Vehicle, in particular industrial trucks, that can be controlled using measurement data, in particular a visual image sequence

Abstract

The invention relates to a vehicle (110), in particular a forklift truck, in particular a narrow-aisle forklift truck, for lifting a load (121) to a shelf height (131) of a rack (132), comprising: a load-bearing unit (120) configured to receive a load (121); a lifting device (130) configured to lift the load-bearing unit (120) with the received load (121) to a shelf height (131) of the rack (132); a control unit (140) for controlling the load-bearing unit (120) and the lifting device (130) by an operator (111) of the vehicle (110);and a recording system (150) which is configured to record measurement data (151), for example a visual image sequence, of a working area (122) of the load handling (120) and to transmit it to a viewing device (112) of the operator (111), so that the operator (111) can control the load handling (120) and the lifting device (130) on the basis of the measurement data (151), for example the visual image sequence, of the working area (122) of the load handling (120) projected onto the viewing device (112).

Description

[0001] The invention relates to the field of vehicle control, in particular forklifts and narrow-aisle forklifts. Control is achieved using a visual device operated by the vehicle's user, for example, using augmented reality (AR) and / or virtual reality (VR). The invention relates to a vehicle with a recording system, in particular an optical recording system, for example a camera, as a visual sensor system for transmitting measurement data, in particular visual measurement data, such as an image sequence, of a vehicle's working area to a visual device, in particular an AR visual device or a VR visual device such as AR glasses or VR glasses. In particular, the invention relates to a virtual operator interface using the example of a narrow-aisle forklift.

[0002] Narrow aisle forklifts (VNAs) are divided into two main groups: "man-up" and "man-down" forklifts. In a "man-up" forklift, the driver or operator has a workstation that is raised along with the load-handling attachment at the mast. The load-handling attachment, also called the forks, is located at the driver's workstation. In a "man-down" forklift, the driver's workstation is located within the vehicle body and is not raised at the mast. Only the load-handling attachment, or forks, is raised at the mast. Both types of vehicles allow lifting heights of more than 10 meters.

[0003] "Man-up" forklifts can utilize significantly greater shelf heights because the operator raises the mast to correctly align the load-handling attachment, such as a fork with tines. The operator must have a good head for heights for this type of operation and is also exposed to an additional risk, as they cannot easily and quickly exit the vehicle in a critical situation. "Man-down" forklifts, on the other hand, are used when such an exit from the vehicle must be ensured in hazardous situations. However, the maximum accessible shelf height is lower with a "man-down" forklift compared to a "man-up" forklift because visibility makes aligning the load-handling attachment from the vehicle at a great height more difficult.

[0004] “Man-up” forklifts are more efficient in utilizing more available shelf height, whereas “man-down” forklifts reduce the operator’s risk and place lower demands on their ability to handle vertigo.

[0005] When planning a narrow-aisle warehouse in which a suitable narrow-aisle industrial truck is used, a choice is made between one of the two vehicle groups.

[0006] If the visibility of the load to be picked up could be improved in a "man-down" forklift truck, the possible application scenarios and the possible shelf height of these vehicles could be expanded.

[0007] The present invention is based on the objective of improving the visibility conditions of a vehicle, in particular a narrow-aisle industrial truck, when lifting a load, and thus improving the application scenarios and in particular the possible shelf height of such a vehicle.

[0008] The problem is solved by the subject matter of the independent claims. Advantageous embodiments of the invention are specified in the dependent claims, the description, and the accompanying figures.

[0009] The inventive solution is based on the idea of ​​carrying out a visual recording in the area of ​​load pickup and making this recording available to the operator or driver of the vehicle to facilitate operation.

[0010] Virtual operation of the vehicle, for example a narrow-aisle forklift, combines the advantages of "man-up" and "man-down" forklifts. By using an AR environment that corresponds to the operating position of the "man-up" vehicle, the operator can operate the vehicle from a safe position on the ground ("man-down") in the same way as if they were driving the mast upwards.

[0011] This involves visual recording of the load collection area, for example, using at least one, ideally several, 360° camera systems and / or 3D measurement systems. The recording and measurement systems can be either stationary or mobile to create the most authentic and complete representation of the work area possible.

[0012] The recorded measurement data can then be processed in such a way that a virtual environment can be projected onto a viewing device, for example, a VR or AR device such as VR or AR glasses worn by the operator. In addition to transmission reliability, attention must be paid to the latency of data processing and delivery, as latency is critical for the use of such a solution.

[0013] The operator sees a projected virtual environment displayed on their visual device, such as AR or VR glasses, which places them at a work point near the load handling point, for example, the forks. Head and body movements, and thus changes in viewing direction, are realistically translated, so that the operator has the individual impression of actually driving the lifting mast to the vehicle's work area.

[0014] In a simplified version, a virtual view of the load handling process can be achieved using only a 360° camera in a suitable observation position. Rotational movements of the operator's head can then be displayed, but lateral movements cannot.

[0015] When using AR or VR technology, latency and differences in movement between the virtual and real environments can cause motion sickness. To counteract this, the movement speed can be reduced with virtual controls activated, and the application can be focused on the essential load handling processes.

[0016] This solution significantly reduces the risk to the operator and their requirements regarding freedom from vertigo.

[0017] Since neither the operator nor the driver's cab needs to be lifted with the load, a larger load can be stored with the same vehicle performance - or the vehicle can be designed more cost-effectively.

[0018] As an alternative to the position as on a "man-up" vehicle, more flexible driver positions can also be used, which are not ergonomically possible otherwise, for example, looking in the middle between the fork tines, looking over at the transfer position, looking sideways at the same height next to the fork tines, etc.

[0019] Personal protective equipment can be implemented better or more cost-effectively, since a clear view of the load is of secondary importance.

[0020] Additional information such as vehicle parameters, warehouse management system, communication and order management can be integrated into the AR glasses or VR glasses and do not require additional displays or human-machine interfaces.

[0021] The present example of a narrow-aisle industrial truck was chosen in this disclosure because its operational advantages are particularly significant and its application scenarios are manageable. However, these advantages can, in principle, be transferred to all other types of industrial trucks, so that virtual operation can lead to a decoupling of ergonomic and functional requirements for vehicle design.

[0022] With a sufficient data transmission and processing rate, operation no longer needs to be performed directly at the vehicle; remote operation is also possible. Remote operation of the vehicle is understood to mean operation from a distance, i.e., spatially separated from the industrial truck, and in particular, without any visual contact between the operator and the vehicle.

[0023] According to a first aspect of the invention, the problem described above is solved by a vehicle, in particular a forklift truck, in particular a narrow-aisle forklift truck, for lifting a load to a shelf height of a rack, comprising: a load-bearing unit configured to receive a load; a lifting device configured to lift the load-bearing unit with the received load to a shelf height of the rack; a control system for controlling the load-bearing unit and the lifting device by an operator of the vehicle;and a recording system, in particular an optical recording system, for example a camera, which is configured to record measurement data, in particular spatial measurement data, preferably visual measurement data, for example a visual image sequence, of a work area of ​​the load handling and to transmit it to a viewing device of the operator, so that the operator can control the load handling and the lifting device on the basis of the measurement data, in particular spatial measurement data, preferably visual measurement data, for example a visual image sequence, of the work area of ​​the load handling projected onto the viewing device.

[0024] By recording measurement data, such as a visual image sequence, of the load-handling area, the vehicle's visibility during lifting is improved. The driver has a better view of the load and can more easily control the lifting device and load-handling attachment to precisely position the load in the rack. This expands the range of applications. In particular, it increases the achievable and accessible rack height of such a vehicle.

[0025] According to an exemplary embodiment of the vehicle, the recording system, for example the camera, is movably arranged with the load-bearing device and is designed to record the measurement data, in particular the visual measurement data, for example the visual image sequence, of the working area of ​​the load-bearing device when the load-bearing device is lifted.

[0026] The recording system, for example the camera, can be attached to the load-bearing device or another element of the vehicle that can be moved with the load-bearing device, so that the measurement data, for example the visual image sequence, can be generated directly in the working area of ​​the load-bearing device and made available to the operator, for example in real time.

[0027] According to an exemplary embodiment of the vehicle, the viewing device comprises an augmented reality (AR) and / or virtual reality (VR) viewing device with a display, in particular AR glasses or VR glasses, and is configured to project the measurement data, in particular the visual measurement data, for example the visual image sequence, of the load-bearing work area onto the display in the form of AR and / or VR.

[0028] Augmented Reality (AR) is the overlaying of digital or computer-generated information, such as images, audio, video, and touch or haptic sensations, into a real-time environment. For example, an AR viewing device, such as AR glasses, allows the user to see the real world with virtual objects superimposed on or integrated with it. AR augments reality rather than completely replacing it. AR interactively combines real and virtual information in real time; in this case, the user's field of vision of the real world with a visual image sequence of the load-bearing work area. The AR viewing device thus enhances the user's perception of their surroundings and provides them with useful information that enables a better understanding of their environment and improves their decision-making and actions.

[0029] Virtual Reality (VR) is a computer-generated reality that a user can experience using a special VR viewing device, such as VR glasses. Unlike Augmented Reality (AR), the real environment is completely hidden. VR is defined by two fundamental characteristics: immersion, the act of becoming absorbed in a virtual world, and interaction. The combination of these creates the feeling of being part of this virtual world. The VR viewing device gives the operator the impression of being part of the load handling process, making it easier to control the vehicle and place the load in the correct position on the shelf.

[0030] According to an exemplary embodiment of the vehicle, the vehicle is a man-down industrial truck that includes a driver's workstation for the operator, for example at ground level, which is not raised by the lifting device, wherein the control is arranged at the driver's workstation so that the vehicle can be controlled from the driver's workstation.

[0031] By transmitting the measurement data, for example the visual image sequence, of the load handling area to the operator's viewing device, the operator in the driver's workplace has the same view of the load as if he were observing the load directly at the load handling point while lifting it, without having to be moved upwards.

[0032] According to an exemplary embodiment of the vehicle, a position of the recording system, for example the camera, corresponds to a position of an operator of a man-up industrial truck, in which the driver's workstation is raised with the lifting device and the operator in the driver's workstation has a view of the work area of ​​the load handling.

[0033] By transmitting the measurement data, for example the visual image sequence, of the load handling area to the operator's viewing device, the operator of a "man-down" industrial truck in the driver's workstation has the same view of the load as if he were driving upwards with the lifting device in a "man-up" industrial truck and observing the load there.

[0034] According to an exemplary embodiment of the vehicle, the vehicle is a remotely controlled industrial truck that includes a driver's workstation outside the industrial truck, wherein the vehicle can be remotely controlled from the driver's workstation, in particular permanently or temporarily or as required.

[0035] By transmitting measurement data, such as a visual image sequence of the load-handling area, to their viewing device, the driver no longer needs to be physically present in the vehicle, i.e., in a driver's seat within the vehicle or forklift. The measurement data, such as the visual image sequence, can be transmitted remotely to a distant location from which the driver can safely operate the vehicle, particularly without direct visual contact between the driver / operator and the vehicle.

[0036] According to an exemplary embodiment of the vehicle, the recording system comprises a 360° camera system and / or a 3D measuring system configured to record a three-dimensional image of the working area of ​​the load-holding device; wherein the recording system is fixedly and / or movably attached to the load-holding device.

[0037] Such a camera or measuring system as a recording system offers the advantage that it creates a very authentic and complete image of the work area.

[0038] According to an exemplary embodiment of the vehicle, the vehicle comprises: a processor configured to convert the measurement data recorded by the recording system, for example the camera, such as the visual image sequence, of the load handling work area into data suitable for projection onto the operator's display device; and a communication interface configured to transmit the converted data to the operator's display device.

[0039] By converting the visual image sequence into data in this way, the visual image sequence or the data can be transferred to the display device in a resource-efficient manner. The conversion of the measurement data, for example the image sequence, can thus take place directly in the vehicle's processor, so that the transferred data can be displayed by the display device without significant effort.

[0040] According to an exemplary embodiment of the vehicle, the latency of the data conversion by the processor and the data transmission by the communication interface is below a predefinable latency, which corresponds to a latency at which the operator can operate the vehicle without experiencing dizziness.

[0041] This has the advantage that, due to low latency, quasi-real-time control of the vehicle is possible, so that the operator does not experience dizziness due to the delayed display of the movement sequences.

[0042] According to one exemplary embodiment, artificial intelligence can be used in the evaluation, display, or conversion of the measurement data, for example, in the processor. This makes it easy to supplement missing image information using artificial intelligence and, in particular, to achieve improvements with regard to latency.

[0043] According to an exemplary embodiment of the vehicle, the control system is designed to reduce the vehicle's speed and / or block applications not related to the vehicle's load handling processes when transmitting measurement data, such as the visual image sequence, of the load handling area to the operator's viewing device.

[0044] This allows precautionary measures to be implemented so that accidents do not occur due to the operator's engagement with the measurement data, for example the visual image sequence, and the resulting distraction of the operator or driver of the vehicle.

[0045] According to an exemplary embodiment of the vehicle, the load handling system comprises a fork with two fork tines and includes the receiving system, for example the camera, a viewing area that is aligned centrally between the two fork tines, corresponds to a top view of a transfer position of the load and / or is aligned laterally at the same height next to the two fork tines.

[0046] This allows personal protection devices to be implemented better or more cost-effectively, since a clear view of the load is irrelevant.

[0047] According to an exemplary embodiment of the vehicle, the control system is configured to transmit one or more of the following additional vehicle information to the operator's display device for integration: • Vehicle parameters, • Warehouse management data, • Communication data, • Order management data.

[0048] This offers the advantage that the operator simultaneously has access to relevant additional information, which facilitates vehicle control. Integrating this additional information onto the operator's display eliminates the need for further interfaces for displaying this information.

[0049] According to a second aspect of the invention, the problem described above is solved by a control system for controlling a vehicle, in particular a forklift truck, in particular a narrow-aisle forklift truck, comprising: a vehicle, in particular a forklift truck, in particular a narrow-aisle forklift truck according to the first aspect described above; and a viewing device for controlling the vehicle via an operator; wherein the viewing device is configured to project the measurement data, in particular spatial measurement data, preferably visual measurement data, for example the visual image sequence, of the vehicle's load-handling area, recorded by the recording system, in particular the optical recording system, for example the camera, onto a display of the viewing device and to transmit user inputs for controlling the load-handling and the vehicle's lifting device to the vehicle's control system.

[0050] With such a control system, where the vehicle's recording system (e.g., a camera) captures measurement data, such as visual image sequences, of the load-handling area, the operator's visibility is improved when controlling the vehicle to lift a load. The driver has a better view of the load and can more easily control the lifting device and load-handling attachment to precisely position the load in the rack. This expands the range of applications. In particular, it increases the maximum rack height that such a vehicle or control system can reach.

[0051] According to an exemplary embodiment of the control system, the viewing device comprises an augmented reality (AR) and / or virtual reality (VR) viewing device with a display, in particular AR glasses or VR glasses, and is configured to project the measurement data, for example the visual image sequence, of the load-bearing work area onto the display in the form of AR and / or VR.

[0052] The AR viewing device thus improves the user's perception of their surroundings and provides them with useful information that enables a better understanding of their environment and improves their decisions and actions. The VR viewing device gives the operator the impression of being part of the load handling process, making it easier for them to control the vehicle and place the load in the correct position on the shelf.

[0053] According to a third aspect of the invention, the problem described above is solved by a method for controlling a vehicle, in particular a forklift truck, in particular a narrow-aisle forklift truck, with a vision device, in particular an AR and / or VR vision device, wherein the vehicle comprises a load-handling unit for receiving a load and a lifting device for lifting the load-handling unit with the received load to a shelf height of the shelf; wherein the method comprises: recording measurement data, in particular spatial measurement data, preferably visual measurement data, for example a visual image sequence, of a working area of ​​the load-handling unit of the vehicle; transmitting the measurement data to the vision device of an operator of the vehicle for projection of the image sequence onto the vision device;and controlling the load handling and lifting device of the vehicle by the viewing device based on operator inputs in response to measurement data projected onto the viewing device, for example, image sequences.

[0054] This method improves the operator's visibility when controlling the vehicle to lift a load, as described above. The driver has a better view of the load and can more easily control the lifting device and load-handling mechanism to precisely position the load in the rack. This expands the range of possible applications. In particular, the maximum possible rack height increases when such a vehicle control method and a suitable vehicle are used.

[0055] According to an exemplary embodiment of the method, the vehicle includes a control unit for controlling the load handling and lifting device; and the method further includes: transmitting control commands based on the operator's inputs through the viewing device to the vehicle's control unit; and controlling the vehicle's load handling and lifting device by the vehicle's control unit based on the control commands transmitted through the viewing device.

[0056] By transmitting control commands to the vehicle's control system in this way, the amount of data that needs to be transmitted via the interface between the display unit and the vehicle's control system can be reduced. The data can be transferred from the display unit to the control system in a resource-efficient manner.

[0057] Further advantages and details of the invention are explained in more detail with reference to the exemplary embodiments shown in the schematic figures. These show: Fig. 1: a schematic representation of a control system 100 according to the invention with a vehicle using the example of a man-down industrial truck; Fig. 2: a schematic representation of a control system 200 according to the invention with a vehicle using the example of a remote-controlled industrial truck; Fig. 3: a schematic representation of a method 300 according to the invention for controlling a vehicle using the example of a forklift truck.

[0058] The figures are merely schematic representations and serve only to illustrate the invention. Identical or equivalent elements are consistently identified by the same reference numerals.

[0059] The following detailed description refers to the accompanying drawings, which form part thereof and illustrate specific embodiments in which the invention can be implemented. It is understood that other embodiments can also be used and structural or logical modifications can be made without deviating from the concept of the present invention. Therefore, the following detailed description is not to be understood as limiting. Furthermore, it is understood that the features of the various embodiments described herein can be combined with one another, unless specifically stated otherwise.

[0060] The aspects and embodiments are described with reference to the drawings, where the same reference numerals generally refer to the same elements. For illustrative purposes, numerous specific details are presented in the following description to provide a thorough understanding of one or more aspects of the invention. However, it may be obvious to a person skilled in the art that one or more aspects or embodiments can be implemented with a lesser degree of specific detail. In other cases, known structures and elements are shown schematically to facilitate the description of one or more aspects or embodiments. It is understood that other embodiments may be used and structural or logical modifications may be made without departing from the concept of the present invention.

[0061] This revelation describes industrial trucks and narrow-aisle industrial trucks. It also describes man-up and man-down industrial trucks.

[0062] The term "industrial truck" refers to all trackless, track-bound or rail-guided vehicles that are used internally for the transport of goods and are equipped with a device for lifting and lowering loads.

[0063] Narrow aisle forklifts enable exceptionally fast load handling. For example, assuming a rack height of seven meters, they can process up to 30 pallets per operating hour, significantly more than counterbalance or reach trucks. A key factor is that narrow aisle forklifts accelerate and lift simultaneously. This allows, for instance, a pallet to be moved particularly quickly at a great height using a diagonal motion and consistently high speed.

[0064] Narrow-aisle pallet trucks are particularly suitable for narrow and high industrial racking systems. High-bay racking systems with very narrow aisles are one of the most efficient ways to organize a warehouse in terms of volume utilization. Compared to a standard warehouse that can be freely maneuvered with an electric forklift, the aisle width is reduced by up to 65%, for example.

[0065] Narrow-aisle forklifts of the "Man-Up" and "Man-Down" types allow loads to be maneuvered in confined spaces. In a Man-Up forklift, the driver or operator has a workstation that is raised at the mast. The load-handling attachment, also called forks, is located at this workstation.

[0066] In a man-down forklift, the operator's workstation is located within the vehicle body and is not raised. Only the load-handling attachment or fork tines are raised on the mast. Both types of vehicles allow lifting heights of more than 10 meters.

[0067] Fig. Figure 1 shows a schematic representation of a control system 100 according to the invention with a vehicle using the example of a man-down industrial truck.

[0068] In this example, vehicle 110 is a forklift truck, in particular a narrow-aisle forklift truck, suitable for lifting loads 121 to a shelf height 131 of a shelf 132.

[0069] The vehicle 110 includes a load-bearing device 120, which is designed to receive a load 121, for example a pallet of goods.

[0070] The vehicle 110 includes a lifting device 130, for example a lifting mast, which is designed to lift the load-bearing unit 120 with the load 121 to a shelf height 131 of the rack 132. Such a shelf height 131 can be higher than 10 m above the ground. The rack 132 is, for example, a storage rack in a warehouse where a wide variety of goods are stored and can be loaded and unloaded.

[0071] The vehicle 110 includes a control unit 140 for controlling the load handling 120 and the lifting device 130 by an operator 111 (or driver) of the vehicle 110.

[0072] The vehicle 110 comprises a recording system 150, in particular an optical recording system, preferably a camera, which is configured to record measurement data 151, in particular spatial measurement data, preferably visual measurement data, for example a visual image sequence, of a working area 122 of the load-bearing device 120 and to transmit it to a viewing device 112 of the operator 111, so that the operator 111 can control the load-bearing device 120 and the lifting device 130 on the basis of the measurement data 151, for example the visual image sequence, of the working area 122 of the load-bearing device 120 projected onto the viewing device 112.

[0073] The recording system 150, for example designed as a camera, can be movably arranged with the load holder 120, for example attached to the load holder 120, and be designed to record the measurement data 151, for example the visual image sequence, of the working area 122 of the load holder 120 when the load holder 120 is lifted.

[0074] The viewing device 112 can, for example, include an augmented reality (AR) and / or virtual reality (VR) viewing device with a display, such as AR glasses or VR glasses worn by the operator 111. The viewing device 112 can be configured to project the measurement data 151, for example, the visual image sequence, of the work area 122 of the load handling device 120 onto the display in the form of augmented reality (AR) and / or virtual reality (VR).

[0075] The vehicle 110 can, for example, be a man-down industrial truck that includes a driver's workstation 160 for the operator 111 at ground level, as in Fig. Figure 1 shows the vehicle that is not lifted by the lifting device 130. The control unit 140 can be located at the driver's workstation 160, so that the vehicle 110 can be controlled from the driver's workstation 160.

[0076] One position of the recording system 150, for example designed as a camera, can be found in this man-down industrial truck. Fig. 1 corresponds to the position of an operator of a man-up industrial truck, where the operator's workstation 160 is raised by the lifting device 130 and the operator 111 has a view of the work area 122 of the load handling device 120 from the operator's workstation 160. The operator of the man-down industrial truck can remain seated in their cab 160 or operator's workstation 160 and still has a good view of the load handling device 120 with the load 121 at high lifting heights, for example, higher than 6 m. They do not need to go to a great height.

[0077] Vehicle 110, for example, can be a remote-controlled industrial truck, i.e., a truck controlled from a distance, as in Fig. Figure 2 shows a driver's workstation 160 located outside the industrial truck and thus spatially separated from the industrial truck, and in which the vehicle 110 can be remotely controlled from the driver's workstation 160.

[0078] The recording system 150, for example, which is designed as a camera, in Fig. 1, Fig. 2 can, for example, include a 360° camera system and / or a 3D measuring system designed to record a three-dimensional image of the working area 122 of the load-bearing device 120.

[0079] The recording system 150, for example designed as a camera, can be fixedly and / or movably attached to the load-bearing device 120.

[0080] The vehicle 110 can include a processor configured to convert the measurement data 151, such as the visual image sequence, recorded by the recording system 150 (e.g., the camera) of the load-handling area 120 into data suitable for projection onto the operator's display device 112 (e.g., the operator's display device 111). The vehicle 110 can also include a communication interface configured to transmit the converted data to the operator's display device 112 (e.g., the operator's display device 111). The processor and the communication interface can be located, for example, in the recording system 150 or in the vehicle's control unit 140 (e.g., the controller 140).

[0081] The latency of data conversion by the processor and data transmission through the communication interface can, for example, be below a predefined latency, which corresponds to a latency at which operator 111 can operate vehicle 110 without experiencing dizziness. This could, for example, be in the range of milliseconds.

[0082] The control unit 140 can be configured to reduce the speed of movement of the vehicle 110 and / or block applications that are not directed towards load handling processes of the vehicle 110 when the measurement data 151, for example the visual image sequence, of the working area 122 of the load handling unit 120 is transmitted to the operator's viewing device 112 111.

[0083] The load handling device 120, for example, comprises a fork with two fork tines. The recording system 150, designed, for example, as a camera, can include a field of view that is aligned centrally between the two fork tines, corresponds to a top view of a transfer position of the load 121, and / or is aligned laterally at the same height next to the two fork tines.

[0084] The control unit 140 can also be configured to transmit one or more of the following additional information from the vehicle 110 to the operator's display unit 112 for integration on the operator's display unit 112: • Vehicle parameters, • Warehouse management data, • Communication data, • Order management data, etc.

[0085] Fig. Figure 1 also shows a control system 100 for controlling a vehicle 110, in particular a forklift truck, in particular a narrow-aisle forklift truck. The control system 100 comprises: a vehicle 110, in particular a forklift truck, in particular a narrow-aisle forklift truck, as described above; and a display device 112 for controlling the vehicle 110 via an operator 111.

[0086] The viewing device 112 is designed to project the measurement data 151, for example the visual image sequence, of the working area 122 of the load-bearing device 120 of the vehicle 110, recorded by the recording system 150, for example the camera, onto a display of the viewing device 112 and to transmit user inputs 111 for controlling the load-bearing device 120 and the lifting device 130 of the vehicle 110 to the control unit 140 of the vehicle 110.

[0087] As described above, the viewing device 112 can comprise an augmented reality (AR) and / or virtual reality (VR) viewing device with a display, in particular AR glasses or VR glasses worn or attached by the operator 111. It can be configured to project the measurement data 151, for example the visual image sequence, of the work area 122 of the load handling device 120 onto the display in the form of AR and / or VR.

[0088] Fig. Figure 2 shows a schematic representation of a control system 200 according to the invention with a vehicle, using the example of a remotely controlled, i.e. controlled from a distance, industrial truck.

[0089] In contrast to the tax system 100 of the Fig. 1. The vehicle in question is number 110. Fig. 2 a remotely controlled industrial truck which includes a driver's workstation 160 outside the industrial truck 110 and thus spatially separated from the industrial truck and in which the vehicle 110 can be remotely controlled from the driver's workstation 160.

[0090] The viewing device 112, for example, AR glasses or VR glasses worn by the operator 111, receives the measurement data 151, for example, the visual image sequence, from the recording system 150 (e.g., a camera), and projects this data onto a display of the viewing device 112. This allows the operator to control the load-handling device 120 and the lifting device 130 based on the measurement data 151, for example, the visual image sequence, of the working area 122 of the load-handling device 120 projected onto the viewing device 112. The viewing device 112 can convert the control signals generated by the operator 111 into control commands 152 and transmit these to the controller 140, which can then control the load-handling device 120 and the lifting device 130.

[0091] Fig. Figure 2 also shows a control system 200 for controlling a vehicle 110, in particular a forklift truck, in particular a narrow-aisle forklift truck. The control system 200 comprises: a vehicle 110, in particular a forklift truck, in particular a narrow-aisle forklift truck, as described above; and a display device 112 for controlling the vehicle 110 via an operator 111. As mentioned above, the vehicle 110 is the Fig. 2, unlike that of the Fig. 1, to a remotely controlled vehicle 110, in which the driver's cab 160 is located outside the vehicle 110.

[0092] The viewing device 112 is designed to project the measurement data 151, for example the visual image sequence, of the working area 122 of the load-bearing device 120 of the vehicle 110, recorded by the recording system 150, for example the camera, onto a display of the viewing device 112 and to transmit user inputs 111 for controlling the load-bearing device 120 and the lifting device 130 of the vehicle 110 to the control unit 140 of the vehicle 110.

[0093] The viewing device 112 can comprise an augmented reality (AR) and / or virtual reality (VR) viewing device with a display, in particular AR glasses or VR glasses. It can be configured to project the measurement data 151, for example the visual image sequence, of the work area 122 of the load-bearing device 120 onto the display in the form of AR and / or VR.

[0094] Fig. Figure 3 shows a schematic representation of a method 300 according to the invention for controlling a vehicle using the example of an industrial truck, in particular a narrow-aisle industrial truck.

[0095] Vehicle 110 includes a vision device 112, in particular an AR and / or VR vision device, as described above. Fig. 1 and Fig. 2 described. The vehicle 110 comprises a load-bearing device 120 for receiving a load 121 and a lifting device 130 for lifting the load-bearing device 120 with the received load 121 to a shelf height of a shelf 132, as described above. Fig. 1 and Fig. 2 described.

[0096] The method 300 comprises: recording 301 measurement data, in particular spatial measurement data, preferably visual measurement data, for example a visual image sequence, of a working area 122 of the load-bearing capacity 120 of the vehicle 110, as above to the Fig. 1 and Fig. 2 described.

[0097] The procedure 300 comprises: Transferring 302 the measurement data 151, for example the visual image sequence, to the display device 112 of an operator 111 of the vehicle 110 for projection of the measurement data 151 onto the display device 112, as described above. Fig. 1 and Fig. 2 described

[0098] The procedure 300 comprises: controlling 303 the load handling 120 and the lifting device 130 of the vehicle 110 by the display device 112 based on inputs from the operator 111 in response to the display projected onto the display device 112 with the measurement data 151, for example the image sequence 151, as above to the Fig. 1 and Fig. 2 described.

[0099] The vehicle 110, for example, includes a control unit 140 for controlling the load handling device 120 and the lifting device 130. The method 300 may further include: transmitting control commands based on the operator's inputs 111 via the display device 112 to the control unit 140 of the vehicle 110; and controlling the load handling device 120 and the lifting device 130 of the vehicle 110 by the control unit 140 of the vehicle 110 based on the control commands transmitted by the display device 112.

[0100] Furthermore, the invention relates to a computer program for carrying out this method 300 on a computer, for example a control unit or a control computer of the vehicle.

[0101] The invention is not limited to the illustrated embodiment.

[0102] The industrial truck 110 can be manually operated and controlled by the operator 111, who may be present on the industrial truck 110 – as shown in the Fig. 1 is shown - or can be spatially separated from the industrial truck 110 - as shown in the Fig. 2 is shown.

[0103] The industrial truck 110 can alternatively be configured as a semi-automated or fully automated industrial truck, for example, an automated driving industrial truck, which is controlled for specific processes, such as load picking, by the operator 111 via the control unit 140 and the display unit 112 using the measurement data 151 projected onto the display unit 112, in particular visual measurement data, and thus the virtual operating system. The industrial truck 110 can, however, automatically implement and execute lateral movements and, for example, load unloading. The control of the industrial truck 110 by the operator 111 using the display unit 112 can be carried out as described in the Fig. 1 or as in the Fig. 2 will follow.

Claims

[1] Vehicle (110), in particular industrial truck, in particular narrow-aisle industrial truck, for lifting a load (121) to a shelf height (131) of a rack (132), comprising: a load-bearing device (120) which is designed to receive a load (121); a lifting device (130) which is designed to lift the load-bearing device (120) with the load (121) carried to a shelf height (131) of the shelf (132); a control unit (140) for controlling the load handling (120) and the lifting device (130) by an operator (111) of the vehicle (110); and a recording system (150), in particular an optical recording system, which is configured to record measurement data (151), in particular spatial measurement data, preferably visual measurement data, of a working area (122) of the load-holding device (120) and to transmit this data to a viewing device (112) of the operator (111), so that the operator (111) can control the load-holding device (120) and the lifting device (130) on the basis of the measurement data (151), in particular visual measurement data, of the working area (122) of the load-holding device (120) projected onto the viewing device (112). [2] Vehicle (110) according to claim 1, wherein the recording system (150) is movably arranged with the load-bearing capacity (120) and is designed to record the measurement data (151), in particular visual measurement data, of the working area (122) of the load-bearing capacity (120) when lifting and / or lowering the load-bearing capacity (120). [3] Vehicle (110) according to claim 1 or 2, wherein the viewing device (112) comprises an augmented reality (AR) and / or virtual reality (VR) viewing device with a display, in particular AR glasses or VR glasses, and is configured to project the measurement data (151), in particular visual measurement data, of the working area (122) of the load handling device (120) onto the display in the form of AR and / or VR. [4] Vehicle (110) according to any of the preceding claims, which is a man-down industrial truck that includes a driver's workstation (160) for the operator (111) which is not raised by the lifting device (130), wherein the control unit (140) is located at the driver's workstation (160) so that the vehicle (110) can be controlled from the driver's workstation (160). [5] Vehicle (110) according to claim 4, wherein a position of the receiving system (150) corresponds to a position of an operator of a man-up industrial truck, in which the driver's workstation (160) is raised with the lifting device (130) and the operator (111) in the driver's workstation (160) has a view of the working area (122) of the load receiving (120). [6] Vehicle (110) according to any one of claims 1 to 3, which is a remotely controlled industrial truck that includes a driver's workstation (160) outside the industrial truck, wherein the vehicle (110) can be remotely controlled (152) from the driver's workplace (160), in particular permanently or temporarily or as required. [7] Vehicle (110) according to any of the preceding claims, wherein the recording system (150) comprises a 360° camera system and / or a 3D measuring system configured to record a three-dimensional image of the working area (122) of the load handling device (120); wherein the receiving system (150) is attached to the load receiving (120) in a fixed and / or movable manner. [8] Vehicle (110) according to any of the preceding claims, comprising: a processor designed to convert the measurement data (151) of the load handling area recorded by the recording system (150) into data suitable for projection onto the operator's (111) display device (112); and a communication interface designed to transmit the converted data to the operator's (111) display device (112). [9] Vehicle (110) according to one of the preceding claims, wherein the latency of the data conversion by the processor and the data transmission by the communication interface is below a predefinable latency which corresponds to a latency at which the operator (111) can operate the vehicle (110) without vertigo. [10] Vehicle (110) according to one of the preceding claims, wherein the control (140) is configured to reduce the speed of movement of the vehicle (110) and / or block applications which are not directed towards load handling processes of the vehicle (110) when the measurement data (151) of the working area (122) of the load handling (120) is transmitted to the operator's (111) viewing device (112). [11] Vehicle (110) according to any of the preceding claims, wherein the load-bearing capacity (120) comprises a fork with two fork tines; and wherein the receiving system (150) comprises a viewing area that is aligned centrally between the two fork tines, corresponds to a top view of a transfer position of the load (121) and / or is aligned laterally at the same height next to the two fork tines. [12] Vehicle (110) according to one of the preceding claims, wherein the control unit (140) is configured to transmit one or more of the following additional information from the vehicle (110) to the operator's (111) display unit for integration on the operator's (111) display unit: • Vehicle parameters, • Warehouse management data, • Communication data, • Order management data. [13] Control system (100, 200) for controlling a vehicle (110), in particular a forklift truck, in particular a narrow-aisle forklift truck, comprising: a vehicle (110), in particular a forklift truck, in particular a narrow-aisle forklift truck according to one of the preceding claims; and a vision device (112) for controlling the vehicle (110) via an operator (111); wherein the viewing device (112) is configured to project the measurement data (151), in particular spatial measurement data, preferably visual measurement data, of the working area (122) of the load-bearing device (120) of the vehicle (110) recorded by the recording system (150), in particular an optical recording system, onto a display of the viewing device (112) and to transmit user inputs (111) for controlling the load-bearing device (120) and the lifting device (130) of the vehicle (110) to the control system (140) of the vehicle (110). [14] Control system (100, 200) according to claim 13, wherein the viewing device (112) comprises an augmented reality, AR, and / or virtual reality, VR, viewing device with a display, in particular AR glasses or VR glasses, and is configured to project the measurement data (151) of the working area (122) of the load handling (120) onto the display in the form of an AR and / or VR. [15] Method (300) for controlling a vehicle (110), in particular a forklift truck, in particular a narrow-aisle forklift truck with a vision device, in particular an AR and / or VR vision device, wherein the vehicle comprises a load-handling device (120) for receiving a load (121) and a lifting device (130) for lifting the load-handling device (120) with the received load (121) to a shelf height of the rack; wherein the method (300) comprises the following: Recording (301) measurement data (151), in particular spatial measurement data, preferably visual measurement data, of a working area (122) of the load handling (120) of the vehicle (110); Transfer (302) the measurement data (151) to the display device (112) of an operator (111) of the vehicle (110) for projection of the measurement data (151) onto the display device (112); and Control (303) of the load handling (120) and lifting device (130) of the vehicle (110) by the viewing device (112) based on inputs from the operator (111) in response to the measurement data (151) projected onto the viewing device (112). [16] Method (300) according to claim 15, wherein the vehicle (110) comprises a control unit (140) for controlling the load handling (120) and the lifting device (130); and wherein the method (300) further comprises: Transmission of control commands based on the operator's inputs (111) through the display device (112) to the vehicle's control unit (140) (110); and Control of the load handling (120) and lifting device (130) of the vehicle (110) by the control unit (140) of the vehicle (110) based on the control commands transmitted by the sight device (112).

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