conveying device

Abstract

A conveying device (1) comprising a conveying section (11) having a plurality of rollers (22) on which a conveyable object (9), in particular a pallet, can be conveyed, a movement drive (30), wherein the movement drive is movable along the conveying section (11) along different positions and is adapted to provide a driving force to selected rollers (22) based on the position of the movement drive (30), in particular by direct contact between the movement drive and the rollers (22), wherein the movement drive (30) comprises a scanner (40) to detect the presence of a conveyable object (9) located above the rollers (22).

Description

Technical Field

[0001] This invention relates to a conveying device. Background Technology

[0002] US2019 / 0276238 A1, also disclosed in EP 3 539 904 A1, discloses a moving drive for driving rollers in a roller conveyor. The moving drive includes a main body, a first drive motor that drives the moving drive between different positions along the conveyor, and a roller drive unit mounted to a chassis frame. The conveyor drive is attached to the upper side of the main body. The conveyor drive is adapted to be mechanically coupled to one or more rollers of the roller conveyor. A second drive motor of the moving drive provides driving force to the conveyor drive and thus to the roller conveyor. The conveyor drive can directly contact the rollers to cause them to rotate. The moving drive moves synchronously with a pallet to be conveyed along the direction of travel. The moving motor is powered by a battery located within the moving drive. Therefore, complex wiring along the entire roller conveyor is not required.

[0003] WO 2021 / 048042 A2, also disclosed as EP 3 792 206 A1, discloses a further development of the aforementioned device. Several sensors are arranged here. The motion actuator (robot) has front-end and rear-end sensors covering the space in the forward and backward driving directions of the robot, as well as the space above the rollers. Because the sensors are located below the rollers and point in the direction of travel, the sensors can only scan the area through the gap between the rollers. If the rollers are very close to each other, the forward or backward field of view is very limited. The area directly above the robot is observed vertically from below the rollers through the gap between the rollers. Summary of the Invention

[0004] The purpose of this invention is to provide an improved conveying device.

[0005] The present invention includes a transmission apparatus and method according to the main claim; embodiments are the subject of the dependent claims and the specification.

[0006] This invention is based on the assumption that a larger scanning area results in higher scanning accuracy and therefore higher quality results. The area occupied by the pallet itself plays a decisive role in quality. Inspection of the roller itself is less important for quality.

[0007] In this embodiment, to obtain a large scanning area of ​​the roller, the scanner's field of view is oriented parallel to the roller's axis when viewed in a top view. When viewed in a front view, the scanner's field of view is oriented at an angle relative to the horizontal and vertical planes.

[0008] In particular, the rollers are horizontally oriented. The direction of the rollers is perpendicular to the direction of travel.

[0009] The conveying device is adapted to convey objects having a weight of at least 100 kg, particularly 500 kg, particularly at least 1000 kg. The objects may include pallets and / or containers. Attached Figure Description

[0010] The invention will be described in more detail with the aid of the accompanying drawings, in which:

[0011] Figure 1 The conveying device of the present invention is shown schematically in a side view;

[0012] Figure 2 Shown in more detail in a side view Figure 1 The device;

[0013] Figure 3 The diagram shows the parts to be discussed. Figure 1 The device conveys the pallet;

[0014] Figure 4 Show in 3D Figure 1 The mobile drive of the device;

[0015] Figure 5 Show in 3D Figure 4 The moving drive along with the scanner's scanning area;

[0016] Figure 6 The previous view shows the area with scanning. Figure 1 The device;

[0017] Figure 7 The previous view showed the selection of the scan area. Figure 1 The device;

[0018] Figure 8 A partial surface of the roller that can be detected by a scanner is schematically shown;

[0019] Figure 9 Indicative and attached Figure 8 Showing partial surfaces of the lower longitudinal and transverse members of the tray, which can be detected by a scanner;

[0020] Figure 10 Indicative and attached Figure 8 A partial surface of the upper longitudinal member of the tray, which can be detected by a scanner, is shown;

[0021] Figure 11 This shows a representation of the digital point cloud obtained by a lidar scanner;

[0022] Figure 12 A representation of the digital pallet model is shown;

[0023] Figure 13This shows a representation of the point cloud that matches the digital pallet model;

[0024] Figure 14 Show Figure 4 The portable drive.

[0025] Figure 15 The previous view shows the case with rollers and pallets. Figure 14 Orientation of the sensor at the moving drive;

[0026] Figure 16 To illustrate Figure 14 The sensor at the moving drive, along with the scanning range in the viewing direction;

[0027] Figure 17 The movable drive is schematically shown in a side view during the positioning of the movable drive under the tray;

[0028] Figure 18 The moving actuator, positioned below the tray, is schematically shown in a side view.

[0029] Figure 19 The mobile drive is shown in a side view during the transfer operation of the pallet located above the mobile drive;

[0030] Figure 20 The conveying apparatus of the present invention, having multiple conveying sections in the initial stage of conveying operation, is shown in top view.

[0031] Figure 21 and Figure 22 This illustrates the situation during the intermediate stage of the transmission operation. Figure 20 The transmission device;

[0032] Figure 23 This shows the final state of the transmission operation. Figure 20 The transmission device;

[0033] Figure 24 Showing in with Figure 21 In different situations Figure 20 The transmission device;

[0034] Figure 25 Showing in with Figure 21 In different situations Figure 20 The transmission device;

[0035] Figure 26 Showing position data with correction Figure 25 The transmission device. Detailed Implementation

[0036] Figure 1 , Figure 2 , Figure 6and Figure 7 Components of the conveying device 1 of the present invention are shown. The conveying device 1 is adapted to convey an object 9, particularly including a pallet and / or container. The conveying device 1 is adapted to move the object 9 along a conveying section 11 in a predetermined direction of travel D. The conveying device 1 may include multiple conveying sections, as described later. The conveying device 1 includes a plurality of rollers 22 arranged along the direction of travel D. The rollers 22 are supported on a frame 21.

[0037] Within conveying section 11, rollers 22 are idler rollers not driven by a dedicated stationary drive motor. Instead, rollers 22 are temporarily driven by a motion driver 30. The motion driver 30 is adapted to move between different positions within conveying section 1. Based on the position of the motion driver 30, it can drive at least one of the rollers 22 located above it. If one of the rollers is driven by the motion driver, a conveyable object on top of the roller is also driven.

[0038] Figure 2 and Figure 4 The mobile drive 30 is shown in more detail. The mobile drive 30 has a body 31. This body is supported by wheels 32. The wheels allow the body 31 to move along a track 24 parallel to the direction of travel D within a transport section. A first drive motor 32M provides driving force, causing the body 31 to move along the track 24. Specifically, the driving force is provided to at least one of the wheels 32. The power from the first drive motor 32M causes the mobile drive 30 to move at a speed v30 in the driving direction D.

[0039] The first motor 32M can also provide braking force, enabling the main body 31 to remain stationary even when pushed from the outside along the track 24. Alternatively or in combination, the mobile drive 30 may have a parking brake.

[0040] The moving drive includes a conveyor drive 33. The conveyor drive is adapted to provide driving force to the rollers 22. The driving force is transmitted to the multiple rollers 22 through temporary drive connections, particularly through temporary friction connections. The conveyor drive 33 specifically includes a drive belt that is temporarily frictionally engaged with one or more rollers 22. The conveyor drive 33 has a second drive motor 33M.

[0041] During the transport of object 9 along transport section 11, the moving drive 30 is driven synchronously with object 9 along the transport section, such that the moving drive is always positioned below object 9. A plurality of rollers 22 are located between the moving drive 30 and object 9. Thus, the conveyor drive 33 drives the rollers 22 (e.g., counterclockwise), causing object 9 to move at a speed v9 (e.g., to the left). Figure 2 ).

[0042] The object to be transferred can be, for example, Figure 3 The pallet 9 is shown. A typical pallet 9 includes an upper longitudinal member 91 on which an additional load (not shown) can be placed. The pallet includes a lower longitudinal member 92 that contacts the roller 22. A spacer block 94 is positioned between the lower longitudinal member 92 and the upper longitudinal member 91. A transverse member 93 below the upper longitudinal member 91 connects the longitudinal members 91 and 92, and in particular, the spacer block 94, to each other.

[0043] The upper longitudinal member 91 and the lower longitudinal member 92 are parallel to each other and extend along the conveying section 11. Figure 1 The travel direction D is defined. The transverse members 93 are positioned parallel to each other and point perpendicular to the travel direction D. The longitudinal clearance 91G is provided between the upper longitudinal members 91. The transverse clearance 93G is provided between the transverse members 93.

[0044] The motion drive 30 includes several scanners 40 for detecting the presence of an object to be conveyed above the roller 22.

[0045] Scanning the area above roller 22 by a scanner located below the roller presents many technical challenges.

[0046] Challenge A. Figure 2 The dashed line A in the diagram shows the possible field of view A of the scanner (not shown), which is angled in the side view and points to the direction of travel D in the top view (as disclosed in WO 2021 / 0848042 A1). Figure 2 and Figure 3 The scanner can detect objects in front of or behind the moving drive 30. Based on the size of the rollers, the distance between the two rollers, and the field of view, only a small gap is maintained to scan the area above the rollers from below. Therefore, only a very small viewing angle is left when "passing" through the virtual plane of the rollers from below.

[0047] Challenge B. The roller is made of metal, and in particular, has a reflective surface. Therefore, the reflection at the roller B ( Figure 2 This may distort the scan results.

[0048] Challenge C. In most applications, object 9 may include a pallet located on top of roller 22. The pallet is made of wood and is prone to wear. After a period of use, the surface of the pallet will be damaged and may include cracks 95 ( Figure 3 Therefore, each tray has an individual reflective pattern.

[0049] Crack 95 and gap 91G constitute an area of ​​the tray that cannot be detected by vertical scanning (as presented in WO 2021 / 0848042A1). If the scanner scans vertically in the area of ​​crack 95 or gap 91G, the tray may not be detected. The tray may be located further to the left or right on the transport section, and therefore the position of gap 91G may change during use. Based solely on a small scan area, it is impossible to reliably detect the presence of the tray using known methods. Even if the presence of the tray is detected, it is impossible to determine the precise position of the tray relative to the moving drive using known methods.

[0050] Figure 4 The conveying device 1 of the present invention has a moving drive 30. A plurality of scanners 40 are disposed on top of the moving drive. The scanners 40 are adapted to detect any items above the moving drive 30. In principle, the objects can be the object 9 to be conveyed and stationary elements within the conveying section 11, particularly components of the roller 22 and frame 21. The scanners 40 are positioned such that their field of view F( Figures 5 to 7 The orientation of roller 22 is perpendicular to the direction of travel D, and therefore parallel to the orientation R of roller 22 (top view). The orientation R of roller 22 is defined by the rotation axis of the roller.

[0051] Viewed from the front, the field of view F of scanner 40 is tilted upward at an acute angle. Figure 6 ).

[0052] The term “scanner” should be understood broadly. A scanner is not necessarily a single device that can provide detailed images of objects within its field of view. A scanner can also be a component capable of detecting the distance between the scanner and an object within its field of view. Such scanners are widely used as ultrasonic sensors in the field of automotive parking distance control. The field of view can be a one- to three-dimensional area, specifically a straight line (1D), a (planar) triangle (2D), or a cone (3D). A set of scanners can be used to provide more dimensional images of the area above a moving drive.

[0053] Therefore, the scanner is adapted to precisely scan the area between the rollers 22 and has an extended view of the object to be conveyed above the rollers.

[0054] Figure 8 This illustrates what the scanner 40 can see if there is no object on top of the roller. Here, the cylindrical portion of the surface of the roller 22 facing the scanner is detected by the scanner.

[0055] If the pallet 9 is located on top of the roller within the field of view, the scanner 40 can detect the lower surface of the lower longitudinal member 92 and the lower surface of the transverse member 93. Figure 9 In addition, the scanner can detect at least a portion of the upper longitudinal beam 91, such as... Figure 10 As shown ( Figure 9and Figure 10 The separation is merely for better understanding; in reality, the elements of the two graphs would overlap, resulting in a complex and undescribed graph.

[0056] The scanner can be a LiDAR scanner, which can create a digital point cloud on the surface above the roller.

[0057] After filtering out the surface of the roller, a point cloud P is still retained, such as... Figure 11 As shown. Point cloud P does not represent the entire lower surface of tray 9 because parts of tray 9 are blocked by roller 22 or are not within the scanner's field of view at all.

[0058] To position the pallet within the coordinate system of the transport section, a simplified digital surface model 9M of pallet 9 can be used, such as... Figure 12 As shown.

[0059] Make the surface model 9M and the captured point cloud P( Figure 13 Alignment allows the pallet's position to be determined. This matching technique is known from other technical fields (e.g., WO 2020 / 7065093A1, ...). Figures 4-7 (and related descriptions).

[0060] Figure 14 It was shown again Figure 4 The mobile drive 30. Here, the scanners 40 are divided into scanner groups 40G. Each group includes multiple scanners, such as four scanners 40a, 40b, 40c, and 40d.

[0061] Each scanner 40 has its own field of view F. In the front view ( Figure 15 In the diagram, the field of view F has a triangular shape, its orientation angled to both the vertical and horizontal directions to best cover the underside of the pallet (as previously described). In the side view, the field of view F covers only a flat area of ​​a few millimeters in the x-direction, adapted to scan an area perpendicular to the direction of travel / parallel to roller 22 (see below). Figures 17 to 19 ).

[0062] refer to Figure 16 Each scanner 40 is suitable for measuring the distance between the scanner and the nearest surface of any object in the field of view. The scanner here is a simple scanner capable of detecting the distance to the nearest surface. This type of distance measurement sensor is known from parking assistance systems in automobiles, particularly based on ultrasound. The measured distances are classified into distance categories d1 to d4. No point cloud was obtained here.

[0063] Distance category d1 represents the desired distance of roller 22.

[0064] Distance category d2 represents a distance at which the tray is expected to be on the surface of the roller top.

[0065] Distance category d3 represents a distance that is too far for the pallet surface to be relevant to pallet detection. For example, the ceiling of a factory hall is within distance category d3.

[0066] Distance category d4 is infinite distance; this means the scanner will not receive any reflections at all. Distance categories d3 and d4 clearly indicate that at the corresponding scanner x position, there is no detectable surface of the tray on top of the roller.

[0067] Figures 17 to 19 The side view shows the moving drive 30, roller 22, and the tray 9 on top of roller 22 under different conditions. In fact, the scanner is depicted as having a vertical field of view; however, the field of view is tilted, as shown in the front view. Figure 15 Here is an example of two scanner groups, 40Ga and 40Gb, each with four scanners 40a-d. The scanners 40a-d scan the area above the scanner in a planar manner in a side view, such that each scanner is only able to detect the surface of objects located at the same x-position (allowing for some millimeter deviation).

[0068] Figures 17 to 19 The table shows the assignment of distance categories to the scan results of each individual scanner 40.

[0069] Figure 17 The illustration shows the motion drive 30 searching for the pallet position. Here, the first scanner group 40Ga is located below the pallet. The first scanner 40a and the second scanner 40b detect surfaces in the second distance category d2; the third scanner 40c and the fourth scanner 40d detect surfaces in the first distance category d1. Therefore, the first scanner group 40Ga is located below the roller 22 and below the pallet 9. To detect the pallet 9, the sensors can detect any surface of the upper members 91, 93 (e.g., sensor 40b of G40a) or any surface of the lower beam 92.

[0070] The second scanner group 40Gb is located entirely outside the tray 9. The third and fourth scanners 40c and 40d detect surfaces in the fourth distance category d4 (particularly including cases where no surface is detected at all due to the infinite distance to the next surface); the first scanner 40a and the second scanner 40b detect surfaces in the first distance category d1. Therefore, the first scanner group is located below the roller, but not below the tray.

[0071] In this situation, the front-end or back-end location cannot be isolated from the scan result for detection.

[0072] Figure 18The diagram shows the mobile drive 30 positioned below the center of the tray 9. Here, the first scanner group 40Ga and the second scanner group 40Gb are located below the tray 9. The first scanner 40a and the fourth scanner 40d detect surfaces in the second distance category d2; the third scanner 40c and the fourth scanner 40d detect surfaces in the first distance category d1. Therefore, the first scanner group 40Ga is located below the center of the roller and below the tray. The same applies to the scanners in the 40Gb scanner group.

[0073] The front or rear position was not clearly detected. The scanning range S in the direction of travel D (x-direction) is smaller than the total length L of the tray (in the x-direction), making it possible to determine the precise position of the tray 9 with the accuracy of the difference (LR) between the scan range S and the total length L of the tray. However, this accuracy is sufficient for the current purpose.

[0074] When the moving drive 30 drives the tray 9 along the traveling direction D, the following will occur: Figure 19 As shown in the diagram, the pallet 9 moves at the same speed v9 as the moving drive 30 (v30). Therefore, the conveyor drive 33 is driven at a circumferential speed v33, which is approximately twice as fast in the opposite direction as the speeds v30 of the moving drive 30 and v9 of the pallet 9.

[0075] The different torque transmission between track 24, moving drive 30, roller 22, and pallet 9 is affected by slippage. Therefore, driving the conveyor drive 33 at twice the speed will not reliably result in the pallet speed v9 being the same as the moving drive speed v30. Therefore, in Figure 19 During this process, due to slippage anywhere between the conveyor drive 33 and the pallet 9, the pallet speed v9 is slightly less than the speed v30 of the moving drive 30 for at least a certain period of time, resulting in misalignment between the moving drive 30 and the pallet 9. Alternatively, slippage may occur between the wheel 32 of the moving drive and the track 24, allowing the pallet 9 to move faster than the moving drive 30.

[0076] This misalignment can be detected by scanner 40. As an example, the first scanner 40a of the first scanner group 40Ga detects the distance from category d4, meaning no tray surface is above scanner 40. Therefore, the scanner can provide different indications about the misalignment between tray 9 and the moving drive 30. Thus, to re-establish alignment, at least two options exist:

[0077] 1. Adjust (increase / decrease) the speed of the mobile drive 30 v9.

[0078] 2. Adjust (increase / decrease) the speed v33 of the conveyor driver 33.

[0079] In other words, the scanner's signal is processed and forms the basis for controlling the first drive motor 32M and / or the second drive motor 33M.

[0080] Figures 20 to 25 A top view of the conveying device 1 of the present invention under different conditions is shown. Multiple conveying sections 11...19 are provided here. The conveying sections 11...18 are stationary, and at least some of them are not connected to each other, meaning that it is impossible to transfer a pallet from one stationary conveying section to another.

[0081] Transfer section 19 is a moving transfer section, thus constituting a transfer vehicle 19 for transferring pallet 9 and moving drive 30 between stationary transfer sections 11..18. Transfer vehicle 19 is capable of moving along transfer track 34. Transfer track 34 defines a transfer direction T, which is specifically perpendicular to the direction of travel D of the pallet within transfer track 11..19.

[0082] Several pallets 9a..9f are located at different positions on the transport section.

[0083] A key feature of this conveying device is that it eliminates the need for complex wiring, thus housing almost all necessary electrical and electronic equipment within the motion drive 30. Therefore, the device 1 is easy to install and modify. However, without complex wiring, it would be impossible to provide area-wide presence detection along the conveying section using stationary presence sensors, as is common in conventional pallet conveying systems. The motion drive 30 is employed to achieve position detection of the pallet 9 and maintain position tracking.

[0084] exist Figure 20 In the figure below, the motion drive 30 is represented by a dashed rectangle because it is located below the roller and is sometimes at least partially invisible below the pallet 9. When the pallet is above the motion drive 30, the motion drive 30 uses the scanner 40 disclosed above to detect the presence of the pallet 9. When the scanner 40 of the motion drive 30 detects the pallet above the motion drive, the position of the pallet is set by the motion drive 30. The position of the motion drive 30 is always tracked by the central control unit 50, as the central control unit controls the movement of the motion drive 30.

[0085] The central control unit 50 also includes a position database 51, which stores the detected position of the tray 9 determined by the motion driver 30.

[0086] The central control unit 50 and the location database 51 can be located together in one location or separately. The central control unit 50 or the location database 51 can be located inside the mobile drive 30 or fixed to the outside of the mobile drive.

[0087] A wireless data connection 52 can be established between the mobile driver 30 and the control unit 50.

[0088] Figures 20-25 The table illustrates the data stored in the location database 51. For example, as can be seen in the top view and the workbench, pallet ID 9a is located on the transport section 11. The parameter x exemplarily represents the actual position of the pallet within the transport section along the direction of travel D. Here, x = 0 exemplarily represents the leftmost position; the value x represents the distance in the direction of travel from the zero position (here, the leftmost position) on the corresponding transport section. Using these two parameters, the position of pallet 9 within the transport device 1 is precisely defined. In the database 51, the positions of all pallets are tracked. Therefore, the data stored in the location database constitutes the occupancy status of the transport device 1.

[0089] The conveying device includes a display 53. The display visualizes at least a portion of the conveying device 1 along with its occupancy status. Thus, the display shows a graphical representation of the conveying section and a graphical representation of the tray 9, the relationship of which corresponds to the storage location of the tray in the location database 51.

[0090] In an exemplary transfer operation, the selected pallet 9c will move from the starting position in the initial transfer segment 11 to the final position in the final transfer segment 12, as follows: Figure 20 As indicated by the middle arrow Q.

[0091] In the first step ( Figure 20 In this process, the mobile drive 30 moves to the starting transfer section 11, where the selected pallet 9c is located. This transfer is accomplished by the transfer vehicle 19. This first step is not required if the mobile drive 30 is already in the correct starting transfer section 11. Afterward, the mobile drive 30 moves along the starting transfer section 11 to the x position stored in the database 51.

[0092] The actual position of the selected tray 9c may differ from the x position stored in the database 51. Therefore, the actual position of the selected tray 9c is determined by the scanner 40 of the motion drive 30, even though the position of the selected tray has been stored in the database 51. The determined actual position is used to precisely position the motion drive 30 under the selected tray 9c. If the actual position differs from the stored position, the position stored in the database 51 is updated with the actual position.

[0093] Figure 21The diagram illustrates the situation when the mobile drive 30 is located at the storage position of the selected tray 9c. Here, the stored position corresponds to the actual position of the selected tray 9c, allowing the mobile drive to be precisely positioned below the selected tray 9c based on the available position information provided by the position database 51.

[0094] When the motion driver 30 is located below the selected object 9c, the motion driver can drive the selected object 9c. According to... Figure 22 The moving driver initially drives the selected pallet 9c along the starting section 11 into the transfer unit 19, where both the moving driver and the selected pallet 9c are now centered. The transfer unit 19 then begins to travel along the transfer direction T until it aligns with the final transfer section 12 to which the selected pallet 9c will be delivered. After aligning the transfer unit 19 with the final transfer section 12, the moving driver 30 drives the selected pallet 9c to its final position within the final transfer section 12.

[0095] During the transmission operation, the location data stored in the location database is continuously updated as shown in the table through the highlighted values.

[0096] Figure 24 It shows the relationship with Figure 21 A nearly identical situation. And as an example of a possible failure. Figure 21 The actual occupancy status differs from the occupancy status stored in the location database 51. For example, pallet 9b is lost and the selected pallet 9c is located at a different x-position than the x-position stored in the database. Here, for example, the selected pallet 9c is located at the position expected of pallet 9b based on the occupancy status. This could happen if pallet 9b is taken away by a forklift and pallet 9c is moved manually by the operator.

[0097] To avoid any erroneous transport operations, a verification step is also performed here before the mobile drive 30 begins driving the selected tray 9c. Therefore, the mobile drive 30 drives along the entire initial transport section 11. Using the scanner 40, the mobile drive can determine the position of all trays 9 located in the initial transport section 11. Based on this, the number of trays 9 located in the initial section 11a is determined. Figure 21 In this case, the result is "3". Figure 24 In this case, the result is "2". The occupancy status in the location database also results in multiple "3" trays located in the starting transport segment 11. Therefore, there is a mismatch between the actual occupancy status stored in the location database and the occupancy status. Here, the mismatch is the trays missing in the starting transport segment 11.

[0098] If a mismatch exists between the storage status and the actual occupancy status as shown above, user input (indicated by a hand symbol, not an exclamation mark) may be requested (indicated by an exclamation mark). Here, the user can delete data related to tray 9b. This leads to a situation similar to what follows regarding... Figure 25 The user can also enter the correct actual location of the selected pallet 9c into the location database 51 to correct the occupancy status.

[0099] Figure 25 It shows the relationship with Figure 21 A nearly identical situation. As an example of possible deviation, with... Figure 21 In this deviation, the actual occupancy status is inconsistent with the occupancy status stored in the location database 51. For example, tray 9b may actually be located at the storage location of tray 9, while the selected tray 9c may be located further to the right than it is stored in the database. Therefore, when simply following the stored data, the motion driver 30 will be positioned below tray 9b instead of the selected tray 9c, and will drive the (incorrect) tray 9b instead of the (correct) selected tray 9c. That would cause significant confusion.

[0100] To avoid any erroneous transport operations, a verification step is performed before the mobile drive 30 begins driving the selected tray 9c. Therefore, the mobile drive 30 drives along the entire initial transport section 11. Using the scanner 40, the mobile drive can determine the position of all trays 9 located on the initial transport section 11. Based on this, the number of trays located in the initial section 11 is counted. Figure 21 and Figure 25 In the same case, the result is "3". The occupancy status of the location database results in the number of 3 pallets located in the starting transfer segment 11. Therefore, considering the total number of pallets 9 located in the starting transfer segment 11, there is no mismatch between the actual occupancy status and the storage occupancy status. It's just that the storage location is not precise.

[0101] Since pallets can be manually moved along the transport section, their positions can change during this time. However, it is assumed that the same pallets are actually located on the transport section in the same order as listed in the position database 51, provided that the total number of pallets identified on the transport section matches the total number of pallets stored according to their positions. Therefore, any deviations in the precise position data can be automatically eliminated by the system based on the position data determined with the assistance of the motion driver 30.

[0102] Therefore, in the next step ( Figure 26In the verification step, after confirming that the actual number of pallets matches the number of pallets stored in the initial transfer section, only the x position in the position database is updated. Then, during the transfer operation, the selected pallet is transferred as usual, thereby the motion driver begins to drive the selected pallet 9c at its actual and stored positions.

[0103] Appendix Label Table

[0104] 1. Conveying device

[0105] 8 Floors

[0106] 9. Object to be transferred (pallet)

[0107] A simplified digital surface model (pallet model) of the 9M object to be transported.

[0108] 11..18 Teleportation Segment (Stationary)

[0109] 19 Teleportation Section (Moveable) / Transfer Vehicle

[0110] 21 Framework

[0111] 22 rolls

[0112] 24 orbits

[0113] 30 portable drives

[0114] 31 Main Body

[0115] 32 rounds

[0116] 32M First Drive Motor

[0117] 33 Transmission Driver

[0118] 33M Second Drive Motor

[0119] 34 Transfer orbit

[0120] 40 Scanners

[0121] 40G Scanner Set

[0122] 50 Central Control Unit

[0123] 51 Location Database

[0124] 52 (Wireless) Data Connection

[0125] 53 Operator Display

[0126] 91 Upper longitudinal members

[0127] Longitudinal gap between upper longitudinal components of 91G

[0128] 92 Lower longitudinal members

[0129] 93. Transverse members

[0130] 93G Transverse gap between transverse components

[0131] 94 spacer blocks

[0132] 95 Cracks

[0133] Q arrow

[0134] L is the length of the pallet in the direction of travel.

[0135] The scanning range of the S-scanner in the direction of travel.

[0136] D Direction of travel

[0137] T transfer direction

[0138] R-roller orientation

[0139] F field of view

[0140] TV top view

[0141] SV side view

[0142] fv Front View

[0143] Distance categories d1, d2, d3

[0144] v9 pallet speed

[0145] Circumferential speed of v33 transmission driver

[0146] v30 mobile drive speed

Claims

1. A conveying device (1), comprising: The conveying section (11) has multiple rollers (22) on which the conveyable object (9) can be conveyed. A mobile drive (30) is capable of moving along different positions along the conveying section (11) and is adapted to temporarily provide driving force to a selected roller (22) based on the position of the mobile drive (30); The motion driver (30) includes a scanner (40) to detect the presence of the transferable object (9) located above the roller (22); The conveying device (1) includes a location database (51) adapted to store the location of the conveyable object (9) located in the conveying device (1); The scanner (40) is located below the roller (22). The scanner is adapted to detect the transferable object (9) located above the mobile driver and above the roller (22). The scanner has a field of view (F) oriented parallel to the roller (22) in a top view, and / or Wherein, the field of view (F) is oriented at an acute angle to the horizontal plane in the front view; Its features are, The conveying device is adapted to store the position of the object located in the conveying device, obtained by the scanner located on the mobile drive (30); The conveying device is adapted to use the stored location in a manner that controls the movement of the motion driver (30) in a subsequent conveying operation of an object associated with the stored location; In subsequent transfer operations, the mobile drive is guided from a position away from the object toward the position of the stored object.

2. The conveying device (1) according to claim 1. in, The scanner is adapted to - Scan the transportable object (9) in a direction parallel to the axis of rotation in the top view. and - Scan the transportable object at an acute angle relative to the horizontal plane in the front view (9).

3. The conveying device (1) according to claim 1 or 2. in, The conveying device is adapted to determine the presence of the conveyable object (9) above the roller (22) from below the roller by analyzing multiple distances from the surface of the object above the moving drive. The distance is obtained by at least one of the scanners.

4. The conveying device (1) according to claim 1 or 2. in, The transferable object (9) is a pallet.

5. The conveying device (1) according to claim 1 or 2. in, The mobile driver is adapted to temporarily provide driving force to the selected roller (22) through direct contact between the mobile driver and the roller (22).

6. The conveying device (1) according to claim 1 or 2. in, The orientation of the roller is aligned with the axis of rotation of the roller.

7. A method for operating a conveying device (1), the conveying device (1) comprising: The conveying section (11) has multiple rollers (22) on which the conveyable object (9) can be conveyed. A mobile drive (30) is capable of moving along different positions along the conveying section (11) and is adapted to temporarily provide driving force to a selected roller (22) based on the position of the mobile drive (30); The motion driver (30) includes a scanner (40) to detect the presence of the transferable object (9) located above the roller (22); Its features are, The positions of the multiple transportable objects (9) located along the transport section are tracked. The tracked location is used to guide the mobile drive to the selected transportable object in a subsequent transport step.

8. The method according to claim 7, in, To determine the actual position of any of the teleportable objects (9), the following steps are performed: - Position the mobile driver (30) below the transportable object (9); - The position of the mobile driver (30) is defined based on the position of the mobile driver.

9. The method according to claim 7 or 8, in, Inventory shall be conducted periodically and / or upon user request, wherein during the inventory, the occupancy status of at least a segment of the transmission device tracked in the location database shall be set and / or updated. The inventory count includes the following steps: - Drive the motion driver (30) along all of the at least the sections to determine the position of the transferable object (9) above the roller (22); -The position of the mobile driver (30) is defined based on the position of the mobile driver; - Set or update the defined locations in the location database (51).

10. The method according to claim 7 or 8, in, The position of the transportable object (9) within the transport device (1) is defined by the following: -The unique identifier of the teleportation segment (11) where the teleportable object (9) is located; - A unique location value indicating the location within the transmission segment.

11. The method according to claim 7 or 8, in, During the conveying operation, the selected object (9c) is transported from a starting position to a final position within the conveying device (1), the conveying operation comprising the following steps: - Move the mobile drive (30) to the storage location of the selected object (9c), wherein the storage location is stored in the database (51); - When the motion driver is moved, the scanner (40) is used to determine the actual position of the selected object (9c) and the motion driver (30) is positioned below the selected object (9c) based on the determined actual position of the selected object (9c).

12. The method according to claim 7 or 8, in, The transmission operation includes a verification step in which the position of the selected object (9c) is verified.

13. The method according to claim 12, in, The verification step includes the following steps: - Determine the actual number of the teleportable objects (9) located within the initial teleportation section, thereby using the scanner (40) of the motion driver (30) to detect the presence of all teleportable objects within the total extension range of the teleportation section (11); -Based on the location data stored in the location database (51), determine the storage quantity of the transportable objects (9) located within the transport segment (11). - Compare the determined actual quantity with the determined storage quantity.

14. The method according to claim 13, The actual number of the teleportable objects (9) located within the initial teleportation section is determined by counting the objects within the initial teleportation section.

15. The method according to claim 13, -in, If the determined actual quantity and the determined storage quantity are equal, the verification result is positive. - In cases where the determined actual quantity and the determined storage quantity are not equal, the verification result is negative.

16. The method according to claim 13, In order to determine the actual number of the transportable objects (9) on the initial transport section, the mobile driver (30) drives substantially along the entire extension of the initial transport section.

17. The method according to claim 13, in, In the case where the verification result is delivered in the verification step - The number of the teleportable objects (9) actually located in the teleportation section (11) corresponds to the occupancy status stored in the location database (51). However, the position of the teleportable object (9) within the teleportation section (11) does not correspond to the occupancy status stored in the location database (51). The location of the teleportable object (9) stored in the location database (51) is updated by the actual location obtained by the sensor during the verification step.

18. The method according to claim 7 or 8, in, In order to detect the presence and / or position of an object, the scanner - In the top view, along the direction parallel to the rotation axis of the roller, and - In the front view, along the direction that forms an acute angle with respect to the horizontal plane. Scan the area above the roller.

19. The method according to claim 7 or 8, in, The transferable object (9) is a pallet.

20. The method according to claim 7 or 8, in, The mobile driver is adapted to temporarily provide driving force to the selected roller (22) through direct contact between the mobile driver and the roller (22).

21. The method according to claim 7 or 8, The positions of the multiple transportable objects (9) located along the transport section are stored in the location database (51).

22. The method according to claim 8, The step of defining the position of the mobile driver (30) based on the position of the mobile driver is performed with regard to the offset value.

23. The method according to claim 9, The step of defining the position of the mobile driver (30) based on the position of the mobile driver is performed with regard to the offset value.

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