METHOD FOR INFORMATION EXCHANGE BETWEEN INDOOR CONVEYORS AND AN INTRALOGISTICS SYSTEM WITH CORRESPONDING INDOOR CONVEYORS

Description

[0001] The invention relates to a method for operating semi-automated or automated industrial trucks, wherein at least two industrial trucks exchange information via a wireless data connection, wherein the information used is raw sensor data from sensors of the industrial trucks.

[0002] Forklifts are used, for example, for order picking, i.e., assembling goods deliveries in a warehouse. Order picking trucks are very frequently used for this purpose. These trucks, equipped with a load carrier such as a pallet or wire basket mounted on forks, are moved through the aisles of a warehouse where the goods to be picked or retrieved are stored. Depending on the order, the order picker removes the goods from the shelf, places them on or in the load carrier of the order picking truck, and then moves to the next picking location within the warehouse or aisle for the next item. Once the order picking task is complete, the order picker moves the order picking truck to a receiving area.The vast majority of travel distances between picking locations are short to very short straight stretches within a racking aisle or along a shelf in the warehouse. However, the sheer number of required movements of the forklift truck, which the order picker must perform, results in a considerable time requirement. This is because the order picker has to go to an operator station on the forklift truck to activate the corresponding controls and steer the vehicle during its movement, and then return to the position to pick up the goods.

[0003] Therefore, methods and industrial trucks for semi-automated order picking are known. This semi-automated order picking process is fundamentally similar, except that the order picker no longer needs to manually operate the industrial truck, at least on straight sections along a shelf. Instead, the industrial truck moves automatically, allowing the order picker to leave the truck in the aisle. Control of the industrial truck during travel to the next picking station can be achieved, for example, via a radio remote control (such as a radio glove with a radio remote control function), or by controlling the industrial truck via voice commands or optical personnel identification.

[0004] For example, one solution involves a wireless glove worn by the order picker, which enables control of the forklift. Individual functions such as "forward," "backward," etc., can be integrated into the glove as command buttons that the order picker can press. After picking up a specific item at a designated location, i.e., after order picking is complete, the order picker can, for example, press the "forward" command button on the glove, and the forklift will continue moving along the aisle as long as the order picker keeps the button pressed. Because the wireless control unit is integrated into the glove, it does not need to be worn as a separate item and does not restrict the order picker's freedom of movement.

[0005] A disadvantage of this technology, however, is that the use of such gloves by a large number of people can lead to acceptance problems. Furthermore, operation with the other hand is required each time. Radio gloves have the additional disadvantage of wearing out through daily use and therefore needing to be replaced regularly. This results in additional, ongoing costs.

[0006] The system described above also fundamentally requires that the employees carrying out the order picking be trained and instructed in the system.

[0007] From EP 2 533 119 A1 a device for radio remote control of a forklift truck with a radio glove, which can be used for order picking, is known.

[0008] From WO 2017 / 223425 A1 a system is known in which communication takes place between electronic labels attached to persons or industrial vehicles operating in a warehouse.

[0009] EP 2 851 331 B1 describes a method for controlling an order picking vehicle in which optical person detection is achieved using a laser scanner. If the order picker crosses a virtual threshold in the direction of travel, the vehicle automatically and autonomously follows the picker. If the picker stops, the vehicle also stops.

[0010] All semi-automated or automated industrial trucks are equipped with sensors for environmental detection and perception, such as a 2D or 3D laser scanner, a mono or stereo camera, or a 3D time-of-flight (ToF) camera, as well as at least one data processing unit for evaluating the sensor data. Depending on the capabilities of the industrial truck, the sensor data is used for tasks such as localization, navigation, load handling, or other interaction with the environment.

[0011] In the simplest case, the forklift truck stays within the aisle on its own, orienting itself using its surroundings. A laser scanner is typically used for this purpose, which detects the contour of the aisle and allows the forklift truck to follow it.

[0012] The perception of the environment is limited, for example, by the range of the sensors, shadowing of the detection area by the forklift itself or by other objects around the forklift (e.g. goods, shelves, other vehicles, people, etc.).

[0013] Another disadvantage is that each industrial truck only evaluates its own sensor data and its own vehicle condition and uses this information to accomplish its own task.

[0014] The present invention is based on the objective of designing a method of the type mentioned above and an intralogistics system in such a way that, when operating with several industrial trucks, it is possible to coordinate the individual industrial trucks with each other.

[0015] This problem is solved according to the invention by the fact that, in a shared traffic jam situation involving industrial trucks, at least one following industrial truck accesses the sensor data of at least one preceding industrial truck and processes the received sensor data in the same way as its own vehicle sensor data, whereby the following industrial truck relates the received sensor data to its own vehicle position. The information used consists of raw sensor data from the sensors of the industrial trucks. This can, for example, be measurement points in a coordinate system. If several industrial trucks with identical or compatible sensors and data processing devices for sensor data evaluation are used, the raw sensor data can be directly transferred and processed by the other industrial trucks.

[0016] In a shared traffic jam situation involving industrial trucks, according to the invention, at least one following industrial truck accesses the sensor data of at least one preceding industrial truck and processes the received sensor data in the same way as its own vehicle's own sensor data. The following industrial truck relates the received sensor data to its own vehicle position. The sensor data received by the at least one following industrial truck is thus treated exactly as if it had been acquired by its own sensors.

[0017] Since all semi-automated and automated industrial trucks are equipped with data processing units, information exchange between these units is straightforward. This requires only that the data processing units be equipped with data transmission and reception capabilities. In this way, each industrial truck can share its available data, particularly sensor data and / or vehicle status data, with other industrial trucks beyond its own system boundaries, enabling them to utilize this data for their own tasks.

[0018] Advantageously, a wireless connection, in particular a WLAN (Wireless Local Area Network) connection or Bluetooth connection (data transmission between devices over short distances via radio technology) or a mobile network connection, is used as the data connection. In one advantageous embodiment, the data connection is established decentrally from one forklift truck to another. In another preferred embodiment, the data connection is established centrally via at least one central communication beacon (transmit and receive beacon), in particular a router (a network device that can forward network packets between multiple computer networks), repeater (signal amplifier or conditioner to increase the range of a signal), or server (computer for providing computer functionalities for access by other computers or programs).

[0019] Another implementation involves using processed sensor data from the forklift's sensors as information in the forklift's data processing units. This data could include, for example, boundary areas, functional characteristics, or vehicle or object positions. Raw data processing in the receiving forklift's data processing unit is therefore no longer necessary.

[0020] A further development of the invention provides that the sensor data received from the preceding industrial truck is fused with the vehicle's own sensor data, thereby extending the sensor detection range. The following industrial truck can thus use the sensors of the other industrial trucks to perceive a larger area beyond its own detection range, e.g., even over obstacles or other industrial trucks, than would be possible with its own sensors alone.

[0021] It is also possible to use vehicle status data as information. In this way, for example, critical driving conditions of preceding industrial trucks can be detected early by following industrial trucks and taken into account for their own driving behavior.

[0022] Data on the order status of industrial trucks can also be used as information. This allows orders to be coordinated effectively.

[0023] A further development of the invention provides that navigation data on the current position of the industrial trucks is used as information. This is particularly advantageous during the commissioning of automated or semi-automated industrial trucks. Automated or semi-automated industrial trucks that are newly switched on do not yet know their current position, e.g., in the warehouse. If such an industrial truck is detected and located by an already active industrial truck, the active industrial truck can communicate its position to the newly switched-on industrial truck. This allows orders to be received immediately by the newly switched-on industrial truck.

[0024] The invention offers numerous advantages: It achieves vehicle-to-vehicle communication with data exchange between several automated or semi-automated industrial trucks.

[0025] The exchange of sensor data and, where applicable, extracted functional characteristics and / or vehicle states enables predictive vehicle / driving behavior of one or more industrial trucks. Intelligent interaction between industrial trucks is possible without explicit intervention by a human or a higher-level system. Sensor data and environmental information, such as obstacles, cross passages, and vehicle positions, can be exchanged by newly activated industrial trucks. Furthermore, detected objects and paths (e.g., cross passages) can be confirmed. Autonomous vehicles can exchange orders with each other if, due to circumstances (e.g., battery status, proximity, vehicle characteristics), another industrial truck can process the order more efficiently. In addition, the autonomous vehicles can implement self-organized traffic control.

[0026] 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 Figure 1 shows a forklift truck with packages on the load handling device in a top view, and Figure 2 shows two forklift trucks driving one behind the other in a top view.

[0027] In the Figure 1A forklift truck 1, configured as a picking truck 1, is shown in a top view, featuring a load handling device 2 designed as a load fork 2. One or more pallets 3 are arranged one behind the other on the load fork 2. Two packages 4 and 5 rest on the pallets 3. The automated or semi-automated forklift truck 1 has sensors for environmental detection or perception (not shown in detail), such as a 2D or 3D laser scanner, a mono or stereo camera, or a 3D ToF (time-of-flight) camera, and has a data transmission and reception device 6, which enables data exchange with other forklift trucks.

[0028] The Figure 2 shows two industrial trucks 11 and 12 driving one behind the other. Figure 1In a shared traffic situation, the industrial trucks 11 and 12 are located in a racking aisle between racks 13. The sensors of the industrial trucks 11 and 12, designed, for example, as laser scanners, have detection ranges 14 and 15. The sensors acquire measurement data 16 and can thus orient themselves in the space. The operator 17 of the rear industrial truck 11 is located within the detection range 15 of the front industrial truck 12. The rear industrial truck 11 can access the sensor data of the front industrial truck 12 and relate the information to its own vehicle position. The sensor data transmitted by the front industrial truck 12 and received by the rear industrial truck 11 can be processed by the rear industrial truck 11 as if it had been acquired by its own sensors.Thus, the rear forklift 11 also detects the operator 17, who is located in front of the front forklift 12 and is actually outside the detection range of the sensor of the rear forklift 11.

Claims

1. Method for operating partially automated or automated industrial trucks, wherein at least two industrial trucks (11, 12) exchange information via a wireless data connection, wherein raw sensor data from sensors of the industrial trucks (11, 12) are used as information, characterized in that, in a common traffic jam situation of the industrial trucks (11, 12), at least one industrial truck (11) travelling behind accesses the sensor data from at least one industrial truck (12) travelling in front and processes the received sensor data in the same way as the vehicle's own sensor data, wherein the industrial truck (11) travelling behind relates the received sensor data to its own vehicle position.

2. Method according to Claim 1, characterized in that a radio connection, in particular a WLAN connection or Bluetooth connection or mobile radio connection, is used as the data connection.

3. Method according to Claim 1 or 2, characterized in that the data connection is set up in a decentralized manner from industrial truck (11, 12) to industrial truck (11, 12).

4. Method according to one of Claims 1 to 2, characterized in that the data connection is set up centrally via at least one central communication beacon, in particular a router or repeater or server.

5. Method according to one of Claims 1 to 4, characterized in that sensor data from sensors of the industrial trucks (11, 12) that are processed in data processing devices of the industrial trucks (11, 12) are used as information.

6. Method according to Claim 1, characterized in that the sensor data received from the industrial truck (12) travelling in front are fused with the vehicle's own sensor data, as a result of which the sensor detection range is extended.

7. Method according to one of Claims 1 to 6, characterized in that data relating to the vehicle status are used as information.

8. Method according to one of Claims 1 to 7, characterized in that data relating to the order status of the industrial trucks (11, 12) are used as information.

9. Method according to one of Claims 1 to 8, characterized in that navigation data relating to the current position of the industrial trucks (11, 12) are used as information.