Method for detecting information about an extension of a cargo carrier in an industrial truck that can be operated at least partially automatically

Abstract

The invention relates to a method for detecting information about the extension (1) of a goods carrier (2) in at least one extension direction (4), which can be transported by means of an industrial truck (3) which can be operated at least partially automatically, wherein the following steps are performed automatically by the industrial truck (3): a) approaching a predefined initial position (5) relative to the goods carrier (2), wherein the arrival of the initial position (5) is detected by means of a sensor device (6) of the industrial truck (3), b) traveling a predefined route (7) along the extension direction (4) starting from the initial position (5), c) after traveling the predefined route (7), performing a further detection process by means of the same sensor device (6) of the industrial truck (3).

Description

Technical Field

[0001] This invention relates to a method for detecting information regarding the expansion of a cargo carrier in at least one expansion direction, the cargo carrier being transported by means of an industrial truck capable of at least partially automated operation. Furthermore, a computer program, a machine-readable storage medium, a control device, a system, an industrial truck, and an application are also proposed. The invention is particularly useful for: making the safest and most automated distinction possible between 400 and 600 vehicles (cargo carriers) when such vehicles should be or are being loaded onto an industrial truck. Background Technology

[0002] Industrial trucks that are at least partially automated or even autonomous are known, and are often referred to as (automated or autonomous) industrial trucks (AGVs). For example, the corresponding industrial truck is defined in EN 1525. To achieve the safest possible transport, the transported goods, typically stored in a cargo carrier (often called a "dolly" in the relevant region), should be transported as close as possible to the center of gravity of the industrial truck.

[0003] In industrial trucks with an elevated front structure (relative to the loading surface or loading platform), the cargo carrier should generally be loaded such that its front end side (as form-fitting as possible) is positioned at or at least as close as possible to the rear end wall of the front structure or adjacent to said rear end wall, thereby preventing, as far as possible, forward tilting and / or damage to the load (the transported goods in the cargo carrier) in the direction of travel during emergency stops and / or sudden braking.

[0004] Therefore, for automated operations, which often include automated loading processes, sensors located in or on the industrial truck are advantageous for monitoring the correct positioning of cargo carriers on the loading platform. Typically, at least two loading platform sensors spaced apart from each other in the longitudinal direction are used in this context. This is described as sensors arranged in and / or on the loading platform to detect the positioning of cargo carriers on it. Such sensors are particularly important for mixed operations, in which industrial trucks are used to automate the sequential loading and transport of cargo carriers of varying lengths. Especially for mixed operations, it has been essential to use at least two loading platform sensors spaced apart from each other in the longitudinal direction, one responsible for proper placement on the loading platform and the other for identifying the length of the cargo carrier.

[0005] In addition, safety sensors are typically installed in and / or on industrial trucks to monitor the environment surrounding them. For this purpose, sensors may be used, for example, to monitor at least one warning zone and / or protected zone within the industrial truck's environment. If an object, such as a person or part thereof, is detected by the safety sensors in a warning zone or protected zone, the industrial truck will typically come too close to the object, thus often affecting the operation of the industrial truck, particularly depending on the area and / or type in which the object was detected, in order to avoid collisions with the object as much as possible.

[0006] Therefore, in industrial trucks where mixed operation should be feasible with the highest possible operational safety, there are disadvantages: these trucks are typically equipped with a large number of particularly different sensors. This particularly negatively impacts the material costs of such industrial trucks. Furthermore, a large number of different sensors also negatively affects the storage and management costs of spare parts for the corresponding industrial trucks. In addition, a large number of sensors also negatively impacts the uptime of industrial trucks, as the increased number of sensors generally also increases the risk of failure. Summary of the Invention

[0007] Based on the foregoing, the objective of this invention is to at least partially address the shortcomings or problems described in conjunction with the prior art. In particular, in the case of industrial trucks that can be at least partially automated, and especially suitable for mixed operation, the number of sensors used should be reduced while maximizing operational safety.

[0008] The objective is achieved through the features of the respective independent claims. Advantageous design solutions are derived from the dependent claims.

[0009] To this end is a method for detecting information about the expansion of a cargo carrier in at least one expansion direction, the cargo carrier being transported by means of an industrial truck capable of at least partially automated operation, wherein the industrial truck automates at least the following steps:

[0010] a) Approaching a predefined initial position relative to the cargo carrier, wherein arrival at the initial position is detected by means of sensor devices on the industrial truck.

[0011] b) Starting from the initial position, proceed along a predefined route in the expansion direction.

[0012] c) After traveling along a predefined route, another detection process is performed using the same sensor devices on the industrial truck.

[0013] To perform this method, steps a), b), and c) may be performed at least once and / or repeatedly in the described order. For example, the method may be performed by means of a control device and / or a system and / or an industrial truck, also described herein. In this method, at least steps a), b), and c) may advantageously be performed autonomously by the industrial truck.

[0014] This method advantageously saves at least one (inductive) sensor used for identifying the length of the cargo carrier. To this end, a method is proposed for the first time, by which the length of the cargo carrier is identified in a particularly advantageous manner using existing safety sensors as sensor devices.

[0015] Industrial trucks can be, for example, those defined in EN 1525. Industrial trucks can be designed for at least partially automated and / or autonomous (driving) operation. Industrial trucks typically have a loading platform. Furthermore, industrial trucks may have a front structure. The front structure typically has a substantially vertical rear wall facing the loading platform. Loading platform sensors of the industrial truck can be arranged in areas where the loading platform is adjacent to or terminates at the rear wall. Loading platform sensors are typically used to identify the correct placement of cargo carriers on the loading platform. For example, loading platform sensors can be inductive sensors.

[0016] The sensor device can be arranged at the rear of the industrial truck and / or in an area at the rear end of the loading platform. The sensor device is preferably designed to: monitor at least one warning area and / or at least one protected area in the environment of the industrial truck, particularly at least one warning area and / or at least one protected area at the rear of the industrial truck, or at least for this purpose, to detect or scan by means of a laser beam. The sensor device can also be a safety sensor for the industrial truck or perform its function. The sensor device can preferably be configured as or include a laser scanner. Typically, the sensor device is primarily rearward oriented or rearward and lateral (to the left and right sides of the industrial truck). It may be suggested that the sensor device is not upward oriented. In particular, the industrial truck can be configured without a rear loading platform sensor and / or, according to the methods described herein, not use such a sensor during detection.

[0017] The cargo carrier may be, for example, a flatbed trailer, in which and / or on which transport goods can be stored, particularly for transport purposes. The cargo carrier may be equipped with at least two front wheels spaced apart from each other in the lateral direction and at least two rear wheels spaced apart from each other in the lateral direction. The lateral spacing of the wheels may be designed, for example, such that the cargo carrier can be traveled from below by an industrial truck, allowing the cargo carrier (traveling from below) to be loaded onto the loading platform of the industrial truck. The corresponding cargo carrier may also be commonly referred to as a "trolley". Furthermore, the front and rear wheels typically have a specific spacing between each other in the longitudinal direction according to the length of the cargo carrier. Therefore, the front and rear wheels can be used here as particularly advantageous identification mechanisms for the length of the cargo carrier. Alternatively or cumulatively, (additional) identification mechanisms spaced apart from each other at a specific interval may be arranged longitudinally at the cargo carrier, and these identification mechanisms may be detected by sensor devices. For example, in this context, at least one front identification mechanism and at least one rear identification mechanism may be present. The longitudinal spacing between the front and rear identification mechanisms can advantageously characterize the type and / or length of the cargo carrier.

[0018] The direction of expansion can be, for example, longitudinal. The expansion of the cargo carrier can particularly relate to the length of the cargo carrier. For example, information about the expansion of the cargo carrier can be directly the length of the cargo carrier or information that allows for the conclusion of the cargo carrier's length. For example, this information can be characteristic of a particular type of cargo carrier. Thus, the method can also advantageously help distinguish which type of cargo carrier (from a limited number of cargo carrier types) is loaded onto industrial trucks. This method can be used particularly advantageously to distinguish between two types: 400 trucks (400mm long cargo carriers) and 600 trucks (600mm long cargo carriers).

[0019] In step a), the truck approaches a pre-defined initial position relative to the cargo carrier, where arrival at the initial position is detected by means of the industrial truck's sensor devices. The initial position may, for example, be pre-defined relative to the cargo carrier such that at least one of the cargo carrier's front identification mechanisms, such as at least one front wheel, is (just or initially) located in a warning zone monitored by means of the sensor devices. Preferably, it can be proposed that each of the cargo carrier's two front wheels is located in one of the two warning zones. These warning zones may, for example, be located at the ends of a protection zone away from the industrial truck or at the rear, which is also monitored by means of the sensor devices. Here, the protection zone is typically used to alter or even stop further movement when an object is detected in the protection zone. In other words, this specifically means that the protection zone is a "harder" boundary for the operation of the industrial truck compared to the warning zone.

[0020] In step b), a predefined route is traveled from the initial position along the expansion direction. Here, the route is typically predefined to allow differentiation between at least two types of cargo carriers, which differ from each other, particularly in their length, as they extend along the expansion direction. To allow (unobstructed) travel along this route, it is advantageous, if necessary, to first switch or change the protection zone so that travel can (completely) under the cargo carrier. Specifically, the protection zone can be switched to be narrower so that the wheels of the cargo carrier (during travel under the cargo carrier) are not within the protection zone. When switching the protection zone, the warning zone may be closer to the industrial truck. The distance differences that may thus need to be considered can be used in the predefined route or taken into account here.

[0021] In step c), after traveling along a predefined route, another detection process is performed using the same sensor device of the industrial truck. Specifically, the route is predefined such that, in the case of a first (shorter) cargo carrier of at least two types of cargo, at least one rear identification mechanism of the cargo carrier, such as at least one rear wheel of the cargo carrier, is (just or for the first time) in a warning zone monitored by the sensor device during the detection process according to step c). Preferably, it can be proposed that, here, the two rear wheels of the cargo carrier (must) each be in one of the two warning zones. Therefore, when traveling under a second (longer) cargo carrier of at least two types of cargo, the identification mechanism of the cargo carrier, particularly the (rear) wheels of the cargo carrier, is not in a warning zone monitored by the sensor device during the detection process according to step c).

[0022] In step d), the detection process in step c) can be evaluated, specifically to determine, based on the detection results of step c), which type of cargo carrier (from at least two types of cargo carriers) is traveling or being loaded below. Here, for example, it can be determined that if at least one post-identification mechanism is detected after traveling a predefined route, then the cargo is traveling or being loaded just below the first (shorter) cargo carrier of at least two types of cargo carriers. Furthermore, it can advantageously be determined that if no post-identification mechanism is detected after traveling a predefined route, then the cargo is traveling or being loaded just below the second (longer) cargo carrier of at least two types of cargo carriers. Alternatively or cumulatively, after step c), the state of the warning area can be stored as information for another loading and unloading process.

[0023] According to an advantageous design, steps a) to c) are performed during the loading of a cargo carrier onto an industrial truck. To load the cargo carrier onto the industrial truck or its loading platform, for example, by at least a portion of the industrial truck, such as a longitudinal section of the truck with a loading platform, traveling beneath the cargo carrier. This can advantageously facilitate the (direct) identification of different types (of varying lengths) of cargo carriers during loading.

[0024] According to another advantageous design, at least one warning zone in the environment of the industrial truck is monitored by means of a sensor device. The sensor device preferably monitors at least two warning zones at the rear or rear side of the industrial truck. Furthermore, at least one protected zone in the industrial truck environment can be monitored by means of the sensor device. Specifically, a rear-facing laser scanner for personnel protection can be used as a sensor device to detect information regarding the extension (length) of the cargo carrier above the additional warning zones and, if necessary, to distinguish between at least two types (of different lengths) of cargo carriers, wherein the warning zones simultaneously switch to (personnel) protected zones and, if necessary, to perform evaluation.

[0025] According to another advantageous design, the sensor device scans at least one warning area using a laser beam. In this context, the sensor device can be configured, for example, as a laser scanner. In particular, here, the laser scanner is also used to monitor at least one (personnel) protected area in an industrial truck environment, especially behind the industrial truck.

[0026] According to another aspect, a computer program for performing the methods described herein is proposed. In other words, this particularly relates to a computer program (product) comprising instructions that, when executed by a computer, cause the computer to perform the methods described herein.

[0027] According to another aspect, a machine-readable storage medium is also proposed, on which a computer program is stored. Machine-readable storage media are typically computer-readable data carriers.

[0028] According to another aspect, a control device for an industrial truck capable of at least partially automated operation is also proposed, wherein the control device is designed to perform the methods described herein. The control device (controller) may, for example, include a computer capable of executing instructions to perform the method. For this purpose, the computer or control device may, for example, execute the illustrated computer program. For instance, the computer or control device may access the illustrated storage medium to execute the computer program.

[0029] According to another aspect, a system for industrial trucks capable of at least partially automated operation is also proposed, wherein the system includes at least a control device and a sensor device that can be connected to the control device to transmit data. The sensor device is typically the same as those used in this method.

[0030] According to another aspect, an industrial truck having this system that can operate at least partially automatically is also proposed. Alternatively or cumulatively, this can also be described as an industrial truck that can operate at least partially automatically, said industrial truck being designed to perform the methods described herein. Furthermore, industrial trucks are generally designed for at least partially automated or autonomous (travel) operation.

[0031] According to another aspect, the use of a laser scanner mounted on the rear of an industrial truck capable of at least partially automated operation is also proposed, for automatically detecting information about the extension of a cargo carrier in at least one extension direction, the cargo carrier being transported by means of the industrial truck.

[0032] In summary, in other words, a particularly advantageous design of the solution described herein can also be described as such that different types (of different lengths) of trolleys should be identified when loading them onto an autonomous transport vehicle. For this purpose, it is advantageous to use a method in which the wheels of the trolley are identified by means of a laser scanner positioned at the rear of the vehicle via a warning area. After the front wheels are identified and the vehicle travels a predefined route under the trolley, the length of the trolley is determined by at least one second query of the warning area.

[0033] The details, features, and advantageous design solutions discussed in conjunction with this method can also appear in the computer programs and / or storage media and / or control devices and / or systems and / or industrial trucks and / or applications presented herein, and vice versa. For this purpose, in order to characterize the features in more detail, full reference is made to the embodiments described therein. Attached Figure Description

[0034] The solutions and their technical environment presented herein are explained in more detail below with reference to the accompanying drawings. It should be noted that the invention is not intended to be limited to the embodiments shown. In particular, unless explicitly shown otherwise, aspects of the facts explained in the drawings may be extracted and combined with other components and / or knowledge derived from other drawings and / or this specification. Exemplarily and illustratively:

[0035] Figure 1 The image shows a top view of two industrial trucks according to existing technology.

[0036] Figure 2 An example flow of the method presented herein is shown.

[0037] Figure 3 A cross-sectional view of one embodiment of the industrial truck described herein is shown, and

[0038] Figure 4-7 A top view showing an advantageous application of the method described herein. Detailed Implementation

[0039] Figure 1 Two industrial trucks 3 according to the prior art are shown exemplarily and schematically from top view. Each industrial truck 3 has a front structure 15 and a loading platform 16. On the upper part of the two industrial trucks 3, a cargo carrier 2 with a length of 600 mm (so-called 600 units) is loaded with a stable load at the rear of the front structure 15. On the lower part of the two industrial trucks 3, a cargo carrier 2 with a length of 400 mm (so-called 400 units) is loaded with a stable load at the rear of the front structure 15.

[0040] The industrial truck 3 also has two loading platform sensors 12 and 13 and at least one safety sensor 17. The front loading platform sensor 12 is used to identify the correct placement of the cargo carrier 2 on the loading platform 16. The rear loading platform sensor 13 is used to identify the length of the cargo carrier. The two loading platform sensors 12 and 13 are typically inductive sensors. Therefore, according to the prior art, "identifying" the length of the cargo carrier is generally limited to identifying whether the cargo carrier 2, which is loaded up to the front structure 15 and can be detected in the area of ​​the front loading platform sensor 12, is also detected at the rear loading platform sensor 13. However, this allows for a clear distinction between loading a shorter cargo carrier 2 (here, 400 trucks) that only partially spans the loading platform 16 and loading a longer cargo carrier 2 (here, 600 trucks) that at least completely spans the loading platform.

[0041] The method described herein advantageously allows for the saving of at least the post-loading platform sensor 13.

[0042] Figure 2 An exemplary flow of the method proposed herein is schematically illustrated. This method is used to detect information regarding the extension 1 of a cargo carrier 2 in at least one extension direction 4, the cargo carrier being transported by means of an industrial truck 3 capable of at least partially automated operation (see [link to relevant documentation]). Figures 3 to 7 The order of steps a), b), and c) shown in boxes 110, 120, and 130 is exemplary and the method can be performed, for example, by traversing at least once in the order shown.

[0043] In box 110, according to step a), approaching the pre-defined initial position 5 relative to the cargo carrier 2, wherein the arrival at the initial position 5 is detected by means of the sensor device 6 of the industrial truck 3 (see... Figure 4 and 5 In box 120, according to step b), starting from the initial position 5, proceed along the predefined route 7 in the extension direction 4 (see...). Figure 5 and 6 In box 130, according to step c), after traveling the predefined route 7, another detection process is performed by means of the same sensor device 6 of the industrial truck 3 (see...). Figure 6 and 7 ).

[0044] Figure 3 A cross-sectional view of one embodiment of the industrial truck 3 described herein is shown exemplary and schematically. The industrial truck 3 is designed for at least partially automated or autonomous (traveling) operation. Furthermore, the industrial truck 3 is designed to perform the methods described herein. For this purpose, the industrial truck 3 exemplaryly includes a system 10, also described herein. System 10 includes a control device 9 and a sensor device 6, also described herein, which are connected to or can be connected to the control device 9 for data transmission. The control device 9 is designed to perform the described methods.

[0045] The industrial truck 3 has a front structure 15 and a loading platform 16. The front structure 15 has a substantially vertical rear wall 18 facing the loading platform 16. A loading platform sensor 12 of the industrial truck 3 is exemplarily arranged in an area where the loading platform 16 is adjacent to or terminates at the rear wall 18. This area is typically located at the front end of the loading platform 16. The loading platform sensor 12 is typically used to identify the correct placement of the cargo carrier 2 on the loading platform 16. The cargo carrier 2 is correctly placed, especially when it is positioned sufficiently close to the rear wall 18. The loading platform sensor 12 can be, for example, an inductive sensor. Furthermore, the loading platform sensor 12 can be oriented upwards.

[0046] Furthermore, the industrial truck 3, exemplarily, has a sensor device 6 in the rear end region of the loading platform 16. The sensor device 6 is typically designed to: monitor at least one warning area 8 and / or at least one protected area 14 in the environment of the industrial truck 3, particularly at least one warning area and / or at least one protected area behind the industrial truck 3, or at least for this purpose, to detect or scan by means of a laser beam. The actual monitoring can then be performed, for example, by the control device 9 of the industrial truck 3 or a similar device. Therefore, the sensor device 6 can also be a safety sensor 17 for the industrial truck 3. The sensor device 6 can preferably be configured as a laser scanner 11 or include a laser scanner. Typically, the sensor device 6 is primarily rearward oriented or rearward and lateral (to the left and right sides of the industrial truck 3). It can be specified here that the sensor device 6 is not upward oriented. Furthermore, in Figure 3 Identifiable in this example: Industrial truck 3, without a rear loading platform sensor (see...) Figure 1 The loading platform sensor 13 is configured in a manner that, as described herein and which can be used with reference to... Figure 3 The method of execution of industrial truck 3 can be advantageously omitted.

[0047] Here, the control device 9 exemplarily includes a robot control unit (RCU), a motion control unit (MCU), and a safety control unit (SCU). The robot control unit 19, for example, provides the desired direction of travel and speed to the motion control unit 20. The motion control unit 20, exemplarily, further provides the desired direction of travel to the safety control unit 21, calculates a rated speed, and provides said rated speed to the motor assembly 22 of the industrial truck 3. The motor assembly 22 may have one or more (electric) motors, which are effectively connected, if necessary, via a transmission or directly to the driven wheels 23 of the industrial truck 3, and, if necessary, effectively connected in the sense of individually driven wheels 23.

[0048] Furthermore, the industrial truck 3 may have one or more speed sensors 24 (e.g., SIL2 speed sensors) that transmit the actual speed of the motor 22 or wheels 23 to the safety control module 21. For example, here, the safety control module 21 can calculate the travel path or route 7 (safety radar ranging) from the actual speed and / or specifically switch at least one warning zone 8 and / or at least one protection zone 14 (laser scanner zone) according to the desired travel direction.

[0049] To perform this method, the control device 9 can be designed, for example, for the following processing: during approach to the cargo carrier 2 (see... Figure 4 Safety control module 21 switches between two warning zones 8 and a protection zone 14, which are monitored by means of sensor device 6 (exemplarily a laser scanner 11). Here, the two warning zones 8, located behind the protection zone 14 and having a (predefined) lateral distance between them, are switched so that the warning zones can simultaneously detect the two front wheels 25 of the cargo carrier 2 (one of each front wheel 25 in one of the warning zones 8). Thus, the approach process continues until safety control module 21 recognizes that both warning zones 8 are triggered (cart recognition). The position reached here is also referred to as the initial position 5 (see...). Figure 5 This is for an example where, if necessary, as per step a), an initial position 5 predefined relative to the cargo carrier 2 can be approached, wherein the arrival at the initial position 5 is detected by means of a sensor device 6 of an industrial truck 3.

[0050] Safety control module 21 can then switch sensor device 6 to a narrower protection zone 14, where, if necessary, the (longitudinal) position of warning zone 8 will move toward industrial truck 3 (see...). Figure 6 With this configuration, the loading process can continue in the longitudinal direction of the cargo carrier 2 so as to begin from the initial position 5 and proceed along a predefined route 7. This is for the following example: if necessary, as per step b), the predefined route 7 can be proceeded from the initial position 5 along the extension direction 4.

[0051] After traversing route 7, the safety control module 21 can reassess the instantaneous or current detections of sensor device 6 within the two warning zones 8. This is for the following example: if necessary, as per step c), another detection process can be performed using the same sensor device 6 of the industrial truck 3 after traveling the predefined route 7. If no detection is detected in warning zone 8 in this state, or at least no additional wheels, particularly the rear wheels 26 of cargo carrier 2, are detected, it can be concluded that a longer cargo carrier 2 (here, 600 vehicles) is loaded. If detection is detected in warning zone 8 in this state, particularly the detection of additional wheels, particularly the rear wheels 26 of cargo carrier 2, it can be concluded that a shorter cargo carrier 2 (here, 400 vehicles) is loaded. Therefore, during the loading process, the states of the two warning zones 8 can be advantageously used to distinguish between different cargo carriers 2, particularly 400 vehicles and 600 vehicles.

[0052] Figures 4 to 7A top view exemplarily and schematically illustrates an advantageous application of the method described herein. Here, for example in a supermarket, a loading process feasible using this method is exemplarily shown. This is also for the example where steps a) to c) can be performed as necessary during loading of the cargo carrier 2 onto the industrial truck 3.

[0053] Here, in Figure 4 and Figure 5 The diagram illustrates that when an industrial truck 2 enters a supermarket, it can scan or monitor the area behind it using a sensor device 6 (a rear-oriented laser scanner 11). Here, two warning zones 8 can independently identify the corresponding left and right (front) wheels 25 (or front axle wheels 25) of the cargo carrier 2 to be accommodated (e.g., a flatbed truck or trolley). Therefore, this also describes the possibility that, if necessary, at least one warning zone 8, and in particular two warning zones 8, can be monitored in the environment of the industrial truck 3, as with the sensor device 6. Exemplarily, the sensor device 6 can scan the warning zones 8 using a laser beam.

[0054] exist Figure 6 and Figure 7 As shown, after successfully identifying the front wheel 25, the laser scanner 11 can switch to a narrower protection area 14, thereby traveling along a predefined route 7, which is exemplarily particularly suitable for distinguishing 600 vehicles. Figure 6 Warning zone 8 is empty) and 400 vehicles ( Figure 7 Warning area 8 identifies the rear wheel 26 or the wheel 26 of the second axle. At this time, the safety control module 21 can (re)query the status of warning area 8 of laser scanner 11 and preferably store the status as information for further loading and unloading processes.

[0055] therefore, Figures 4 to 7 A laser scanner 11, mounted on the rear side of an industrial truck 3 capable of at least partially automated operation, is also shown for automatically detecting information regarding the extension 1 of a cargo carrier 2 in at least one extension direction 4, which is to be transported by means of the industrial truck 3.

[0056] Therefore, a method, computer program, machine-readable storage medium, control device, system, industrial truck, and application are proposed to at least partially address the shortcomings or problems described in conjunction with the prior art. In particular, in industrial trucks that can operate at least partially automatically, the number of sensors used (especially the second or rear (sensing) loading platform sensors) can be reduced while maintaining the highest possible operational safety, and the industrial trucks should also be particularly suitable for hybrid operation.

[0057] List of reference numerals

[0058] 1. Extension

[0059] 2. Cargo carrier

[0060] 3 Industrial Trucks

[0061] 4. Expansion Direction

[0062] 5. Initial Position

[0063] 6. Sensor Device

[0064] Route 7

[0065] 8 Warning Area

[0066] 9. Control equipment

[0067] 10 System

[0068] 11. Laser Scanner

[0069] 12 Loading platform sensors

[0070] 13 Loading platform sensors

[0071] 14 Protected Area

[0072] 15. Front Structure

[0073] 16 Loading Platform

[0074] 17 Safety Sensors

[0075] 18. Rear wall

[0076] 19. Robot Control Module

[0077] 20 Motion Control Module

[0078] 21 Safety Control Module

[0079] 22 Motor unit

[0080] 23 rounds

[0081] 24 Speed ​​sensor

[0082] 25 front wheels

[0083] 26. Rear wheels.

Claims

1. A method for detecting information about the extension (1) of a cargo carrier (2) in at least one extension direction (4), the cargo carrier being transportable by means of an industrial truck (3) capable of at least partially automated operation, wherein the industrial truck (3) automatically performs at least the following steps: a) Approaching a predefined initial position (5) relative to the cargo carrier (2), wherein the arrival at the initial position (5) is detected by means of a sensor device (6) of the industrial truck (3). b) Starting from the initial position (5), proceed along the predefined route (7) in the expansion direction (4). c) After traveling along the predefined route (7), another detection process is performed using the same sensor device (6) of the industrial truck (3). The sensor device (6) monitors at least one warning zone (8) in the environment of the industrial truck (3), wherein: If no detection is detected in the warning area (8), it is concluded that a long cargo carrier (2) is loaded. If a detection is detected in the warning area (8), it can be concluded that the shorter cargo carrier (2) is loaded.

2. The method according to claim 1, wherein steps a) to c) are performed during loading the cargo carrier (2) onto the industrial truck (3).

3. The method according to claim 1 or 2, wherein the sensor device (6) scans the at least one warning area (8) with a laser beam.

4. A computer program product comprising a computer program for performing the method according to any one of claims 1 to 3.

5. A machine-readable storage medium having a computer program stored thereon, the computer program being configured to perform the method according to any one of claims 1 to 3.

6. A control device (9) for an industrial truck (3) capable of at least partially automated operation, designed to perform the method according to any one of claims 1 to 3.

7. A system (10) for an industrial truck (3) capable of at least partially automated operation, the system having a control device (9) according to claim 6 and a sensor device (6) capable of connecting to the control device (9) to transmit data.

8. An industrial truck (3) capable of operating at least partially automatically, having the system (10) according to claim 7.

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