Method for transporting cargo carriers by means of industrial trucks that can be operated at least partially automatically

Abstract

The invention relates to a method for transporting a goods carrier (1) by means of an industrial truck (2) which can be operated at least partially automatically, wherein the following steps are carried out automatically by the industrial truck (2): a) detecting information about the length (3) of the goods carrier (1), b) checking the detected information about the length (3) of the goods carrier (1) relative to the overall length (4) of a loading surface (5) of a loading platform (6) of the industrial truck (2), c) carrying out a multi-stage loading process or unloading process, which comprises at least one transloading of the goods carrier (1) on the loading platform (6) if the length (3) of the goods carrier (1) is smaller than the overall length (4) of the loading surface (5).

Description

Technical Field

[0001] This invention relates to a method for transporting cargo carriers by means of industrial trucks capable of at least partially automated operation. Furthermore, a computer program, a machine-readable storage medium, a control device, and an industrial truck are also proposed. This invention is particularly suitable for storing 400 to 600 vehicles (cargo carriers) in a space-efficient manner. 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 EN1525. 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 of which (the front loading platform sensor) is responsible for correct placement on the loading platform, and the other (the rear loading platform sensor) is responsible for identifying the length of the cargo carrier.

[0005] In mixed operations, gaps often occur between cargo carriers on storage surfaces used for automated transport, such as in "supermarket aisles," when storing shorter cargo carriers (e.g., 400 vehicles), because loading platforms are typically designed for longer or the longest items to be transported (e.g., 600 vehicles). Furthermore, sufficient space should be provided between cargo carriers to allow for raising and lowering the loading platform. Summary of the Invention

[0006] 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. Specifically, in the case of industrial trucks that can be at least partially automated, and are particularly suitable for mixed-use operations, the overall storage space for unloaded or to-be-loaded cargo carriers should be reduced while maximizing operational safety. In particular, the space requirements in supermarket aisles for storing cargo carriers used for automated transport should be reduced.

[0007] The objective is achieved through the features of the respective independent claims. Advantageous design solutions are derived from the dependent claims.

[0008] Contributing to this is a method for transporting cargo carriers by means of industrial trucks that can operate at least partially automatically, wherein the industrial trucks automatically perform at least the following steps:

[0009] a) Detect information regarding the length of the cargo carrier.

[0010] b) Examine the detected information regarding the length of the cargo carrier relative to the total length of the loading surface of the industrial truck's loading platform.

[0011] c) Performing a multi-stage loading or unloading process, which includes: if the length of the cargo carrier is less than the total length of the loading surface, then transferring the cargo carrier at least once on the loading platform.

[0012] For example, steps a), b), and c) can be performed at least once and / or repeatedly in the proposed order to perform the method. For example, the method can 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) can advantageously be performed autonomously by the industrial truck.

[0013] This method is particularly useful for transporting multiple cargo carriers in mixed operations. Mixed operations are generally described here as an operating mode in which cargo carriers of different lengths are transported sequentially and automatically using the same industrial trucks. This method advantageously helps to reduce the overall storage surface area required for storing unloaded or to-be-loaded cargo carriers. To this end, a method is proposed for the first time that can advantageously load shorter cargo carriers via a load-unload-load algorithm, which achieves a (as close as possible) arrangement of cargo carriers, thereby enabling advantageous space utilization, for example, in supermarket aisles. During unloading, for example, in supermarket aisles, the unload-load-unload algorithm can advantageously achieve a (as close as possible) arrangement of cargo carriers. According to a preferred design of this method, the length of the cargo carriers can also be identified during loading using existing safety sensors as sensor devices. This advantageously saves on (as is common to date) rear loading platform sensors.

[0014] 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. The loading platform has a loading surface on which the lower (however, not necessarily the lowest) side of the cargo carrier can lie flat when loaded. 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 the cargo carrier on the loading platform. For example, the loading platform sensor can be an inductive sensor.

[0015] 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 (explained in more detail below). 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.

[0016] For example, information about the length 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, this implementation can also advantageously help distinguish which type of cargo carrier (from a limited number of cargo carrier types) is loaded onto the industrial truck. It can be particularly advantageous in this context to distinguish between two types: 400 vehicles (cargo carriers 400mm long) and 600 vehicles (cargo carriers 600mm long).

[0017] In step a), information regarding the length of the cargo carrier is detected. This detection may, for example, involve calculation using sensor devices on the industrial truck, or at least employ such calculation. For instance, during loading of the cargo carrier, the calculation can be performed according to steps i) through iii) described below to detect the information. Furthermore, for example, during unloading of the cargo carrier, information calculated during loading can be used, such as information that can be read from the industrial truck's memory.

[0018] In step b), the detected information regarding the length of the cargo carrier relative to the total length of the loading surface of the industrial truck's loading platform is examined. Specifically, it can be checked here whether the cargo carrier is shorter than the total length of the loading surface. (Alternatively or cumulatively) It can also be checked whether a particular type of cargo carrier (e.g., 400 vehicles) is being loaded (or last traveled from below) or to be unloaded, from which it is known that the cargo carrier is shorter than the total length of the loading surface.

[0019] In step c), a multi-stage loading or unloading process is performed, which (respectively) includes: if the length of the cargo carrier is less than the total length of the loading surface, then at least one transfer of the cargo carrier is performed on the loading platform. Here, the transfer is also performed automatically by the industrial truck, for example, by means of the (traveling and lifting) movement of the industrial truck alone.

[0020] According to a favorable design scheme, in order to automatically determine information about the length of the cargo carrier, an industrial truck shall perform at least the following steps:

[0021] i) 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.

[0022] ii) Starting from the initial position, travel along a predefined route in the longitudinal direction of the cargo carrier.

[0023] iii) After traveling along a predefined route, another detection process is performed using the same sensor devices on the industrial truck.

[0024] Steps i), ii), and ii) can be performed at least once and / or repeated in a specified order, for example. Steps i), ii), and ii) can advantageously be performed autonomously by the industrial truck.

[0025] 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 industrial truck environment, particularly at the rear of the industrial truck, or at least for this purpose, for example, by means of laser beam detection or scanning. 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 oriented primarily rearward or rearward and laterally (to the left and right sides of the industrial truck). It can be specified here that the sensor device is not oriented upward. In particular, the industrial truck can be configured, for example, without a rear loading platform sensor and / or without using a rear loading platform sensor when performing detection according to the design described herein.

[0026] In step i), 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 within a warning area monitored by 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 areas. These warning areas 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 sensor devices. Here, the protection zone is typically used to alter or even stop further movement when an object is detected within it. 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.

[0027] In step ii), a predefined route is traveled from the initial position along the expansion direction. Here, the route is typically predefined such that it is suitable for distinguishing at least two types of cargo carriers from each other, the at least two types of cargo carriers differing from each other in length along the longitudinal direction. To allow (unobstructed) travel along this route, it is advantageous, if necessary, to first switch or change the protection zone so that travel (completely) under the cargo carrier. Specifically, here, the protection zone can be switched (in the lateral direction) to be narrower so that the wheels of the cargo carrier are not within the protection zone (during travel under the cargo carrier). 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 are considered together here.

[0028] In step iii), 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 iii). 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, in particular 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 iii).

[0029] In step iv), the detection process in step iii) can be evaluated, specifically to determine, based on the detection results in step iii), which type of cargo carrier (from at least two types of cargo carriers) is traveling or being loaded directly below. Here, for example, it can be determined that if at least one rear identification mechanism is detected after traveling a predefined route, then the cargo carrier is traveling or being loaded directly below the first (shorter) cargo carrier of at least two types of cargo carriers. Furthermore, it can be advantageously determined that if no rear identification mechanism is detected after traveling a predefined route, then the cargo carrier is traveling or being loaded directly below the second (longer) cargo carrier of at least two types of cargo carriers. Alternatively or cumulatively, after step iii), the state of the warning area can be stored as information for further loading and unloading processes. Additionally, the determined cargo carrier type or the determined cargo carrier length can be stored (during loading) in the industrial truck's memory until the cargo carrier is unloaded. By accessing the memory before unloading, information regarding the cargo carrier length can be detected accordingly for the unloading process.

[0030] According to an advantageous design, steps i) to iii) are performed during the loading of the cargo carrier onto the industrial truck. To load the cargo carrier onto the industrial truck or its loading platform, at least a portion of the industrial truck, such as a longitudinal section of the truck with a loading platform, can travel beneath the cargo carrier. This can advantageously facilitate the identification of different types (of varying lengths) of cargo carriers during loading.

[0031] 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 the (personnel) protected zone and, if necessary, to perform evaluation.

[0032] According to another advantageous design, the sensor device scans at least one warning area by means of 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.

[0033] According to another advantageous design, the transfer involves at least two vertical movements of the loading surface and travel along a predefined route in the longitudinal direction of the cargo carrier. In this context, for example, the loading platform of an industrial truck can be configured as a lifting platform. The lifting platform can be specifically designed to vertically lift and vertically lower (the entire) loading surface. In particular, the transfer involves at least two vertical movements of the loading surface in the same orientation. The route is typically predefined here to suit the transfer of cargo carriers shorter than the total length of the loading surface from back to front (loading process) or from front to back (unloading process). The predefined route may correspond to the length difference between shorter cargo carriers (e.g., 400 vehicles) and longer cargo carriers (e.g., 600 vehicles).

[0034] Furthermore, the sensor device can also be used to position the cargo carrier to be unloaded as close as possible to another cargo carrier during unloading, particularly after transfer on the loading surface. Here, for example, an industrial truck with a (still) loaded cargo carrier can be reversed or moved backward until at least a portion of the other cargo carrier, such as its wheels (front or rear wheels), is within at least one warning zone. To arrange the cargo carriers in a particularly space-efficient manner, it can also be proposed to continue moving backward a distance that compensates for the length of the warning zone.

[0035] 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.

[0036] 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.

[0037] 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.

[0038] According to another aspect, an industrial truck with control equipment capable of at least partially automated operation is also proposed. Alternatively or cumulatively, this can also be described as an industrial truck capable of at least partially automated operation, designed to perform the methods described herein. Furthermore, industrial trucks are generally designed for at least partially automated or autonomous (travel) operation.

[0039] In summary, a particularly advantageous design of the solution described herein, in other words (and alternatively, if necessary), can also be described as such that an industrial truck (autonomous transport vehicle) capable of at least partially automated operation is designed to selectively transport short and long cargo carriers (trolleys). Here, the short cargo carrier should also be positioned as close as possible to the rear wall of the industrial truck, especially so that the identification of the loading status can operate as reliably as possible. However, due to the length of the loading platform, short trolleys typically cannot be completely traversed from below. Therefore, after identifying the short trolley during loading, a transfer process (on the loading platform) is advantageously triggered. Conversely, a transfer process (on the loading platform) can also be used during unloading.

[0040] 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 industrial trucks 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

[0041] The solutions presented herein and their technical environment are explained in more detail below with reference to the accompanying drawings. It should be noted that the invention is not 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 the present description. Exemplarily and schematically:

[0042] Figure 1 An exemplary flow of the method presented herein is shown.

[0043] Figure 2 A cross-sectional view of one embodiment of the industrial truck described herein is shown.

[0044] Figure 3-6 A top view showing an advantageous application of the first part of the method described herein.

[0045] Figure 7 An exemplary flow of the method proposed herein during the loading process is shown, and

[0046] Figure 8 An exemplary flow of the method proposed herein is shown during the uninstallation process. Detailed Implementation

[0047] Figure 1 An exemplary process of the method proposed herein is illustrated schematically. This method is used with the aid of an industrial truck 2 (see [link to relevant documentation]). Figure 2 Cargo carrier 1 (see) Figure 3-6 The order of steps a), b), and c) shown in boxes 110, 120, and 130 is exemplary and can be automatically performed by the industrial truck 2 in the order shown, for example, at least once, to perform the method.

[0048] In block 110, according to step a), information regarding the length 3 of the cargo carrier 1 is detected. In block 120, according to step b), the detected information regarding the length 3 of the cargo carrier 1 relative to the total length 4 of the loading surface 5 of the loading platform 6 of the industrial truck 2 is checked. In block 130, according to step c), a multi-stage loading or unloading process is performed, which includes: if the length 3 of the cargo carrier 1 is less than the total length 4 of the loading surface 5, then at least one transfer of the cargo carrier 1 is performed on the loading platform 6.

[0049] Figure 2 A cross-sectional view schematically illustrating one embodiment of the industrial truck 2 described herein is shown. The industrial truck 2 is also designed for at least partially automated or autonomous (traveling) operation. Furthermore, the industrial truck 2 is designed to perform the methods described herein. For this purpose, the industrial truck 2 exemplarily includes a control device 13, also described herein, and preferably a sensor device 8, which is connected to or can be connected to the control device 13 for data transmission. The control device 13 is designed to perform the described methods.

[0050] The industrial truck 2 has a front structure 17 and a loading platform 6. The loading platform 6 has a loading surface 5, with which a cargo carrier 1 can come into contact. The loading platform 6 may be formed as a lifting platform, allowing the loading surface 5 to move vertically. The front structure 17 has a substantially vertical rear wall 19 facing the loading platform 6. A loading platform sensor 15 of the industrial truck 2 is exemplarily arranged in an area where the loading platform 6 is adjacent to or terminates at the rear wall 19. This area is typically located at the front end of the loading platform 6. The loading platform sensor 15 is typically used to identify the correct placement of the cargo carrier 1 on the loading platform 6. The cargo carrier 1 is correctly placed, especially when it is positioned sufficiently close to the rear wall 19. The loading platform sensor 15 may be, for example, an inductive sensor. Furthermore, the loading platform sensor 15 may be oriented upwards.

[0051] Furthermore, the industrial truck 2 exemplarily has a sensor device 8 in the rear end region of the loading platform 16. The sensor device 8 is typically designed to monitor at least one warning area 11 and / or at least one protected area 16 in the environment of the industrial truck 2, particularly at least one warning area and / or at least one protected area behind the industrial truck 2, 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 13 of the industrial truck 2 or a similar device. Therefore, the sensor device 8 can also be a safety sensor 18 for the industrial truck 2. The sensor device 8 can preferably be configured as a laser scanner 14 or include a laser scanner. Typically, the sensor device 8 is primarily rearward-oriented or rearward and lateral (to the left and right sides of the industrial truck 2). It can be specified here that the sensor device 8 is not upward-oriented. Furthermore, in Figure 2 It can be identified that the industrial truck 2 is configured here in an exemplary manner without a rear loading platform sensor, as it can be advantageously omitted here.

[0052] Here, the control device 13 includes, for example, a robot control unit (RCU), a motion control unit (MCU), and a safety control unit (SCU). The robot control unit 20 provides the desired direction and speed of travel to the motion control unit 21. The motion control unit 21, exemplarily, further provides the desired direction of travel to the safety control unit 22, calculates the rated speed, and provides the rated speed to the motor unit 23 of the industrial truck 2. The motor unit 23 may have one or more (electric) motors, which are effectively connected to the driven wheels 24 of the industrial truck 2, either via a transmission or directly, if necessary, in the sense of individually driven wheels 24.

[0053] Furthermore, the industrial truck 2 may have one or more speed sensors 25 (e.g., SIL2 speed sensors) that transmit the actual speed of the motor 23 or wheels 24 to the safety control module 22. For example, here, the safety control module 22 can calculate the travel path or route taken (safety radar ranging) from the actual speed and / or specifically switch at least one warning zone 11 and / or at least one protection zone 16 (laser scanner area) according to the desired travel direction.

[0054] To implement this method in a favorable design, the control device 13 can be designed, for example, for the following processing: during approach to the cargo carrier 1 (see...) Figure 3 Safety control module 22 switches between two warning zones 11 and a protection zone 16, which are monitored by means of sensor device 8 (exemplarily a laser scanner 14). Here, the two warning zones 11, located behind the protection zone 16 and having a (predefined) lateral distance between them, are switched so that the warning zones can simultaneously detect the two front wheels 26 of the cargo carrier 1 (one of each front wheel 26 in one of the warning zones 11). Thus, the approach process continues until safety control module 22 recognizes that both warning zones 11 are triggered (cart recognition). The position reached here is also referred to as the initial position 7 (see...). Figure 4 This is for an example where, if necessary, as per step i), an initial position 7 predefined relative to the cargo carrier 1 can be approached, wherein the arrival at the initial position 7 is detected by means of a sensor device 8 of the industrial truck 2.

[0055] Safety control module 22 can then switch sensor device 8 to a narrower protection zone 16, where, if necessary, the (longitudinal) position of warning zone 11 can be moved toward industrial truck 2 (see...). Figure 5 With this configuration, the loading process can continue in the longitudinal direction 10 of the cargo carrier 1, so as to begin from the initial position 7 and travel along the predetermined route 9. This is for the following example: if necessary, as according to step ii), the predetermined route 9 can be traveled from the initial position 7 along the longitudinal direction 10.

[0056] After traversing route 9, safety control module 22 can reassess the instantaneous or current detections of sensor device 8 within the two warning zones 11. This is for the example where, if necessary, as per step iii), another detection process can be performed using the same sensor device 8 of industrial truck 2 after traveling the predefined route 9. If no detection is detected in warning zone 11 in this state, or at least no additional wheels, particularly the rear wheels 27 of cargo carrier 1, are detected, it can be concluded that the longer cargo carrier 1 (here, 600 vehicles) is loaded (see...). Figure 5 If, in this state, a detection is detected in warning area 11, especially of the other wheels, particularly the rear wheels 27 of cargo carrier 2, then it can be concluded that the shorter cargo carrier 2 (in this case, 400 vehicles) is loaded (see...). Figure 6 )

[0057] Therefore, during the loading process, the states of the two warning zones 11 can be advantageously used to distinguish between different cargo carriers 1, particularly 400 vehicles and 600 vehicles. An advantageous design of the described method is as follows: how can information about the length 3 of the cargo carrier 1 be determined? For example, this information can be used in step a).

[0058] Figures 3 to 6 A top view is shown, exemplarily and schematically, of an advantageous application of the first part of the method described herein. Here, Figures 3 to 6 A particularly advantageous design for determining information about the length 3 of the cargo carrier 1 is described, which can be employed in step a) to detect information about the length 3 of the cargo carrier 1. Here, for example in a supermarket, a process feasible with this method for loading is illustrated. This is also applicable to the following example: as necessary, it can be performed during loading of the cargo carrier 1 onto the industrial truck 2, as in steps i) to iii).

[0059] Here, in Figure 3 and Figure 4 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 8 (a rear-oriented laser scanner 14). Solid lines represent exemplary supermarket aisles, where multiple cargo carriers can typically be arranged sequentially along the longitudinal direction 10. Upon approaching a cargo carrier 1, two warning zones 8 can independently identify the left and right (front) wheels 26 (or the front axle wheels 26) of the cargo carrier 1 to be received (e.g., a flatbed truck or trolley). Therefore, this also describes the possibility that, if necessary, at least one warning zone 11, and in particular two warning zones 11, can be monitored in the environment of the industrial truck 2, as with the sensor device 8. Exemplarily, the sensor device 8 can scan the warning zones 11 using a laser beam.

[0060] exist Figure 5 and Figure 6 As shown, after successfully identifying the front wheel 26, the laser scanner 14 can switch to a narrower protection area 16, thereby traveling along a predefined route 9, which is exemplarily particularly suitable for distinguishing 600 vehicles. Figure 5 Warning zone 11 is empty) and 400 vehicles ( Figure 6 Warning area 11 identifies the rear wheel 27 or the wheel 27 of the second axle. At this time, safety control module 22 can (re)query the status of warning area 11 of laser scanner 14 and preferably use the status as information for further loading and unloading processes. The information can be read, for example, in step a) to detect information about the length 3 of cargo carrier 1.

[0061] Figure 7 An example flow of the method presented herein during a loading process is illustrated exemplary and schematically. The example shown is described according to a flowchart with blocks 200 to 224. In block 200, for example, an industrial truck 2 drives into a supermarket and initiates an exemplary loading process.

[0062] In box 201, initiate the reverse movement of industrial truck 2, while monitoring the route traveled.

[0063] In box 202, the warning area 11 of the rear laser scanners 8 and 14 is queried. In box 203, the value is reset to monitor the route traveled. In box 204, the distance traveled is monitored. Specifically, the two warning areas 11 (the left and right wheels 26 of the front axle of the cargo carrier 1 to be received) can be reported to the control device 13 (SPS) via, for example, a digital output: identification of hitting the two areas. In this case, the distance used to monitor the route traveled is reset.

[0064] In box 205, switch to the narrow protection area 16. In box 206, continue traveling back a specific length. Here, it could be, for example, the axle spacing between the front and rear axles of a shorter, particularly 400mm long, cargo carrier 1 (trolley). This is also a predefined example of route 9. In box 207, (re)query the warning area. Here, for example, a Boolean value (400mm trolley rear axle found, or not found) is stored in memory, for example, in a trigger.

[0065] If it is a 400mm cargo carrier 1, then in particular, the two warning areas 11 (left and right wheels 27 of the rear axle of the 400mm cargo carrier) are reported to the control device 13 (SPS) via digital output: identification of the two areas hit (see Figure 6 If the cargo carrier 1 is 600mm, the rear axle will still be outside the detection area of ​​warning zone 11 after traveling through route 9 (see...). Figure 5 ).

[0066] In box 208, the value used to monitor the route traveled is reset. In box 209, the distance traveled is monitored. Here, the distance can follow the length of the loading surface 5 (lifting surface) and the cargo carrier 1 (flatbed). Here, the industrial truck 2 can travel under the cargo carrier 1 until the rear edge of the loading platform 6 slightly protrudes beyond the rear edge of the cargo carrier 1.

[0067] Following box 207, a case distinction is made. If the query in box 207 is affirmative (a 400mm rear axle of the trolley is found), proceed to box 211. If the query in box 207 is negative, proceed to box 210. In box 210, the process continues backward by a specific length. Here, the length may, for example, follow the axle spacing between the front and rear axles of the trolley, which is 600mm.

[0068] In box 211, the truck continues its backward journey for a specific length. This length can, for example, follow the 400mm axle spacing between the front and rear axles of the trolley. In box 212, the industrial truck 2 stops and the loading surface 5 (lifting platform) is raised. In box 213, the values ​​used to monitor the traversed route are reset. In box 214, the traversed distance is monitored. Here, the distance can follow the space required for reloading shorter, particularly 400mm long, cargo carriers 1. No further cargo carriers (arranged longitudinally or behind it in the aisle) should be received at this point.

[0069] In box 215, the truck 2 travels a certain distance / specific distance forward. In box 216, the industrial truck 2 stops and the loading surface 5 (lifting platform) lowers. In box 217, the value used to monitor the route traveled is reset. In box 218, the distance traveled is monitored. Here, the distance can follow the length of the loading surface 5 and the cargo carrier 1.

[0070] In box 219, the truck travels a specific distance back. In box 220, it travels back at a very low speed (e.g., 0.05 m / s). In other words, the industrial truck is in a slow back-traveling mode in box 220. In box 221, sensor values ​​used to identify loading (loading platform sensor 15) are monitored. Here, especially when the cargo carrier is sufficiently close to the rear wall 19, the loading platform sensor 15 reports the identification of the cargo carrier 1 in order to identify the loading.

[0071] In box 222, the vehicle begins to move back at a very low speed. In box 223, industrial truck 2 stops and loading surface 5 (lifting platform) is raised. In box 224, the loading process ends.

[0072] Figure 8 An exemplary flow of the method presented herein during the unloading process is illustrated exemplaryly and schematically. The example shown is described according to a flowchart with blocks 300 to 318. In block 300, for example, an industrial truck 2 enters a supermarket and initiates an exemplary unloading process.

[0073] Initiate the backward movement in box 301, which monitors the route taken.

[0074] In box 302, the warning area 11 of the rear laser scanner 14 is queried. Two warning areas 11 (the left and right wheels 26 of the front axle of the cargo carrier 1 already present in the supermarket aisle) are reported to the control device 13 (SPS) via digital output: identification of both areas 11 hit. The distance used to monitor the route traveled is reset.

[0075] In block 303, a Boolean value is retrieved from, for example, memory (e.g., a trigger) (400mm trolley rear axle found, or not). The sequence of events following block 303 is further differentiated. If the query in block 303 is affirmative (400mm trolley rear axle found in a pre-loaded configuration), the sequence continues to block 304. If the query in block 303 is negative, the sequence continues to block 313.

[0076] In box 304, industrial truck 2 stops and loading surface 5 (lifting surface) lowers. In box 305, the values ​​used to monitor the route traveled are reset. In box 306, the route traveled is monitored. Here, the route follows the length difference between the shorter cargo carrier in cargo carrier 1 (e.g., 400 vehicles) and the longer cargo carrier in cargo carrier 1 (e.g., 600 vehicles).

[0077] In box 307, the vehicle travels forward a certain distance / a specific distance. In box 308, industrial truck 2 stops and loading surface 5 (lifting platform) is raised. In box 309, the value used to monitor the route traveled is reset. In box 310, the route traveled is monitored.

[0078] In box 311, proceed back at a normal speed (e.g., 0.1 m / s). In box 312, query the warning area 11 of the rear laser scanner 14. Here, two warning areas 11 (the left and right wheels of the front axle of the cargo carrier 1 already present in the supermarket aisle) can be reported to the control device 13 via digital output: identification of hitting both areas 11. Reset the distance used to monitor the route traveled.

[0079] In box 313, the truck travels back at a very low speed (e.g., 0.05 m / s). In other words, the industrial truck is in a slow back-traveling mode in box 313. In box 314, the values ​​used to monitor the route traveled are reset. In box 315, the route traveled is monitored. Here, the distance can follow the length of the rear warning area 11. Therefore, the cargo carriers 1 should be placed close to each other or sequentially as space-saving as possible, but without contacting each other as much as possible.

[0080] In box 316, the truck travels a specific distance back. In box 317, industrial truck 2 stops and loading surface 5 (lifting platform) lowers. The unloading process ends in box 318.

[0081] Specifically, boxes 212, 215, 216 and 223 or 304, 307, 308 and 317 are examples for use in the following ways: if necessary, such as reloading, at least two vertical movements of the loading surface 5 and travel along a predefined route in the longitudinal direction 10 of the cargo carrier 1 can be included.

[0082] List of reference numerals

[0083] 1. Cargo carrier

[0084] 2 Industrial Trucks

[0085] 3. Length

[0086] 4. Total Length

[0087] 5 Loading surface

[0088] 6 Loading Platform

[0089] 7. Initial Position

[0090] 8. Sensor Device

[0091] Route 9

[0092] 10. Vertical direction

[0093] 11 Warning Area

[0094] 13 Control equipment

[0095] 14. Laser Scanner

[0096] 15 Loading platform sensors

[0097] 16 Protected Areas

[0098] 17. Front Structure

[0099] 18 Safety Sensors

[0100] 19 Rear Wall

[0101] 20 Robot Control Module

[0102] 21 Motion Control Module

[0103] 22 Safety Control Module

[0104] 23 Motor unit

[0105] 24 rounds

[0106] 25 Speed ​​sensor

[0107] 26 front wheels

[0108] 27. Rear wheel.

Claims

1. Method for transporting a load carrier (1) by means of an industrial truck (2) which can be operated at least partially automatically, wherein the following steps are carried out automatically by the industrial truck (2) at least: a) detecting information about the length (3) of the load carrier (1), b) checking the detected information about the length (3) of the load carrier (1) with respect to the overall length (4) of a loading surface (5) of a loading platform (6) of the industrial truck (2), c) carrying out at least one transloading of the load carrier (1) on the loading platform (6) if the length (3) of the load carrier (1) is smaller than the overall length (4) of the loading surface (5), wherein for ascertaining the information about the length (3) of the load carrier (1) the following steps are carried out automatically by the industrial truck (2) at least: i) approaching an initially predefined initial position (7) with respect to the load carrier (1), wherein the arrival at the initial position (7) is detected by means of a sensor device (8) of the industrial truck (2), ii) traveling a predefined path (9) along a longitudinal direction (10) of the load carrier (1) starting from the initial position (7), iii) after traveling the predefined path (9), carrying out a further detection process by means of the same sensor device (8) of the industrial truck (2).

2. Method according to claim 1, wherein the steps i) to iii) are carried out during loading the load carrier (1) onto the industrial truck (2).

3. Method according to claim 1 or 2, wherein at least one warning area (11) in the environment of the industrial truck (2) is monitored by means of the sensor device (8). c) performing a multi-stage loading process or unloading process, which comprises:

4. Method according to claim 3, wherein the sensor device (8) scans the at least one warning area (11) by means of a laser beam.

5. Method according to claim 1 or 2, wherein the transloading comprises at least two vertical movements of the loading surface (5) and a travel of a predefined path along the longitudinal direction (10) of the load carrier (1).

6. Computer program product comprising a computer program for carrying out the method according to any one of the preceding claims.

7. Machine-readable storage medium having stored thereon a computer program for carrying out the method according to any one of claims 1 to 5.

8. Control device (13) for an industrial truck (2) which can be operated at least partially automatically, which is designed to carry out the method according to any one of claims 1 to 5.

9. Industrial truck (2) which can be operated at least partially automatically, having a control device according to claim 8. ​ ​ ​ ​ ​ ​ ​

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