Method for operating an industrial truck and industrial truck

Abstract

The invention relates, inter alia, to a method for operating an industrial truck (10) which can preferably be driven by an operator, the industrial truck (10) having a travel movement control unit for driving the industrial truck (10), ground contact vibrations of the industrial truck (10) being detected by means of a movement sensor (12), in particular an acceleration sensor, during a travel movement of the industrial truck (10) on a floor travelled by the industrial truck (10), the detected ground contact vibrations of the industrial truck (10) being analyzed by means of an analysis unit (14), in particular of the industrial truck (10).

Description

[0001] The invention relates to a method for operating an industrial truck, preferably one that can be driven by an operator, and to an industrial truck, particularly one that can be driven by an operator. Furthermore, the invention relates to a system with an industrial truck, particularly one that can be driven by an operator.

[0002] It is well known that industrial trucks are used in logistics. These trucks are moved and controlled by operators inside and / or outside a goods logistics facility. The current state of the art provides various complex measures for locating and / or monitoring the trucks within the various areas of the goods logistics facility.

[0003] An object of the invention is to achieve in a simple manner the intended use of industrial trucks in different areas of a goods logistics facility.

[0004] This object is achieved by a method for operating an industrial truck that can preferably be driven by an operator, wherein the industrial truck has a travel movement control unit for driving the industrial truck, wherein ground contact vibrations of the industrial truck are detected by means of a movement sensor, in particular an acceleration sensor, during a travel movement of the industrial truck on a floor traveled by the industrial truck, wherein the detected ground contact vibrations of the industrial truck are analyzed by means of an analysis unit, in particular of the industrial truck.

[0005] The invention is based on the idea that by detecting the ground contact vibrations of the industrial truck during travel, it is determined, for example, whether the industrial truck is being moved or located inside or outside a hall of a goods logistics facility. By analyzing the ground contact vibrations, environmental parameters of the industrial truck are determined, for example. For example, the floor conditions of the goods logistics facility, both indoors and outdoors, are determined as an environmental parameter. In particular, this makes it possible to detect the floor conditions of a goods logistics facility that influence the travel movements and / or the ground contact vibrations using the motion sensor, in particular the acceleration sensor.Furthermore, within the scope of the invention, it is possible to detect markings and / or thresholds on the floor of the goods logistics facility, for example between the interior and exterior areas, by means of the motion sensor, in particular the acceleration sensor.

[0006] Within the scope of the invention, the motion sensor is designed as an acceleration sensor, in particular a MEMS acceleration sensor, gyrometer, gyroscope, in particular a semiconductor gyroscope or laser gyroscope. In particular, the motion sensor records or detects ground contact vibrations of the industrial truck in a frequency range from 0 Hz to 500 Hz.

[0007] Using the method according to the invention, it is also possible to determine the intended use of an industrial truck within the goods logistics facility

[0008] In a further development of the method, it is advantageously provided that at least one ground contact vibration analysis value is determined based on the detected ground contact vibrations of the industrial truck, in particular by means of the analysis unit, and that the driving movements of the industrial truck are influenced depending on the at least one ground contact vibration analysis value. This provides a reliable and efficient method for influencing the driving movements, such as the driving speed, and / or the steering of the industrial truck immediately after analyzing the detected ground contact vibrations. This eliminates the need to resort to complex localization methods, such as GPS-supported or local anchor nodes at predetermined locations within the goods logistics facility or radio nodes, for the industrial truck.

[0009] Overall, the method according to the invention improves security within the goods logistics facility in a simple manner due to reliable detection.

[0010] In a preferred embodiment of the method, it is provided that if the ground contact vibration analysis value exceeds a predetermined vibration analysis target value, the, preferably maximum, speed of the travel movements of the industrial truck and / or the, preferably maximum, acceleration of the travel movements of the industrial truck are increased or reduced, or that if the ground contact vibration analysis value falls below a predetermined vibration analysis target value, the, preferably maximum, speed of the travel movements of the industrial truck and / or the, preferably maximum, acceleration of the travel movements of the industrial truck are increased or reduced.Using the vibration analysis target value, it is possible to determine the condition of the floor of the goods logistics facility on which the industrial truck travels based on the recorded ground contact vibrations and to differentiate between different floors in the indoor and / or outdoor areas. This can be used to determine, for example, whether an industrial truck is traveling on asphalt or a floor covering. By recording the ground contact vibrations and the subsequent analysis, the method detects what type of floor the industrial truck is traveling on. This allows driving parameters in the industrial truck, such as the maximum or minimum speed and / or the maximum or minimum acceleration of the industrial truck, to be adjusted in the area of ​​the goods logistics facility, particularly indoors and / or outdoors, based on this analysis.Furthermore, the invention also allows the steering angle of the industrial truck to be adjusted accordingly. This results in greater overall efficiency when conveying and / or handling goods.

[0011] Furthermore, one embodiment of the method is characterized in that the vibration analysis target value is or will be determined as a function of the driving speed of the industrial truck, wherein, in particular, the vibration analysis target value correlates with the driving speed of the industrial truck, in particular positively and / or linearly. This makes it possible to reduce the vibration analysis target value at low industrial truck speeds and / or increase the vibration analysis target value at higher industrial truck speeds.

[0012] According to a further aspect of the method, the ground contact vibrations of the industrial truck in the vertical direction are preferably recorded as ground contact vibrations. During the travel movements of the industrial truck within the goods logistics facility, the ground contact vibrations in the vertical direction that have the largest amplitude values ​​in the vertical direction are safely and reliably recorded. Within the scope of the invention, it is also conceivable that ground contact vibrations in other directions and / or rotational axes are recorded. For example, when using a yaw rate sensor, the ground contact vibrations in the horizontal direction within the xy plane are recorded.

[0013] Furthermore, in a further development of the method, it is provided that the ground contact vibrations of the industrial truck are recorded at predetermined, preferably regular, time intervals and / or that the recorded ground contact vibrations are analyzed by the analysis unit at predetermined, preferably regular, time intervals. By recording and / or analyzing the ground contact vibrations, in particular at regular time intervals, outliers in the measured values ​​are advantageously quickly and / or promptly determined, and a corresponding ground contact vibration analysis target value is determined. Thus, it is possible to regularly determine the type of floor or surface on which the industrial truck is being moved and / or the area of ​​the goods logistics facility (e.g., indoor or outdoor area) in which the industrial truck is being moved.

[0014] Furthermore, in a further development of the method, it is preferred that a Fourier transformation, in particular a short-time Fourier transformation, of the ground contact vibrations of the industrial truck, preferably recorded at a predetermined time interval, is carried out by the analysis unit, preferably at regular time intervals. A short-time Fourier transformation is particularly suitable for efficiently processing time intervals of the measured values ​​and determining the ground contact vibration analysis target value at regular time intervals, such as 0.3 seconds to 10 seconds. Through timely detection and analysis, efficiency is increased by promptly adjusting the vehicle parameters of the industrial truck.

[0015] For this purpose, it is advantageous in a further development to analyze the vibration amplitudes of the recorded ground contact vibrations using Fourier transformation, in particular short-time Fourier transformation, to determine the ground contact vibration analysis value(s). Furthermore, it is possible to use at least one low-pass filter during the Fourier transformation, for example, to filter out erroneous measurements, and / or a high-pass filter, for example, to filter out unevenness of the subsurface or ground. This allows for further conclusions to be drawn and / or corresponding threshold values ​​to be adjusted automatically.

[0016] According to a preferred embodiment of the method, the ground contact vibrations and / or the ground contact vibration analysis values ​​are recorded and / or stored over a predetermined period of time. By recording and / or storing the ground contact vibrations and / or the ground contact vibration analysis values, it is possible to identify, for example, outliers in the ground contact vibration analysis values ​​through further analysis. Within the scope of the invention, it is possible to apply an appropriate low-pass filter. Furthermore, in one embodiment, the use and intended application of the industrial truck within the goods logistics facility can be determined for long or particularly long time series.It is also possible to monitor and / or detect the floor conditions of the goods logistics facility indoors and / or outdoors and to determine the corresponding usage characteristics of the industrial truck, particularly over a longer period of time.

[0017] In a further development of the method, an on-board computer unit of the industrial truck is preferably used as the analysis unit for analyzing the recorded ground contact vibrations of the industrial truck. Using the on-board computer unit of the industrial truck makes it possible to reduce the amount of data transmitted from the industrial truck to a computer system or goods logistics system. Furthermore, using the on-board computer unit shortens the analysis time, since the recorded ground contact vibrations do not first have to be transmitted to an external device for analysis.

[0018] Furthermore, the object is achieved by an industrial truck, in particular an industrial truck that can be driven by an operator, having a travel movement control unit for moving the industrial truck, wherein the industrial truck has a motion sensor for detecting ground contact vibrations of the industrial truck during a travel movement of the industrial truck on a floor and an analysis unit for analyzing the detected ground contact vibrations of the industrial truck, wherein the industrial truck is configured such that the industrial truck is operated or can be operated according to the method described above, in particular according to one of claims 1 to 10. To avoid repetition, express reference is made to the above statements.

[0019] Furthermore, the object is achieved by a system with an industrial truck, in particular one that can be driven by an operator, wherein the industrial truck has a travel movement control unit for moving the industrial truck and a movement sensor for detecting ground contact vibrations of the industrial truck during a travel movement of the industrial truck on a floor, wherein the system has an analysis unit for analyzing the detected ground contact vibrations of the industrial truck, wherein the industrial truck is operated or can be operated according to the method described above, in particular according to one of claims 1 to 10.

[0020] Further features of the invention will become apparent from the description of embodiments of the invention together with the claims and the accompanying drawings. Embodiments of the invention may incorporate individual features or a combination of several features.

[0021] Within the scope of the invention, features marked with “in particular” or “preferably” are to be understood as optional features.

[0022] The invention is described below, without limiting the general inventive concept, using exemplary embodiments with reference to the drawings, whereby express reference is made to the drawings for all details of the invention not explained in more detail in the text. They show: Fig. 1 schematically shows a view of an industrial truck; Fig. 2 schematically shows a trajectory representation of an industrial truck within a goods logistics facility; Fig. 3 shows a schematic representation of the signal amplitudes of the vibrations of an industrial truck; Fig. 4 schematic representations of signal curves over time.

[0023] In the drawings, identical or similar elements and / or parts are provided with the same reference numbers, so that a repeated presentation is omitted.

[0024] In Fig. Figure 1 shows a schematic view of an industrial truck 10 configured as a forklift. The industrial truck 10 has an acceleration sensor 12, by means of which ground contact vibrations of the industrial truck 10 are detected while the industrial truck is traveling on a surface 20 of a goods logistics facility.

[0025] In addition, the industrial truck 10 has an on-board computer 14 as an evaluation unit, by means of which the ground contact vibrations of the industrial truck detected by the acceleration sensor 12 are evaluated or analyzed.

[0026] Fig. 2 shows a schematic representation of a trajectory T traveled by the industrial truck 10 within a goods logistics facility W. The trajectory T has sections 31, 33 for the journeys of the industrial truck 10 within the interior of the goods logistics facility W. Between the sections 31, 33 there is a section 32 of the trajectory T, which represents the travel movements of the industrial truck 10 in the exterior area of ​​the goods logistics facility W. Since the floor in the interior of the goods logistics facility W and the floor in the exterior area of ​​the goods logistics facility W differ in nature, different floor contact vibrations are recorded by the acceleration sensor 12 during the journey of the industrial truck 10.

[0027] Fig. Figure 3 shows a temporal representation of the signal amplitudes as a function of the travel time of the industrial truck 10. The measured ground contact vibrations of the industrial truck 10 in the interior and exterior of the goods logistics facility are analyzed, for example, using a short-time Fourier transformation, whereby the amplitudes of the vibrations are determined within a specific time window. This makes it possible to distinguish the signals or measured values ​​of the acceleration sensor 12 between the interior and exterior of the goods logistics facility W. From the representation of Fig. 3 shows that in the outdoor area of ​​the goods logistics facility W, the industrial truck 10 is excited to significantly higher ground contact vibrations than in the indoor area of ​​the goods logistics facility W. In addition, higher-frequency ground contact vibrations are also recorded by the industrial truck 10 in the outdoor area due to the ground conditions.

[0028] In Fig. Figure 4 shows various signal curves of parameters of the industrial truck 10 as a function of time during the travel of the industrial truck 10 within the goods logistics facility W. The upper diagram shows the temporal progression of the acceleration of the industrial truck, while the middle diagram shows the linear speed of the industrial truck indoors and outdoors. The lower diagram shows the temporal progression of the square root of the sum of the vibration amplitudes.

[0029] From the upper diagram of Fig.4 shows that the ground contact vibrations of the industrial truck 10 in the outdoor area have vibration amplitudes with larger amplitudes and higher-frequency vibration components than in the indoor area. By determining a predetermined threshold value S, for example, for the square root of the sum of the vibration amplitudes (see lower diagram), it can be determined whether the industrial truck 10 is moving inside or outside the goods logistics facility W.

[0030] In an embodiment not shown here, it is provided that the detected ground contact vibrations of the industrial truck 10 are transmitted to a non-on-board evaluation unit, in particular wirelessly. For example, the ground contact vibrations of the industrial truck 10 can be transmitted to a computer system or goods logistics system of the goods logistics facility for further analysis of the detected ground contact vibrations. This makes it possible, for example, to verify that the industrial truck is being used as intended within a goods logistics facility. Furthermore, it is also possible to adapt specific vehicle states of the industrial truck, such as the maximum speed within the interior and / or exterior areas of the goods logistics facility, based on the detected ground contact vibrations.

[0031] All mentioned features, including those revealed solely in the drawings as well as individual features disclosed in combination with other features, are considered essential to the invention, both individually and in combination. Embodiments according to the invention may be fulfilled by individual features or a combination of several features. List of reference symbols 10 industrial trucks 12 Accelerometer 14 computers 20 Underground S threshold T trajectory W Goods logistics facility

Claims

[1] Method for operating an industrial truck (10) which is preferably driven by an operator, the industrial truck (10) having a travel movement control unit for driving the industrial truck (10), ground contact vibrations of the industrial truck (10) being detected by means of a movement sensor (12), in particular an acceleration sensor, during a travel movement of the industrial truck (10) on a floor travelled by the industrial truck (10), the detected ground contact vibrations of the industrial truck (10) being analyzed by means of an analysis unit (14), in particular of the industrial truck (10). [2] Method according to claim 1, characterized bythat at least one ground contact vibration analysis value is determined on the basis of the detected ground contact vibrations of the industrial truck (10), in particular by means of the analysis unit (14), and that the travel movements of the industrial truck (10) are influenced as a function of the at least one ground contact vibration analysis value. [3] Method according to claim 2, characterized bythat if the ground contact vibration analysis value exceeds a predetermined vibration analysis target value, the, preferably maximum, speed of the travel movements of the industrial truck (10) and / or the, preferably maximum, acceleration of the travel movements of the industrial truck (10) are increased or reduced, or that if the ground contact vibration analysis value falls below a predetermined vibration analysis target value, the, preferably maximum, speed of the travel movements of the industrial truck (10) and / or the, preferably maximum, acceleration of the travel movements of the industrial truck (10) are increased or reduced. [4] Method according to claim 3, characterized bythat the vibration analysis target value is or will be determined as a function of the travel speed of the industrial truck (10), wherein in particular the vibration analysis target value correlates with the travel speed of the industrial truck (10), in particular positively and / or linearly. [5] Method according to one of claims 1 to 4, characterized by that the ground contact vibrations of the industrial truck (10) in the vertical direction are recorded as ground contact vibrations. [6] Method according to one of claims 1 to 5, characterized by that the ground contact vibrations of the industrial truck (10) are recorded at predetermined, preferably regular, time intervals and / or that the analysis unit (14) analyses the recorded ground contact vibrations at predetermined, preferably regular, time intervals. [7] Method according to one of claims 1 to 6, characterized bythat by means of the analysis unit (14) a Fourier transformation, in particular a short-time Fourier transformation, of the ground contact vibrations of the industrial truck (10) detected, preferably in a predetermined time interval, is carried out, preferably at regular time intervals. [8] Method according to claim 7, characterized by that by means of the Fourier transformation, in particular short-time Fourier transformation, vibration amplitudes of the recorded ground contact vibrations are analyzed to determine the ground contact vibration analysis value or values. [9] Method according to one of claims 1 to 8, characterized by that the ground contact vibrations and / or the ground contact vibration analysis values ​​are recorded and / or stored over a predetermined period of time. [10] Method according to one of claims 1 to 9, characterized bythat an on-board computer unit of the industrial truck (10) is used as the analysis unit (14) for the analysis of the recorded ground contact vibrations of the industrial truck (10). [11] Industrial truck (10), in particular an industrial truck (10) that can be driven by an operator, with a travel movement control unit for moving the industrial truck (10), wherein the industrial truck (10) has a movement sensor (12) for detecting ground contact vibrations of the industrial truck (10) during a travel movement of the industrial truck (10) on a floor and an analysis unit (14) for analyzing the detected ground contact vibrations of the industrial truck (10), wherein the industrial truck (10) is set up such that the industrial truck (10) is operated or can be operated according to the method according to one of claims 1 to 10. [12] System with an industrial truck (10), in particular one that can be driven by an operator, wherein the industrial truck (10) has a travel movement control unit for moving the industrial truck (10) and a movement sensor (12) for detecting ground contact vibrations of the industrial truck (10) during a travel movement of the industrial truck (10) on a floor, wherein the system has an analysis unit (14) for analyzing the detected ground contact vibrations of the industrial truck (10), wherein the industrial truck (10) is operated or can be operated according to the method according to one of claims 1 to 10.

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