWB range to the mobile device (10.1).
  • said mobile device In response to the second response messages sent to the mobile device (10.1), said mobile device
  • the mobile device (10.1) sends a third RF message in the UWB range to the fixed anchor devices (20). More specifically, the mobile device (10.1) sends a first message (poll) at the time of Tl ( Figure 2). The fixed anchor device (20) receives the first message at the elapsed time of T2 and records the value of T2. Then, the fixed anchor device (20) sends a second message (response) to the mobile device
  • the mobile device (10.1) receives the second message at the elapsed time of T4 and records the value of T4. Then, the mobile device (10.1) sends a third message (final) containing the information about ID, Tl, T3, and T5 to the fixed anchor device (20) at a time of T5. The fixed anchor device (20) receives the third message at the time of T6 and records the value of T6.
  • the fixed anchor devices (20) in order to calculate their distances from the mobile device
  • T [(T4 - Tl) - (T3 - T2) + (T6 - T3) - (T5 - T4)] / 4 and thus calculate a value of T.
  • Said value of D gives the distance between the mobile device (10.1) and the fixed anchor device (20) and is represented by a and b in Figures 9, 10, 11, 12, 13, and 14. Said calculations take place in the processors of the fixed anchor devices (20) and are performed periodically.
  • the fixed anchor devices (20) periodically calculate their distances from the mobile device (10.1) via a distance calculation method by the use of the message information resulting from the communication, and thus, the mobile device (10.1) and the fixed anchor devices (20) attain a state where they know the distances between one another. All the fixed anchor devices (20), via the described method, calculate their distances from the mobile device (10.1) by communicating with said mobile device (10.1) and transmit the value they calculate to said mobile device (10.1) as a message.
  • the determination may be made by performing the calculation in a state where the first and the second fixed anchor devices are not known by the mobile device (10.1).
  • the mobile device (10.1) connected with the moving member (10) periodically sends to the ambience within said area (30) a RF message in the UWB range.
  • the fixed anchor devices (20) having a communication mode in the on state at all times and being nearest to the marked zone (40) receive the message periodically sent to the ambience by the mobile device (10.1).
  • the first fixed anchor device and the second fixed anchor device detecting said RF message sent to the ambience start to communicate with the mobile device (10.1).
  • the first and second fixed anchor devices via the TWR method described in the previous paragraphs, periodically calculate their distances from the moving member (10) by the use of the communication data and notify said distances to said moving member (10). Owing to this, the distances between the mobile device (10.1) and the first fixed anchor device and second fixed anchor device are periodically calculated by the use of the communication data. While the distance calculation method is the TWR (two-way ranging) method in the preferred embodiment of our invention, it is also possible to employ different distance calculation methods.
  • the determination that the moving member (10) has approached/entered the marked zone (40) is achieved by means of a virtual boundary (50) approach.
  • the mobile device (10.1) determines a virtual boundary (50). This approach will be better explained in the following.
  • the periodically calculated distances of the moving member (10) from the first and the second fixed anchor devices are represented by a and b, respectively.
  • the vertical distance from the horizontal axis where the first and the second fixed anchor devices are located to the moving member (10) is defined/designated as y;
  • the horizontal length, at which the horizontal axis where the first fixed anchor device is located and said length y perpendicularly intersect and which extends from said intersection point to the first fixed anchor device, is defined/designated as t;
  • the horizontal length, at which the horizontal axis where the second fixed anchor device is located and said length y perpendicularly intersect and which extends from said intersection point to the second fixed anchor device is defined/designated as z;
  • the distance of the first fixed anchor device from the marked zone (40) is defined/designated as /c;
  • the distance of the second fixed anchor device from the marked zone (40) is defined/designated as Z;
  • the mobile device (10.1) decides that the moving member (10) is “approaching” the marked zone (40) if said values decrease and that the moving member (10) is “distancing” from the marked zone (40) if said values increase. In case it is decided that the moving member (10) is “distancing”, said moving member (10) does not take any action and continues its operation.
  • the mobile device (10.1) defines/identifies a virtual boundary (50) with a geometry encompassing said marked zone (40), the first fixed anchor device, and the second fixed anchor device, according to a tolerance value/the tolerance values within the communication range between the moving member (10) and the first and the second fixed anchor devices.
  • Said tolerance value is designated as M in case the moving member (10) located within the communication range with the first and the second fixed anchor devices is in a zone outside the first and the second fixed anchor devices, while said tolerance value is designated as N in case the moving member (10) located within the communication range with the first and the second fixed anchor devices is in a zone between the first and the second fixed anchor devices.
  • Said tolerance values are the parameters used to determine and adjust the area covered by the virtual boundary (50).
  • Said virtual boundary (50) shows difference
  • the virtual boundary (50) with a graph geometry that belongs to the solution set of the inequality “c ⁇ (a - b) ⁇ c + M” is determined if a is greater as a result of the comparison of the values of a and b
  • the virtual boundary (50) with a graph geometry that belongs to the solution set of the inequality “c ⁇ (b - d) ⁇ c + M” is determined if b is greater as a result of the comparison of the values of a and b.
  • the solution sets of these two inequalities constitute the parts of the graph in Figure 8, plotted in the computer environment (matlab), which remain between (-10 and 0) and (10 and 20) on the horizontal axis.
  • the virtual boundary (50) with a graph geometry that belongs to the solution set of the inequality “c ⁇ a + b ⁇ c + N” is determined.
  • the solution set of said inequality constitutes the parts of the graph in Figure 8, plotted in the computer environment (matlab), which remain between (0 and 10) on the horizontal axis.
  • the virtual boundaries (50) given in Figures 9, 10 and 11 are formed based on the graph generated in Figure 8 with the solution sets of the inequalities.
  • the path along which the moving member (10) is able to advance includes a certain width.
  • the shelves (60) accommodating the products are depicted on the sides of the path that is shown by the dashed lines in Figures 9, 10 and 11.
  • the part extending up to said shelves (60) determines the width of our path and the tolerance values are determined according to the path width when forming the virtual boundary (50).
  • the moving member (10) communicates with the nearest fixed anchor devices (20) and the nearest fixed anchor devices (20) instantly and periodically calculate their distances (a and b) from the mobile device (10.1) by using a distance calculation method.
  • the nearest fixed anchor devices (20) are the first and the second fixed anchor devices.
  • the calculated distance information is notified as a message to the mobile device (10.1) during the communication.
  • the values of t and z i.e., the analytic plane horizontal axis equivalents of the periodically calculated distances a and b, are periodically calculated in the processor of the mobile device (10.1).
  • the mobile device (10.1) When the moving member (10) has considerably approached a marked zone (40) on the side with the first or the second fixed anchor device, the mobile device (10.1) performs the length calculations and guides the moving member (10). More specifically, some equations are periodically checked in the mobile device (10.1) while the moving member (10) is approaching a marked zone (40) on the side with the first fixed anchor device and while the moving member (10) is approaching a marked zone (40) on the side with the second fixed anchor device. In case said equations are satisfied, the mobile device (10.1) issues/notifies to the moving member (10) the instructions of “take no action” and “take action”.
  • the moving member (10) within the virtual boundary (50) slowing down by reducing its speed by a certain extent, the moving member (10) coming to a full stop, the moving member (10) issuing an audible warning (sounding a horn), the moving member (10) issuing a visual warning (flashing a light), etc. may be mentioned as the examples of the instructions of “take action” issued by the mobile device (10.1).
  • the moving member (10) may reduce its speed at the first instance it enters the marked zone (40) and may continue its movement and then come to a full stop by reducing its speed to zero within said marked zone (40). In this way, a stepwise and safer action taking process is realized.
  • the mobile device (10.1) represents the forklift anchor (FA)
  • the moving member (10) represents the forklift (F)
  • the fixed anchor device (20) represents the fixed anchor (S)
  • the value y represents the first distance (k1)
  • the value t represents the second distance (k2)
  • the value z represents the third distance (k3)
  • the value k represents the fourth distance (k4)
  • the value I represents the fifth distance (k5)
  • the value a represents the sixth distance (k6)
  • the value b represents the seventh distance (k7)
  • the value c represents the eighth distance (k8)
  • the value x represents the ninth distance (k9)
  • the value c-x represents the tenth distance (k10)
  • the value M represents the first tolerance value
  • the value N represents the second tolerance value.
  • the descriptions for this scenario will be provided using the references to forklift control unit, first anchor (W1), second anchor (W2), and action value.
  • the vertical distance of a plane where said first anchor (W1) and second anchor (W2) are present from a plane where the forklift (F) is present is defined as a first distance (k1); the horizontal distance from an intersection point, at which said plane where the first anchor (W1) is present and said first distance (k1) perpendicularly intersect, to the first anchor (W1) is defined as a second distance (k2); the horizontal distance from said intersection point, at which said plane where the second anchor (W2) is present and said first distance (k1) perpendicularly intersect, to the second anchor (W2) is defined as a third distance (k3); the planar distance of the first anchor (W1) from said marked zone (40) is defined as a fourth distance (k4); the planar distance of the second anchor (W2) from said marked zone (40) is defined as a fifth distance (k5); the periodically calculated distance between the forklift anchor (FA) and the first anchor (W1) is defined as a sixth distance (k6); the periodically calculated distance between the forklift anchor (
  • the forklift (F) is used for the process of handling the material to the shelves or to any zone within the area (30).
  • a forklift anchor (FA) is deployed in the forklift (F) in order to enable said forklift (F) to perform the communication.
  • a forklift control unit capable of communicating with the forklift anchor (FA) and of controlling the received information is available in the forklift (F).
  • the forklift control unit refers to an electronic unit, which controls the information (electronic information, communication information, etc.) coming from the sensors, electronic circuits, forklift anchor (FA) and electronic parts available in the forklift (F).
  • the forklift control unit detects the electrical signals and the communication signals and is able to interpret the detected information.
  • the forklift control unit performs the processes of detection and interpretation with the help of the electronic circuits and processors available in its structure.
  • the processor may be an industrial microcontroller.
  • the forklift control unit is arranged in a manner where it is associated with the forklift (F).
  • the forklift control unit is in contact with all kinds of electronic circuits and with every electronically controllable part available in the forklift (F) and is able to communicate with said parts.
  • the forklift anchor (FA) communicates with the first anchor (W1) and the second anchor (W2) at different periods.
  • the forklift scenario is basically as follows: Regarding the performance of the communication, the forklift (F) communicates, with the help of the forklift anchor (FA), with two fixed anchors (S), which are nearest to said forklift (F) at any instant T, when said forklift (F) approaches the marked zone (40), and then performs the calculations of distance and virtual boundary (50).
  • the forklift anchor (FA) knows the distances between the fixed anchors (S), the operational instructions, the information about the tolerance values predetermined via a software, and the information about the action value. There may be more than one such action value and these may be changed at any time desired.
  • a different virtual boundary (50) in a different geometry is determined for each of the two fixed anchors (S), depending on the tolerance values.
  • the fixed anchors (S) have the data on which the respective approach of taking action by forming the virtual boundary (50) is to be applied.
  • the forklift anchor (FA) has the information about the fourth distance (k4), the information about the fifth distance (k5), and the data about the distance -eighth distance (k8)- between the fixed anchors (S).
  • the phrase “determination of the virtual boundary (50)” refers to the substitution of the predetermined tolerance values (first tolerance value, second tolerance value) into an inequality system and the subsequent generation of the virtual boundary (50) according to the solution set of the inequality system.
  • a virtual boundary (50) with desired geometry is generated in a way that it will cover a marked zone (40) and the fixed anchors (S) associated with said marked zone (40).
  • the fixed anchors (S) associated with (i.e., nearest to) said marked zone (40) are the first and the second anchors (W1, W2).
  • the tolerance information identifying the virtual boundary (50) is recorded with the help of an interface and is transmitted to the respective devices via a transfer device.
  • the distance between the fixed anchors (S) and the predetermined tolerance values affect the geometric shape of the virtual boundary (50), i.e., the geometry of the virtual boundary (50).
  • the geometry of the virtual boundary (50) when there is a distance of 2 meters between two fixed anchors (S) is not the same as the geometry of the virtual boundary (50) when said distance is 5 meters.
  • the data containing the actions to be taken by the forklift (F) in case said forklift (F) approaches or enters the marked zone (40) may be manually or automatically defined in the memory unit of the forklift anchor (FA).
  • the forklift anchor (FA) transmits to the forklift control unit an electrical sign including the operational instruction information.
  • the forklift control unit may send another electrical sign information to a light circuit with which it is connected and may control the light source (e.g., may enable the light to blink).
  • the light source may be a lamp.
  • the forklift control unit when the forklift control unit receives an electrical sign including the operational instruction information, it may send an electrical sign to a sound circuit with which it is connected and may control a warning device in said sound circuit.
  • the warning device may be a loudspeaker or a horn.
  • the forklift control unit when the forklift control unit receives an electrical sign including the operational instruction information, it may combine the light source and the warning device to enable the same to operate simultaneously.
  • the forklift control unit when the forklift control unit receives an electrical sign including the operational instruction information, it may send an electrical sign to a brake system circuit with which it is connected and may enable the forklift (F) to stop by controlling the brakes in said brake system circuit.
  • the forklift control unit is capable of communicating with the circuits available in the forklift (F) also in a wireless manner, without any physical connection being present between said forklift control unit and said circuits.
  • a stop-sign (pedestrian crossing) is present within the area (30).
  • the area (30) may be a warehouse.
  • the entry of the forklift (F) to said pedestrian crossing is undesirable, and therefore, the forklift (F) takes action at a certain distance from the pedestrian crossing while approaching said pedestrian crossing.
  • the zone which includes only the front zone where the action is to be taken by the forklift (F) or only the pedestrian crossing, or both the front zone where the action is to be taken and the pedestrian crossing, may be identified as the marked zone (40).
  • the marked zone (40) may preferably be a front zone located before a critical zone (pedestrian crossing) or may be a critical zone (pedestrian crossing) only.
  • the marked zone (40) defines the zone where the forklift (F) is to take action by implementing at least one operational instruction and the marked zone (40) is located within said area (30).
  • the fixed anchors (S) are deployed at various locations of the area (30), by means of the previously described mapping technique.
  • the fixed anchors (S) are positioned at certain intervals on the ceiling that is directly above the marked zone (40).
  • the fixed anchors (S) are positioned generally along the same direction, it is sometimes also possible for the same to be positioned with certain axis eccentricity due to the structure of the warehouse.
  • the virtual boundary (50), the peripheral limit of which is to cover the entire marked zone (40) and the fixed anchors (S) associated with the marked zone (40), is generated in real time according to the predetermined tolerance values and the instantly calculated distance data in the processor of the forklift anchor (FA).
  • said virtual boundary (50) is divided into three zones by way of alignment applied from the determined first and second anchors (W1, W2) ( Figure 19).
  • the identified zones (three zones) are named as a first zone (40.1), a second zone (40.2), and a third zone (40.3).
  • the pedestrian crossings, the fixed anchors (S), and the forklift (F) may be present in said zones, wherein the forklift (F) takes action by performing different calculations when passing through these zones.
  • the parameters such as the places (locations) where the fixed anchors (S) are to be positioned within the area (30), etc. are measured by the site teams by means of various techniques and equipment (laser, 3D sensor, etc.).
  • the system includes an interface (software), in which the parameters of the fixed anchors (S), the determined fixed anchor (S) locations, the distances of the fixed anchors (S) from one another, the virtual boundary (50) data (tolerance values, action values, etc.) determined specifically for each selected group of two fixed anchors (S), the operational instruction data, etc. may be input and which enables the information to be transmitted with the help of a transfer device.
  • This software is capable of operating in a computer environment or on a server.
  • a message structure including the parameters that are input in said software and the data that are desired to be recorded in the memory units of the devices is generated.
  • Said transfer device connects to said interface and transmits, in a wireless or wired manner, the message including the data that are desired to be recorded in the memory units of the fixed anchors (S) and the forklift anchor (FA) to said devices.
  • the data are recorded manually.
  • the forklift (F) communicates with the two fixed anchors (S) that are nearest to said forklift (F) according to the recorded data and takes an action according to the previously determined virtual boundary (50) with the help of the tolerance values.
  • Said transfer device is capable of performing the RF communication.
  • This data recording process is repeated in such a way that the data for each forklift (F) will be recorded in the forklift anchor (FA). This repetition is caused by the fact that the system operates without being connected to any server.
  • the fixed anchors (S) located within the marked zone (40) or in the regions near the marked zone (40) are used in the virtual boundary (50) approach.
  • the two fixed anchors (S) that are nearest to the marked zone (40) are defined/identified as a first anchor (W1) and a second anchor (W2);
  • the tolerance value in case the forklift (10) that is within the communication range with said first and second anchors (W1, W2) is located in a zone outside the first and the second anchors (W1, W2) is defined/identified as a first tolerance value;
  • the tolerance value in case the forklift (10) that is within the communication range with said first and second anchors (W1, W2) is located in a zone between the first and the second anchors (W1, W2) is defined/identified as a second tolerance value.
  • said identification/definition process is performed in such a way that it will cover all the expressions of first distance (k1); second distance (k2); third distance (k3); fourth distance (k4); fifth distance (k5); sixth distance (k6); seventh distance (k7); eighth distance (k8); ninth distance (k9); tenth distance (k10); first tolerance value; second tolerance value; and action value and in such a way that each one of the expressions will be included.
  • the information that is to be used in the calculation processes is manually recorded in the memory units of the forklift anchors (FA) and/or the fixed anchors (S) participating in the communication.
  • Said manual recording process is a process where an operator (from the site team) records the data in the memory units of the anchors and the forklift anchor (FA) participating in the communication.
  • the operator may use the wired or wireless data transmission methods.
  • a virtual boundary (50) is determined according to said tolerance value and/or values in such a way that it will cover the marked zone (40) and the fixed anchors (S) associated with said marked zone (40) and the data about the determined virtual boundary (50) are recorded in the memory units of the forklift anchors (FA) and/or fixed anchors (S) participating in the communication.
  • Said process of determination is a process where a virtual boundary (50) is formed by performing real-time calculation with the predetermined tolerance value data and the instantly calculated distance data in a way that the zone where the forklift (F) is to take action by implementing the operational instruction, i.e. , the marked zone (40), will be covered.
  • a data set for the forklift anchors (FA), the fixed anchors (S) and the marked zones (40) including the information about the heights of the fixed anchors (S) within said area (30) from the ground; the first tolerance value and the second tolerance value information; the action value information; the information about the horizontal distance (fourth distance (k4), fifth distance (k5)) from the marked zones (40) with which the fixed anchors (S) are associated in two dimensions by assuming that the plane where the fixed anchors (S) are present and the plane where the marked zones (40) with which said fixed anchors (S) are associated are present are the same; the information about the distances (eighth distance (k8)) of the fixed anchors (S) from one another; the identification (ID) information of the forklift anchor (FA) and the fixed anchors (S); the information about the operational instruction the forklift anchor (FA) is required to transmit to the forklift control unit in case the forklift (F) approaches the marked zone (40); the information about the first and the second anchor
  • the data is manually recorded in the memory units of the forklift anchor (FA) and/or the fixed anchors (S), i.e., all the anchors participating in the communication. It is possible to perform this recording process in different combinations.
  • the data may be recorded in such a way that some of said data will be recorded in the forklift anchor (FA) and some of said data will be recorded in the fixed anchors (S), or by employing other different combinations.
  • the forklift control unit is able to detect the received electrical sign information containing the operational instructions and is accordingly able to stop the forklift (F), warn the people by making a sound, warn the people by causing the lights to blink, or enable the forklift (F) to take action via the combinations of said situations.
  • the forklift control unit transmits the electrical sign information containing the operational instructions to the units where the forklift (F) is to take action and the forklift (F) takes action according to this sign.
  • the operational instructions include at least one of the instructions for enabling the forklift (F) to issue an audible warning, for enabling the forklift (F) to issue a light warning, for reducing the speed of the forklift (F), and for bringing the forklift (F) to a full stop.
  • the forklift control unit After the forklift anchor (FA) transmits to the forklift control unit the electrical sign information, which includes the operational instruction information, said forklift control unit detects the electrical sign and the information about the operational instructions that are to enable the forklift (F) to take action is manually recorded in the memory unit of the forklift anchor (FA).
  • the recording process occurs with the help of the operator in the manner described above, and in this way, the forklift anchor (FA) is enabled to know the operational instructions.
  • the forklift control unit by implementing the operational instructions in the form of audible and visual actions described above, enables the forklift (F) to take action.
  • said forklift (F) While the forklift (F) continues it is operation by handling the articles from one place to another within the area (30), said forklift (F) periodically sends the RF message information to the ambience with the help of the forklift anchor (FA) available in the structure of said forklift (F). Owing to this, said forklift (F) is able to communicate with the other fixed anchors (S). While moving within the area (30) by broadcasting the RF message, the forklift (F), when it approaches the marked zone (40), comes within the communication range of the fixed anchors (S), i.e. , the first and second anchors (W1, W2), that are nearest to said marked zone (40).
  • the fixed anchors (S) i.e. , the first and second anchors (W1, W2)
  • the first anchor (W1) and the second anchor (W2) which detect the RF message information sent to the ambience by the forklift anchor (FA), start to communicate with the forklift anchor (FA).
  • the information about the distances between the forklift anchor (FA) and the first anchor (W1) and second anchor (W2) is periodically calculated by means of the TWR method described in detail in the preceding paragraphs.
  • the distance information may be calculated via a different location calculation method. More specifically, in the processor of the forklift anchor (FA), the distance information is obtained by periodically calculating the distances between the forklift anchor (FA) and the nearest two fixed anchors (S).
  • the processor of the forklift anchor (FA) the data about the zone of the determined virtual boundary (50) in which the forklift (F) is present is obtained by using the periodically calculated distance information. The obtained data are recorded in the memory unit of the forklift anchor (FA). Subsequently, in the processor of the forklift anchor (FA), the data about the direction in which the forklift (F) approaches the marked zone (40) and the fixed anchors (S) is obtained by using the periodically calculated distance information and the obtained data are recorded in the memory unit of the forklift anchor (FA).
  • the zone determination is performed and the direction data are obtained, the state of approaching and distancing from the marked zone (40) is periodically checked in the processor of the forklift anchor (FA) and the forklift (F) takes an action upon the forklift anchor (FA) issuing said operational instruction to said forklift control unit according to the periodically calculated distance information, the data about the zone of the virtual boundary (50) in which the forklift (F) is present, and the data about the direction in which the forklift (F) approaches the marked zone (40) and the fixed anchors (S).
  • the data about whether the forklift (F) is in the first zone (40.1), the second zone (40.2) or the third zone (40.3) is obtained. This data will be used in the subsequent calculations for taking action.
  • the inequality “k7-k6 ⁇ k8” is checked, and in case the inequality is satisfied, it is decided that the forklift (F) is located in the first zone (40.1) of the virtual boundary (50) and the data for this decision are recorded in the memory unit of the forklift anchor (FA); similarly, the inequality “k6-k7 ⁇ k8” is checked, and in case the inequality is satisfied, it is decided that the forklift (F) is located in the third zone (40.3) of the virtual boundary (50) and the data for this decision are recorded in the memory unit of the forklift anchor (FA); and in case the inequalities in the previous steps are not satisfied, it is decided that the forklift (F) is located in the second zone (40.2) of the virtual boundary (50) and the data for this decision are recorded in the memory unit of the fork
  • the forklift (F) is “approaching” the marked zone (40) if said values k6 and k7 decrease simultaneously and the data for said decision are recorded in the memory unit of the forklift anchor (FA), and it is decided that the forklift (F) is “distancing” from the marked zone (40) if said values k6 and k7 increase simultaneously and the data for said decision are recorded in the memory unit of the forklift anchor (FA).
  • the process steps are implemented by using the previously defined expressions that “the horizontal distance from an intersection point, at which said plane where the first anchor (W1) is present and said first distance (k1) perpendicularly intersect, to the first anchor (W1) is a second distance (k2); the horizontal distance from said intersection point, at which said plane where the second anchor (W2) is present and said first distance (k1) perpendicularly intersect, to the second anchor (W2) is a third distance (k3); the periodically calculated distance between the forklift anchor (FA) and the first anchor (W1) is a sixth distance (k6); and the periodically calculated distance between the forklift anchor (FA) and the second anchor (W2) is a seventh distance (k7)”, by neglecting said first distance (k1) beginning from the moment the forklift (F) enters said virtual
  • the forklift (F) is “approaching” the first anchor (W1) and/or the second anchor (W2) from the left side if k7>k6 in the case where said values k6 and k7 decrease simultaneously and the data for said decision are recorded in the memory unit of the forklift anchor (FA)
  • the forklift (F) is “approaching” the first anchor (W1) and/or the second anchor (W2) from the right side if k6>k7 in the case where said values k6 and k7 decrease simultaneously and the data for said decision are recorded in the memory unit of the forklift anchor (FA)
  • the forklift (F) is distancing from the first anchor (W1) and is “approaching” the second anchor (W2) from the left side if k7 decreases and k6 increases in the case where one of said values k6 and k7 increases and the other one of said values k6
  • the approach-distancing direction information calculated in this step will be used during the processes of taking action.
  • the direction data become important in the case where there is more than one marked zone (40).
  • each marked zone (40) has its own direction.
  • the direction of the marked zone (40) means that, for a marked zone (40) with a determined direction, the forklift (F) will take action only in case it approaches from the specified direction and will not take action when approaching from the other directions.
  • Another importance of the concept of direction is that, when the directions of the successively positioned marked zones (40) are the same or different, the forklift (F) will calculate this condition from the direction calculation inequalities, will take action in some marked zones (40), and will take no action in some marked zones (40). This is continuously calculated in real time without using any server and the system thus operates in a practical manner in more than one forklift (F) and more than one marked zone (40).
  • the process steps are implemented by using the definitions previously recorded in the memory unit of the forklift anchor (FA), i.e., the definitions that “the periodically calculated distance between the forklift anchor (FA) and the first anchor (W1) is a sixth distance (k6); the periodically calculated distance between the forklift anchor (FA) and the second anchor (W2) is a seventh distance (k7); the distance between the first anchor (W1) and the second anchor (W2) is an eighth distance (k8); the tolerance value in case the forklift (10) that is within the communication range with the first and the second anchors (W1, W2) is located in a zone outside the first and the second anchors (W1, W2) is a first tolerance value; and the tolerance value in case the forklift (10) that is within the communication range with the first and the second anchors (W1, W2) is located in a zone between the first and the second anchors (W1, W2) is a second tolerance value”, by neglecting said first distance (k1) beginning
  • the first tolerance value and the second tolerance value are determined and the determined data are manually recorded as parameters in the memory units of the forklift anchors (FA) and/or the fixed anchors (S) participating in the communication.
  • the reason for recording the same as parameters is to obtain the ability to easily make changes in the calculations according to the need, by changing the parameter values.
  • the manual recording process is performed in the manner described above in detail.
  • the processor of the forklift anchor (FA) the distance information is obtained by periodically calculating the distances (k6, k7) between the forklift anchor (FA) and the nearest two fixed anchors (S).
  • the virtual boundary (50) with a graph geometry that belongs to the solution set of the inequality “k8 ⁇ (k6-k7) ⁇ k8+first tolerance value” is determined in real time if k6 is greater as a result of the comparison of the values of k6 and k7, while the virtual boundary (50) with a graph geometry that belongs to the solution set of the inequality “k8 ⁇ (k7-k6) ⁇ k8+first tolerance value” is determined in real time if k7 is greater as a result of the comparison of the values of k6 and k7.
  • the virtual boundary (50) with a graph geometry that belongs to the solution set of the inequality “k8 ⁇ k6+k7 ⁇ k8+second tolerance value” is determined in real time.
  • the determination process is performed according to the graphs forming in the solution set of the inequalities.
  • the process steps are implemented by using the definitions previously recorded in the memory unit of the forklift anchor (FA), i.e.
  • the forklift control unit transmits an electrical sign information containing the operational instructions to the units where the forklift (F) is to take action and the forklift (F) takes action or continues its movement by terminating its previous action.
  • the forklift control unit detects the received electrical sign and enables the forklift (F) to continue its movement without taking any action.
  • the forklift control unit according to the received information, enables the forklift (F) to continue its movement without taking any action.
  • another issue required to note is that the forklift (F) continues its movement after terminating the previous action in case said forklift (F) has previously taken an action.
  • said forklift (F) moves away from the marked zone (40) and continues its movement normally by ceasing its previous action, i.e. , by ceasing to sound the horn.
  • the inequality approaches are applied, and the calculations are accordingly performed based on the assumptions that the periodically calculated sixth distance (k6) is equal to the second distance (k2) and the periodically calculated seventh distance (k7) is equal to the third distance (k3).
  • the goal is to provide ease in the calculation by reducing a three-dimensional environment to a two-dimensional planar environment.
  • the calculations are made as if the fixed anchors (S) and the marked zones (40) with which said fixed anchors (S) are associated are located on the same line (axis) in a two-dimensional plane, and the forklifts (F) are thus able to take action in real time without communication being established with a server.
  • orientation or positional relationship indicated in this description by the terms “right” and “left” is based on the orientation or positional relationship shown in the figures and is intended only to clarify the technical solution and facilitate the description.
  • the orientation or positional relationship does not imply or indicate that the mentioned method or element requires a specific orientation and is operated in a specific orientation, and thus, said orientation or positional relationship may not be construed as a limitation of the invention.

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  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Mechanical Engineering (AREA)
  • Structural Engineering (AREA)
  • Forklifts And Lifting Vehicles (AREA)

Abstract

La présente invention concerne en particulier un procédé de sécurité de chariot élévateur pour RTLS (Real Time Location System), ledit procédé présentant la capacité d'empêcher les accidents probables tels que des blessures et la perte de vie et de propriété et d'empêcher les arrêts dans le flux de travail en permettant de calculer les distances entre les dispositifs électroniques suite à la communication entre lesdits dispositifs électroniques suite à la réalisation d'un mappage dans une zone respective (30) et en permettant à un élément mobile (10) qui s'approche de certaines zones de prendre une mesure.
PCT/TR2024/050673 2023-06-13 2024-06-13 Procédé de sécurité de chariot élévateur pour systèmes rtls Ceased WO2024258391A1 (fr)

Applications Claiming Priority (6)

Application Number Priority Date Filing Date Title
TR2023/006967 2023-06-13
TR2023/006967A TR2023006967A1 (tr) 2023-06-13 2023-06-13 Rtls si̇stemler i̇çi̇n bi̇r güvenli̇k yöntemi̇
TR2024/004441 2024-04-13
TR2024/004441A TR2024004441A2 (tr) 2023-04-14 2024-04-13 Gerçek zamanli konuma dayali forkli̇ft aksi̇yon alma yöntemi̇
TR2024/007574 2024-06-12
TR2024/007574A TR2024007574A2 (tr) 2023-06-13 2024-06-12 Rtls si̇stemler i̇çi̇n bi̇r forkli̇ft güvenli̇k yöntemi̇

Publications (1)

Publication Number Publication Date
WO2024258391A1 true WO2024258391A1 (fr) 2024-12-19

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Application Number Title Priority Date Filing Date
PCT/TR2024/050673 Ceased WO2024258391A1 (fr) 2023-06-13 2024-06-13 Procédé de sécurité de chariot élévateur pour systèmes rtls

Country Status (1)

Country Link
WO (1) WO2024258391A1 (fr)

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20190080537A1 (en) * 2017-09-13 2019-03-14 Quarion Technology Inc System to detect, track, warn, shut down and/or lockout an industrial vehicle entering an unsafe area
KR102325652B1 (ko) * 2021-06-24 2021-11-12 주식회사 바라스토 Uwb를 이용한 지게차 충돌방지 시스템
KR20220164189A (ko) * 2021-06-04 2022-12-13 이도전자(주) 전기적 공진으로 촉각 정보를 구현한 Wearable Devicess와 산업재해 예방을 위한 양방향 위험인지 시스템

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20190080537A1 (en) * 2017-09-13 2019-03-14 Quarion Technology Inc System to detect, track, warn, shut down and/or lockout an industrial vehicle entering an unsafe area
KR20220164189A (ko) * 2021-06-04 2022-12-13 이도전자(주) 전기적 공진으로 촉각 정보를 구현한 Wearable Devicess와 산업재해 예방을 위한 양방향 위험인지 시스템
KR102325652B1 (ko) * 2021-06-24 2021-11-12 주식회사 바라스토 Uwb를 이용한 지게차 충돌방지 시스템

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