METHOD FOR LOADING AND / OR UNLOADING A CARGO SPACE, IN PARTICULAR THE CARGO SPACE OF A TRUCK, USING AN AUTONOMOUS LOADING VEHICLE AND SAFETY SYSTEM

Abstract

The embodiment relates to a method for loading and / or unloading a cargo space, in particular the cargo space of a truck, with an autonomous loading vehicle that enters the cargo space at least once to pick up and / or place at least one cargo object, wherein an access area of ​​the cargo space is secured by a stationary sensor device with at least one first sensor arranged at the access area, which monitors a stationary protective field, wherein the loading vehicle is secured by a mobile sensor arrangement arranged on the loading vehicle, which at least temporarily monitors a contour field adapted to a structural boundary of the access area.The mobile sensor arrangement monitors, at least temporarily, a frontal protective field oriented towards one direction of travel of the loading vehicle, which is deactivated as soon as the structural boundary of the access area is detected in the contour field when the loading vehicle enters the loading space.

Description

[0001] The invention relates to a method for loading and / or unloading a cargo space, in particular the cargo space of a truck, with an autonomous loading vehicle, and a safeguarding system for safeguarding the loading and / or unloading of a cargo space, in particular the cargo space of a truck, with an autonomous vehicle according to the preamble of the independent claims.

[0002] Loading and unloading a truck, especially its trailer, at a loading dock, a process known as truck loading, is currently done manually using manned or manually operated forklifts. It is the forklift operator's or other operator's responsibility to ensure that people are not present and to prevent accidents. While autonomous vehicles, so-called Automated Guided Vehicles (AGVs), are already used in the logistics sector and could theoretically handle truck loading or at least enable a hybrid operation combining manual and fully automated processes, a solution is lacking to guarantee that no one is inside the trailer or on the way to it during the loading and unloading process. In other automated logistics applications, autonomous vehicles operate exclusively in areas restricted to people. This is not feasible at a loading dock.

[0003] Autonomous vehicles already monitor their journeys with sensors mounted on the respective AGVs to prevent accidents. For example, a protective field is created and monitored in the direction of travel of the AGV. If an object is detected within this protective field, a hazardous situation is assumed, and the AGV is slowed down or stopped completely. This is achieved using a non-contact protective device based on a corresponding sensor. The intrusion of an object or person, especially a body part, into the protective field is detected by one or more sensors without direct mechanical contact. These sensors are based on various physical principles. Examples include optical sensors, acoustic sensors (such as ultrasonic sensors), inductive or capacitive sensors, and radar sensors.Sensors used for accident prevention must operate reliably and therefore meet high safety requirements, such as the EN ISO 13849-1 standard for machine safety and the EN IEC 61496 standard for non-contact protective devices. To meet these safety standards, a number of measures must be taken, such as reliable electronic evaluation through redundant, diverse electronics, functional monitoring, and monitoring of the contamination of optical components.

[0004] If AGVs (Automated Guided Vehicles) are to be used for the automated loading and unloading of truck trailers, the protective fields normally associated with AGVs become a hindrance when navigating inside the trailer. This is because, due to the densely packed cargo in the trailer or cargo space, the protective field is virtually never clear of objects, and the vehicle is therefore practically unable to move from a standstill. Furthermore, currently available sensors are not capable of reliably distinguishing between people and objects, which is why the protective fields must be completely deactivated when navigating within the cargo space. Nevertheless, it is essential to ensure that any human access is reliably detected.

[0005] DE 10 2020 122 030 A1 relates to an intralogistics system with at least one autonomous and / or automated industrial truck (IHK) having a vehicle control unit and at least one collision protection system for monitoring the area surrounding the IHK, including at least one environmental sensor and a data processing unit operatively connected to the vehicle control unit for processing the sensor data from the at least one environmental sensor. US 2024 / 0 343 510 A1 describes a method for loading and / or unloading the cargo space of a transport vehicle with a loading vehicle, in which a passage corridor is created for the loading vehicle when it enters the cargo space. DE 10 2018 203 440 A1 discloses a method for creating or updating an environmental map and for determining a position within the environmental map based on scanning the environment using electromagnetic beams.US 2019 / 0 092 207 A1 discusses sensor systems and methods for monitoring the unloading of cargo.

[0006] One task, therefore, is to specify a safe solution for the automated loading and unloading of the cargo space of a truck, i.e., the loading and unloading of the cargo space of the truck, using at least one autonomous vehicle.

[0007] The problem is solved by the method and the safeguarding system of independent patent claims. Further developments and embodiments of the invention are each the subject of dependent patent claims.

[0008] One embodiment of the invention relates to a method for loading and / or unloading a cargo space, in particular the cargo space of a truck, using an autonomous loading vehicle. The loading vehicle enters the cargo space at least once to pick up and / or deposit at least one cargo item. An access area of ​​the cargo space is protected by a stationary sensor device with at least one first sensor arranged at the access area, which monitors a stationary protective field. The loading vehicle is protected by a mobile sensor arrangement mounted on the loading vehicle, which at least temporarily monitors a contour field adapted to a structural boundary of the access area.The mobile sensor array monitors, at least temporarily, a frontal protective field oriented towards the direction of travel of the loading vehicle. This field is deactivated as soon as the vehicle enters the loading area and the physical boundary of the access area is detected within the contour field (i.e., by means of the contour field). As the loading vehicle approaches the access area and before entering it, it registers with the stationary sensor unit. This registration process involves verifying the vehicle's identity using a unique identifier, which is typically provided by the vehicle's network address.After the vehicle registers, the mobile sensor array on the loading vehicle generates at least one lateral protective field. This field is aligned along a side of the vehicle parallel to its direction of travel and serves to detect a person or object located next to the vehicle. The vehicle is then permitted to enter the loading area after registering with the stationary sensor array if neither the stationary sensor array nor the mobile sensor array detects an object, particularly an unregistered one, within their respective protective fields.

[0009] The method according to the invention enables the safe loading and unloading of the truck's cargo space with the autonomous loading vehicle by securing the process both via a stationary sensor device mounted at the access point and via a sensor array traveling with the loading vehicle. Using the stationary protective field, the stationary sensor device detects, for example, a person's access to the truck's cargo space and its access area, which constitute a danger zone for people. The frontal protective field traveling with the autonomous vehicle initially secures the loading vehicle's entry into the cargo space.

[0010] Simultaneously, the mobile sensor array monitors the contour field, detecting the precise moment the autonomous loading vehicle actually reaches the cargo space. The frontal protective field is then deactivated or muted, allowing the loading vehicle to navigate the cargo space undisturbed and without interruption. Potential access to the cargo space by people while the autonomous loading vehicle is moving around the truck's cargo area to deposit, pick up, or retrieve at least one cargo item is prevented by the stationary sensor system. The moment the frontal protective field is deactivated is determined by the detection of a physical boundary to the access area, such as a side wall of a building.

[0011] The cargo space is therefore enclosed by at least one wall and thus only accessible through the access area, i.e., it can be entered or driven into. The access area represents the transition, for example, between a factory hall where cargo is stored and the cargo space or trailer of a truck. A roller door may be attached to the access area. The trailer is driven up to the roller door and secured. The roller door is then opened by authorized personnel. A platform may be set up to the correct height. After the authorized personnel have verified that no one is inside the truck's cargo space, the method according to the invention is started.Typically, the autonomous vehicle, which is implemented as an AGV or an Autonomous Mobile Robot (AMR), enters and exits the cargo space multiple times, so that the method according to the invention may be carried out several times in succession.

[0012] The access area, which is the only way to enter the truck's cargo space, is secured by the stationary sensor system with at least one sensor. The autonomous loading vehicle is secured by the mobile sensor system, which also has at least one sensor. The at least one sensor of the mobile sensor system is, for example, an optical sensor, which is based in particular on the principle of time-of-flight measurement.

[0013] The definitions listed at the beginning also apply to the following text, unless explicitly stated otherwise.

[0014] To monitor a protective field, a sensor is configured to detect the presence of an object within a defined area or section of the sensor's field of view. Such a protective field can be activated or set, so that an object within its area is actually detected. If a protective field is deactivated or muted, an object entering the protective field is ignored. A protective field can also be referred to as a monitoring field. The contour field is a special type of protective field designed to detect an object, specifically its contour, within a defined area. In other words, while the AGV's contour field is similar to a protective field, it is specifically designed to detect objects within the contour field, with the detection of an object then triggering an appropriate action.According to the invention, the contour field is specifically designed exclusively for the positive detection of an object, in this case the structural boundary of the cargo space, e.g., a warehouse wall. The contour field of the mobile sensor arrangement is defined, for example, during the configuration of the sensor by a person performing the commissioning.

[0015] According to further training, the stationary sensor system and the mobile sensor array communicate with each other to protect at least the cargo area against unauthorized entry by a person and / or entry by an unregistered loading vehicle. This is achieved primarily through the use of a wireless communication device, which is implemented specifically as a wireless local area network.

[0016] During entry and while the autonomous loading vehicle (AGV) is moving within the truck's cargo space, information is exchanged—that is, communication takes place—between the stationary sensor array and the mobile sensor array. For example, if the stationary sensor array detects a person entering the cargo space while the AGV is moving within the cargo space, it informs the AGV via the wireless communication system. This allows for proactive responses to any potential hazards and ensures the cargo space is secured at all times.

[0017] The wireless local area network can be implemented, for example, as a Wireless Local Area Network (WLAN). Standard protocols are used for communication between the mobile sensor array and the stationary sensor device, such as the Transport Control Protocol (TCP), which is based on the Internet Protocol (IP), i.e., TCP / IP. The protocols used are secured in a standard manner to ensure machine safety, for example, by using secure TCP / IP protocols such as EFIpro or ProfiNET / ProfiSAFE.

[0018] The AGV approaches the access area and registers with the stationary sensor device, for example, by sending a corresponding message via its wireless communication system. The vehicle's IP address or its MAC address (Medium Access Control) is used for identification. Upon successful identification, the vehicle is authorized to proceed. As the registered AGV passes through the access area, the stationary sensor device's protective field becomes permeable, meaning it is deactivated for the passage of the authorized vehicle. As mentioned above, the stationary sensor device will still detect if an unregistered vehicle enters the area or if a person enters.

[0019] A protective field refers to either a two-dimensional or a three-dimensional area. This area has defined dimensions and is monitored by a sensor of the stationary sensor system or the mobile sensor array. The protective fields of the mobile sensor array or the autonomous charging vehicle are moving protective fields that accompany the vehicle. In contrast, the stationary sensor system monitors the stationary, i.e., fixed, protective field. Objects, such as obstacles, and / or people are detected by the sensor within the respective protective field. A corresponding action or reaction can then be triggered. For example, the charging vehicle can be prevented from continuing its journey.

[0020] The mobile sensor array monitors or generates at least one lateral protective field. Preferably, after registering with the stationary sensor unit, the AGV's mobile sensor array monitors two lateral protective fields, each aligned along a side of the vehicle parallel to its direction of travel. This allows the detection of a person or object on either side of the AGV.

[0021] After successful registration with the stationary sensor device, which is confirmed, for example, by a positive response from the device, the AGV preferentially activates two lateral protective fields as well as the frontal protective field and continues its movement towards the access area. The frontal protective field of the autonomous loading vehicle overlaps at least partially with the stationary protective field of the sensor device. The loading vehicle is only allowed to enter the truck's cargo area when both the stationary protective field and all protective fields of the AGV are clear of people and objects.

[0022] In another embodiment, the mobile sensor arrangement of the loading vehicle monitors or sets at least one rearward protective field, which is oriented opposite to the direction of travel of the loading vehicle, after the vehicle has been allowed to enter the loading space, and serves to detect a person who is behind the vehicle.

[0023] The AGV continues forward towards the cargo area and now also activates the rear protection field to detect any people who might be walking behind the vehicle. As soon as the contour field positively detects the structural boundary of the cargo area, such as the building wall, the front protection field is deactivated.

[0024] According to a training course, all protective fields and the contour field of the mobile sensor arrangement of the loading vehicle for its navigation in the loading area are deactivated as soon as the loading vehicle has passed the access area.

[0025] The point at which the loading vehicle has completely passed through the access area is indicated, for example, by the stationary sensor array no longer detecting any objects. From this point on, the autonomous vehicle navigates within the truck's cargo space using the mobile sensor array without any protective fields. The AGV's protective fields are therefore deactivated or muted within the cargo space. One or more cargo items are placed in or picked up from the cargo space. The unmanned loading vehicle can then move autonomously within the truck's cargo space, transporting cargo items back and forth without its movement being repeatedly interrupted by these items. Should a person attempt to enter the cargo space via the access area during this time, this will be detected by the stationary sensor array within its protective field and communicated to the loading vehicle.The loading vehicle can be stopped in this way. This ensures that the automated loading and unloading of the truck is safe at all times.

[0026] According to one embodiment, the loading vehicle enters a safe state as soon as communication between the stationary sensor device and the mobile sensor device is interrupted. In this safe state, the loading vehicle stops. Alternatively, at least the frontal protective field of the mobile sensor arrangement is activated; in particular, all protective fields of the mobile sensor arrangement, such as the rear protective field and one or two side protective fields, are activated.

[0027] If communication via the wireless network between the stationary sensor unit and the mobile sensor array ceases, the autonomous charging vehicle is prevented from continuing its journey. Alternatively, either only the AGV's frontal protective field is activated, or all of the AGV's protective fields are activated. In other words, the previously muted or deactivated AGV protective fields are terminated.

[0028] According to a training course, the autonomous loading vehicle exits the loading area after the cargo object has been placed and / or picked up, specifically using the same route as when entering. During this exiting process, the frontal protective field of the mobile sensor array, aligned in the direction of travel, is activated first as soon as the front of the loading vehicle passes the access area. Subsequently, at least one lateral protective field of the mobile sensor array or the AGV, aligned along a side of the vehicle parallel to its direction of travel, is activated as soon as the loading vehicle has completely passed the access area.

[0029] After the AGV has stowed or picked up its load in the trailer, it leaves the loading area or access zone via the same route it took to enter. As soon as the stationary protective field of the stationary sensor system detects the AGV's entry from the direction of the loading area—that is, when the first exiting front section of the loading vehicle crosses the access zone—the AGV's exit-directed protective field is activated. Regardless of whether the AGV has turned around in the loading area or not, this protective field corresponds to the front-facing protective field oriented in the direction of travel. Once the vehicle has completely crossed the access zone by continuing its exit maneuver, the AGV's other mobile protective fields are also reactivated. A loading cycle encompassing approach, entry, loading, and exit is thus completed.

[0030] According to a further development, the stationary sensor arrangement includes a second sensor positioned at the access point. The first and second sensors are mounted on opposite sides of the access point, preferably on the sides above the structural boundary. The second sensor generates an additional stationary protective field that at least partially overlaps the stationary protective field of the first sensor.

[0031] The first and second sensors of the stationary sensor device each operate according to a non-contact sensor principle, preferably an optical sensor principle such as a light curtain, a laser scanner, a lidar sensor, a camera, or a 3D camera, in particular a time-of-flight camera, but also according to non-optical sensor principles such as a radar or radio tracking system, in particular an ultra-wideband system. The first and second sensors can be selected from the aforementioned and other non-contact sensors. For example, the first and second sensors are each implemented as safety laser scanners.

[0032] According to a training course, the access area is divided into at least two separate zones based on the stationary protective fields of the stationary sensor system. These zones form at least a first and a second passageway for traversing the access area. The loading vehicle uses either the first or the second passageway for entering and exiting. As soon as the stationary sensor system detects an object in the passageway not currently being used for entry or exit, the loading vehicle enters a safety state. In this safety state, the loading vehicle stops. Alternatively, at least the front protective field of the mobile sensor system is activated; in particular, all protective fields of the mobile sensor system, such as the rear protective field and one or two side protective fields, are activated.

[0033] If the access area is secured with two sensors of the stationary sensor system, as in this embodiment, at least two passage corridors, also referred to as lanes, can be created. These lanes exist purely virtually. By using a passage corridor, only a portion of the total width of the access area can be used for the entry or exit of an AGV registered in that corridor or lane. The respective stationary protection field of the first and / or second sensor is partially deactivated for the passage of the properly registered AGV in that area, as described above. Simultaneously, the stationary protection fields in the area of ​​the other passage corridors remain activated. As described above, an autonomous loading vehicle uses the same path, i.e., the same passage corridor, for entry and exit.If one of the stationary protective fields detects an object in the passageway not currently being used for entry, the loading vehicle is put into a safety state. This either prevents any autonomous movement or activates one or all of the protective fields of the mobile sensor array.

[0034] In a training course, after the loading vehicle, which is in a safe state, has been stopped, the loading vehicle is driven out of the loading space using a manual control system after it has been activated.

[0035] Therefore, if the AGV is prevented from continuing autonomously during its loading and unloading movements in the truck's cargo area for safety reasons, i.e., due to the detection of an object in the stationary protective field(s), it is possible to move the AGV out of the cargo area using manual control. For this purpose, the AGV can be equipped with an enabling device, for example, in the form of a switch or a human-machine interface (HMI), particularly a touchscreen.

[0036] A further embodiment of the invention relates to a safety system for safeguarding the loading and / or unloading of a cargo space, in particular the cargo space of a truck, with an autonomous loading vehicle that enters the cargo space at least once to pick up and / or deposit at least one cargo item. The safety system comprises a stationary sensor device and a mobile sensor arrangement mounted on the loading vehicle. The stationary sensor device is configured to safeguard an access area of ​​the cargo space and includes at least one first sensor located at the access area. This sensor is configured to monitor a stationary protective field. The mobile sensor arrangement is configured to safeguard the loading vehicle and to monitor, at least temporarily, a contour field adapted to a structural boundary of the access area.Furthermore, the mobile sensor array is designed to monitor, at least temporarily, a frontal protective field oriented towards the direction of travel of the loading vehicle and to deactivate this field upon detection of the structural boundary of the access area within the contour field while the loading vehicle is entering the loading area. As the loading vehicle approaches the access area and before entering it, it registers with the stationary sensor unit. This registration process includes verifying the vehicle's identity using a unique identifier, which is primarily provided by the vehicle's network address.The mobile sensor array of the loading vehicle is designed to generate at least one lateral protective field after the loading vehicle has registered. This field is aligned along a side of the loading vehicle parallel to its direction of travel and serves to detect a person or object located next to the loading vehicle. The loading vehicle is then permitted to enter the loading area after registering with the stationary sensor array if neither the stationary sensor array nor the mobile sensor array detects an object, particularly an unregistered one, within their respective protective fields.

[0037] The safety system utilizes contour detection to recognize when the autonomous loading vehicle actually enters the cargo space, specifically when the AGV's contour detection field identifies the physical boundary of the access area. From this point onward, at least the frontal protective field, aligned with the loading vehicle's direction of travel, is deactivated, allowing the autonomous loading vehicle to move within the cargo space to load or unload cargo. Meanwhile, a stationary sensor system prevents unauthorized access to the cargo space. This ensures the necessary level of safety for automated loading and unloading of the truck's cargo area by autonomous vehicles.

[0038] In one possible implementation, the method described above is carried out by the described and claimed safeguarding system. Furthermore, the descriptions of the method according to the invention apply accordingly to the safeguarding system, particularly with regard to advantages, embodiments, and further developments.

[0039] In a further training course, the first sensor of the stationary sensor device comprises a non-contact sensor, in particular a laser scanner. Alternatively or additionally, the mobile sensor arrangement comprises at least one sensor which is a non-contact sensor, in particular a laser scanner.

[0040] In a further development, the stationary sensor device comprises a second sensor arranged at the access area, which is configured to monitor a further stationary protective field, wherein the first and second sensors are mounted on opposite sides, preferably the structural boundary, of the access area. The stationary protective field of the first sensor overlaps the stationary protective field of the second sensor at least partially.

[0041] Each laser scanner used is specifically implemented as a safety laser scanner.

[0042] The aforementioned embodiments and further developments can be combined with each other, unless explicitly stated otherwise or described.

[0043] The invention is explained in more detail below by way of example with reference to the figures. Functionally or effectively identical elements bear the same reference numerals. They show: Fig. 1 an exemplary embodiment of a safeguarding system as proposed, Fig. 2 an exemplary scenario in which the proposed procedure or safeguarding system is used, and Fig. 3 an exemplary embodiment of the method as proposed.

[0044] Fig. Figure 1 shows an exemplary embodiment of a safety system as proposed. The safety system comprises a stationary sensor device 20 and a mobile sensor arrangement 14, which is mounted on an autonomous loading vehicle 10. The safety system is designed to safeguard the loading and / or unloading of a cargo space, in particular the cargo space of a truck, using the autonomous loading vehicle 10. The autonomous loading vehicle 10 enters the cargo space at least once to deposit and / or retrieve at least one cargo item. The stationary sensor device 20 is designed to safeguard an access area 31 of the truck's cargo space. It comprises at least one first sensor 21. In this embodiment, the stationary sensor device 20 additionally comprises a second sensor 22. The first and second sensors 21, 22 are arranged on opposite sides of the access area 31.

[0045] Optionally, the stationary sensor device 20 can include an additional sensor, not shown in the figure, e.g., in the form of a light curtain. This sensor is linked to the other sensors 21, 22 by means of a logical OR function in the sensor device 20, in particular its controller 24. This is especially advantageous if a potentially large number of people are moving in or near the access area. Shutdowns caused by passersby are prevented, and system availability is further increased. An unintended detection in the area of ​​the sensor arrangement 20 and the light curtain leads to the AGV being put into a safe state.

[0046] The mobile sensor arrangement 14 comprises at least one third sensor 11, which is mounted on the autonomous charging vehicle 10 and thus travels with it. In the figures, only one sensor 11 is shown for the mobile sensor arrangement 14, for example, in the direction of travel; however, one or more additional sensors can be added for rear and / or side monitoring. The sensors 21 and 22 operate according to a non-contact sensor principle, preferably an optical sensor principle, as described. Non-optical sensor principles, such as those used in radar or radio tracking systems, particularly ultra-wideband systems, can also be used. The sensors 21, 22, and 11 can be selected from the aforementioned and other non-contact sensors, although some sensors are not equally suitable for both systems 20 and 14; for example, a light curtain is only suitable for the stationary sensor arrangement 20.The invention is described below using laser scanners as an example. The object recognition is based on a protective field concept; this too is exemplary, since the only important thing is to reliably detect objects in the access area 31 or in the respective travel path of the loading vehicle 10.

[0047] Each stationary sensor device 20 and mobile sensor arrangement 14 includes a control and evaluation unit 22, 24. The control and evaluation functionality, using the method described below, can be distributed between the two control and evaluation units 22, 24 and also to at least one external control and evaluation unit of a higher-level system. Preferably, however, at least the respective object detection or protective field evaluation takes place near or within the associated sensor 21, 22, 11.

[0048] Any computing unit can be used as the hardware for the control and evaluation units 22, 24, such as digital computing components like a microprocessor or a Central Processing Unit (CPU), a Field Programmable Gate Array (FPGA), a Digital Signal Processor (DSP), an Application-Specific Integrated Circuit (ASIC), a Classification Processor (KPI), a Neural Processing Unit (NPU), a Graphics Processing Unit (GPU), or the like. An external computing unit can be a computer of any type, including a notebook, smartphone, tablet, or (security) controller, as well as a local network device, an edge device, or a device in a cloud. Security-relevant parts of the control and evaluation are preferably implemented in secure hardware or achieve the required security level through other measures such as redundancy or testing.

[0049] Furthermore, a communication interface 26, 28 is provided in both the stationary sensor device 20 and the mobile sensor arrangement 14. The stationary sensor device 20 and the mobile sensor arrangement 14 communicate with each other, preferably wirelessly, to exchange data, information, and control signals. The communication links can be implemented using any protocol such as Bluetooth, WLAN, Wi-Fi, 3G / 4G / 5G, and in principle any other protocol.

[0050] Fig. Figure 2 shows an exemplary scenario in which the proposed hedging system, as exemplified in Figure 2, is implemented. Fig. Figure 1 shows the proposed method. In this exemplary embodiment, the stationary sensor device also comprises the first and second sensors 21, 22. The first sensor 21 generates a first stationary protective field SF21. The second sensor 22 generates a second stationary protective field SF22. The protective fields SF21 and SF22 partially overlap. The access area 31 is bounded on both sides by a structural boundary 32, for example, a wall. In the illustration, the truck to be loaded or unloaded reverses up to the access area 31 from the right with its trailer. Authorized operating personnel take steps to prepare for the automated loading or unloading of the cargo space 30, for example, by opening a roller door at the access area 31, checking that the cargo space 30 is clear of people, and enabling the automated loading according to the proposed method.

[0051] Sensors 21 and 22 are arranged laterally at the access area 31, in particular at its structural boundary 32, as shown. In the example of the Fig. 2. Based on the protective fields SF21 and SF22, three passage corridors G1, G2 and G3 are virtually formed in the access area 31. These are each wide enough that an autonomous loading vehicle 10 can enter the loading space 30 via this passage corridor after registering with the stationary sensor arrangement 20, due to the partial deactivation of the protective fields SF21 and SF22 in this area.

[0052] The mobile sensor arrangement includes the third sensor 11, which is configured to monitor, at least temporarily, a frontal protective field SF110, a first lateral protective field SF111, a second lateral protective field SF112, and a rear protective field SF113. In addition, the third sensor 11 monitors the contour field K11.

[0053] Each of the stationary protective fields SF21 and SF22 can also be divided into an inner area I and an outer area II as shown. The inner area I of each stationary protective field SF21, SF22 borders directly on the access area 31, while the outer area II of each stationary protective field SF21, SF22 adjoins the side of the inner area I facing away from the access area 31.

[0054] The inventive method is described below by way of example using the scenario of Fig. 2 in conjunction with the exemplary embodiment of Fig. 3 explained in more detail.

[0055] In step S1, the autonomous charging vehicle 10 approaches the safety system according to the invention and registers with the stationary sensor device. Optionally, the charging vehicle 10 also indicates during registration which route, in this case via which of the passage corridors G1, G2 or G3, access to the loading space 30 is to be made.

[0056] In step S2, after receiving positive feedback from the stationary sensor device, the loading vehicle 10 activates the lateral monitoring fields SF111 and SF112, as well as the frontal protective field SF110, which overlaps with the outer area II of the stationary protective fields SF21 and SF22 in the area of ​​an extension of the corridor G1.

[0057] In step S3, it is checked whether all protective fields SF21 and SF22 of the stationary sensor device and the protective fields SF110, SF111, and SF112 of the loading vehicle 10 are free of object detection. If this is the case, in step S4 the loading vehicle 10 receives clearance from the stationary sensor device to proceed.

[0058] In step S5, as the AGV 10 approaches access area 31 further, particularly upon reaching the outer II and inner I areas of the stationary protective fields SF21 and SF22, its rear protective field SF113 is activated. At this point, contour field K11 is also activated. The AGV continues moving.

[0059] In step S6, the contour field K11 detects the building wall 32, which leads to the deactivation of the frontal protective field SF110 of the loading vehicle 10.

[0060] In step S7, the loading vehicle 10 has completely entered the loading area 30, so that neither the protective fields SF21 and SF22 detect the AGV 10, either in its inner or outer areas I and II. Now, all protective fields of the AGV 10, including the side protective fields SF111 and SF112 as well as the rear protective field SF113, are deactivated. The AGV 10 can now perform the necessary autonomous movements to place or retrieve the cargo.

[0061] In step S8, the AGV 10 has completed the loading or unloading process and leaves the loading area via the same route as it entered. As soon as the inner area I of the stationary protective field SF21 detects the loading vehicle 10, the protective field SF113, which is now located in the direction of travel of the loading vehicle 10, is activated.

[0062] In step S9, as soon as the outer area II of the protective field SF21 detects the loading vehicle 10, the lateral protective fields SF111 and SF112 are also activated. This means that the loading vehicle 10 has fully extended out of the access area 31 and the stationary protective fields SF21 and SF22.

[0063] In step S10, the AGV 10 has left the area and all protective fields required for free driving are activated according to the vehicle configuration. Reference symbol list 10 loading vehicles 11, 21, 22 Sensor 14 mobile sensor array 20 stationary sensor devices 26, 28 Communication facility 23, 24 Control 30 cargo space 31 Access area 32 structural limitation SF21, SF22 stationary protective field SF110, SF111, SF112, SF113 mobile protective field K11 contour field G1, G2, G3 transit corridor Area I, II S1, S2, ..., S10 Step

Claims

[1] Method for loading and / or unloading a cargo space, in particular the cargo space (30) of a truck, lorry, with an autonomous loading vehicle (10) which enters the cargo space (30) at least once to pick up and / or deposit at least one cargo object, wherein an access area (31) of the cargo space (30) is secured by a stationary sensor device (20) with at least one first sensor (21) arranged at the access area (31) which monitors a stationary protective field (SF21), wherein the loading vehicle (10) is secured by a mobile sensor arrangement (14) arranged on the loading vehicle (10) which at least temporarily monitors a contour field (K11) adapted to a structural boundary (32) of the access area (31), wherein the mobile sensor arrangement (14) monitors at least temporarily a frontal protective field (SF110) directed towards one direction of travel of the loading vehicle (10), which is deactivated as soon as the structural boundary (32) of the access area (31) is detected in the contour field (K11) when the loading vehicle (10) enters the loading space (30), wherein, when the loading vehicle (10) approaches the access area (31) and before entering the access area (31), the loading vehicle (10) registers (S1) with the stationary sensor device (20), wherein the registration of the loading vehicle (10) includes a verification of the identity of the loading vehicle (10) by means of a unique identifier, which is given in particular by a network address of the loading vehicle (10), wherein the mobile sensor arrangement (14) of the loading vehicle (10) monitors at least one lateral protective field (SF111, SF112) after the loading vehicle (10) has been registered, which is aligned along a side of the loading vehicle (10) running parallel to the direction of travel of the loading vehicle (10), and serves to detect a person or object that is located next to the loading vehicle (10), and the subsequent entry of the loading vehicle (10) into the loading space (30) is released (S4) if neither the stationary sensor device (20) nor the mobile sensor arrangement (14) detect an object, in particular an unregistered object, in their respective protective fields (S3). [2] Method according to claim 1, wherein the stationary sensor device (20) and the mobile sensor arrangement (14) communicate with each other to protect at least the loading space (30) against entry by a person and / or driving through by an unregistered loading vehicle (10), in particular using a wireless communication device (26, 28), in particular a wireless local network. [3] Method according to claim 1, wherein the mobile sensor arrangement (14) of the loading vehicle (10) generates at least one rearward protective field (SF113) (S5) after the entry has been released, which is oriented opposite to the direction of travel of the loading vehicle (10), and serves to detect a person who is behind the loading vehicle (10). [4] Method according to the preceding claim, wherein as soon as the loading vehicle (10) has passed the access area (31), all protective fields (SF110, SF111, SF112, SF113) and the contour field (K11) of the mobile sensor arrangement (14) of the loading vehicle (10) are deactivated for navigation in the cargo space (30) (S7). [5] Method according to any of the foregoing claims, wherein the loading vehicle (10) enters a safe state as soon as communication between the stationary sensor device (20) and the mobile sensor arrangement (14) is interrupted, wherein in the safety state the loading vehicle (10) stops or at least the frontal protective field (SF110) generated by the mobile sensor arrangement (14), in particular all protective fields generated by the mobile sensor arrangement (14), such as a rear protective field (SF113) and one or two lateral protective fields (SF111, SF112), are activated. [6] Method according to any of the foregoing claims, wherein the loading vehicle (10) exits the loading space (30) after unloading and / or retrieving the load, in particular by using the same route as when entering, and wherein during the extension, the frontal protective field (SF110, SF113) of the mobile sensor arrangement (14), which is aligned in the direction of travel of the loading vehicle (10), is first activated (S8) as soon as a front part of the loading vehicle (10) passes the access area (31), and subsequently at least one lateral protective field (SF111, SF112) of the mobile sensor arrangement (14), which is aligned along a side of the loading vehicle (10) running parallel to the direction of travel of the loading vehicle (10), is activated (S9) as soon as the loading vehicle (10) has completely passed the access area (31). [7] Method according to one of the preceding claims, wherein the stationary sensor device (20) has a second sensor (22) arranged at the access area (31), wherein the first sensor and the second sensor (21, 22) are attached to opposite sides, preferably at the structural boundary (32), of the access area (31), wherein the second sensor (22) monitors a further stationary protective field (SF22), wherein the stationary protective field (SF21) of the first sensor at least partially overlaps the stationary protective field (SF22) of the second sensor. [8] Method according to the preceding claim, wherein the access area (31) is subdivided into at least two separate areas based on the stationary protective fields (SF21, SF22) of the stationary sensor device (20), which form at least a first and a second passage corridor (G1, G2) for traversing the access area (31), wherein the loading vehicle (10) uses the first or the second passage corridor (G1, G2) for entering and exiting, and wherein the loading vehicle (10) enters a safety state as soon as the stationary sensor device (20) detects an object in the passage corridor (G1, G2) not used for the current entry, wherein in the safety state the loading vehicle (10) stops or at least the frontal protective field (SF110), in particular all protective fields, such as a rear protective field (SF113) and one or two side protective fields (SF111, SF112), is removed by the mobile sensor arrangement (14). be monitored. [9] Method according to the preceding claim, wherein, after stopping the loading vehicle (10) which is in a safe state, the loading vehicle (10) is driven out of the loading space (30) using a manual control after switching on this control. [10] Safeguarding system for safeguarding the loading and / or unloading of a cargo space, in particular the cargo space (30) of a truck, lorry, with an autonomous loading vehicle (10) which enters the cargo space at least once to pick up and / or place at least one cargo object, wherein the safety system comprises a stationary sensor device (20) and a mobile sensor arrangement (14) mounted on the loading vehicle (10), wherein the stationary sensor device (20) is configured to secure an access area (31) of the cargo space (30) and has at least one first sensor (21) arranged at the access area (31), which is configured to monitor a stationary protective field (SF21), wherein the mobile sensor arrangement (14) is set up to secure the loading vehicle (10) and to at least temporarily monitor a contour field (K11) adapted to a structural boundary (32) of the access area (31), wherein the mobile sensor arrangement (14) is further configured to monitor, at least temporarily, a frontal protective field (SF110) directed towards a direction of travel of the loading vehicle (10) and to deactivate this field when the structural boundary (32) of the access area (31) is detected in the contour field (K11) during the loading vehicle (10) entering the loading space (30), wherein, when the loading vehicle (10) approaches the access area (31) and before entering the access area (31), the loading vehicle (10) registers (S1) with the stationary sensor device (20), wherein the registration of the loading vehicle (10) includes a verification of the identity of the loading vehicle (10) by means of a unique identifier, which is given in particular by a network address of the loading vehicle (10), wherein the mobile sensor arrangement (14) of the loading vehicle (10) is configured, after the loading vehicle (10) has been registered, to monitor at least one lateral protective field (SF111, SF112) which is aligned along a side of the loading vehicle (10) running parallel to the direction of travel of the loading vehicle (10), and serves to detect a person or object that is located next to the loading vehicle (10), the subsequent entry of the loading vehicle (10) into the loading space (30) is released (S4) if neither the stationary sensor device (20) nor the mobile sensor arrangement (14) detect an object, in particular an unregistered object, in their respective protective fields (S3). [11] Safeguarding system according to the previous claim, wherein the first sensor (21) of the stationary sensor device (20) comprises a non-contact sensor, in particular a laser scanner, and / or wherein the mobile sensor arrangement (14) comprises at least one sensor (11) which has a non-contact sensor, in particular a laser scanner. [12] Safeguarding system according to the previous claim, wherein the stationary sensor device (20) comprises a second sensor (22) arranged at the access area (31) which is configured to monitor a further stationary protective field (SF22), wherein the first and the second sensor (21, 22) are attached to opposite sides, preferably the structural boundary (32), of the access area (31), wherein the stationary protective field (SF21) of the first sensor at least partially overlaps the stationary protective field (SF22) of the second sensor.

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