DEVICE AND METHOD FOR REMOTELY CONTROLLING AN INSTALLATION CONVEYOR

Description

[0001] The invention relates to a device and a method for remotely controlling at least one industrial truck. The invention also relates to a system comprising such a device and one or more industrial trucks that are remotely controlled or controlled by the device.

[0002] In a wide variety of applications, industrial trucks are now used as automated guided vehicles (AGVs) within a driverless transport system (DTS). For example, in a warehouse, DTSs can automatically perform certain tasks according to their programming. For example, such DTSs can retrieve goods from a storage area and transport them to a destination. A constant challenge for such automated systems is changing environmental conditions, such as obstacles that enter the path of the industrial truck. Such DTSs can therefore reliably perform relatively simple tasks, such as transporting goods over long, particularly straight routes. However, at least for more complex tasks, disruptions in the system's automatic operation can occur, requiring manual intervention in the control system of the affected DTS.

[0003] In such a malfunction, for example, an operator can manually control the AGV from a control station. Hand-held control devices are also known that can be connected to the vehicle as needed and enable operation of the industrial truck, not only in the event of a fault, but also for maintenance or service purposes, for example. Such hand-held control devices are particularly common when the AGV does not have its own control station or when it is a so-called "man-up device," where the control station may be inaccessible in the event of a fault because it is in an extended position.

[0004] From KR 101 809 289 B1 a remote control unit for rail-guided transport vehicles is known, which comes into play in the event of a malfunction.

[0005] CN 210133848 U proposes using a control cabin with simulated control elements of an industrial truck to remotely control an industrial truck. The control commands generated for controlling the industrial truck are transmitted wirelessly between the control cabin and the industrial truck to be controlled. This document discloses the features of the preamble of claim 1.

[0006] DE 102016000353 A1 describes a simulator for an industrial truck, comprising a control station having at least one input device for inputting control commands, a graphical simulation module for calculating a virtual representation of the machine's surroundings and / or machine components visible from the control station, and a display device for displaying the calculated virtual representation. A motion simulation module is provided for determining movements and / or deformations of the machine components depending on the input control commands, depending on which the graphical simulation module calculates the virtual representation.

[0007] The invention is based on the object of making the remote control of an industrial truck as simple and intuitive as possible.

[0008] The invention solves the problem by a device according to claim 1 and by a method according to claim 11. Advantageous embodiments are the subject of the dependent claims, the description and the figures.

[0009] The device according to the invention for remotely controlling at least one industrial truck comprises a remote control station and a control unit, wherein the remote control station has control elements corresponding to a control station of an industrial truck, wherein the control unit is designed to generate control signals for the industrial truck to be remotely controlled in response to an actuation of the control elements of the remote control station and to transmit the control signals to the industrial truck to be remotely controlled via a radio transmission link.

[0010] The method according to the invention provides for the remote control of at least one industrial truck by means of a remote control station, wherein the remote control station has control elements corresponding to a control station of an industrial truck, wherein in response to an actuation of the control elements of the remote control station, a control unit generates control signals for the industrial truck to be remotely controlled and transmits the control signals to the industrial truck to be remotely controlled via a radio transmission link.

[0011] The device according to the invention and embodiments thereof are explained below together with the method according to the invention. Statements made regarding the device apply accordingly to the method, and vice versa.

[0012] According to the invention, the remote-controlled industrial truck is remotely controlled via a remote control station which has operating elements corresponding to an operator's station of an industrial truck. This means that the operating elements of the remote control station are modeled on the operating elements of the operator's station of an industrial truck in terms of their function and in particular their design, or are identical to them. In particular, they can be precisely the components or assemblies which are also used for the operating elements of the operator's station of the industrial truck itself. In particular, the remote control station can correspond partially or completely to the operator's station of an industrial truck. The industrial truck whose operator's station the operating elements or remote control station correspond to can in particular be the industrial truck or one of the remote-controlled industrial trucks. The industrial truck can be remotely controlled via the operator's station to which the operating elements orthe remote control station, be manually controllable.

[0013] For example, at least some of the operating elements of the remote control station can be arranged on an operating head that corresponds to the operating head of an industrial truck. In particular, the remote control station can also have a tiller carrying the operating head, which corresponds in function and in particular its design to a tiller of an industrial truck. The operating head can also correspond to a multifunction steering wheel of an industrial truck, as will be explained later. The remote control station according to the invention can be operated particularly intuitively and easily due to the operating elements corresponding to the operating station of an industrial truck. Thus, an operator experienced in operating industrial trucks does not have to adapt to different types of operating elements, which can prevent incorrect operation. In particular, the operator does not need to be trained to operate the remote control station.

[0014] The control unit can be part of the remote control station, but can also be part of a central control system, for example the control of an AGV with multiple AGVs. The remote control station can communicate with the central control system via a cable or wirelessly. The control unit itself communicates with the remotely controlled industrial truck wirelessly via the radio transmission link. A transmitter unit can be provided for this purpose. However, a transmitter and receiver unit can also be provided as part of the remote control station or the central control system, whereby the control unit can then also be designed in particular to receive data relevant for remote control from the remotely controlled industrial truck. The control signals generated by the control unit can in particular be setpoints for control functions of the remotely controlled industrial truck.Control functions, in turn, can be, in particular, driving functions of the remote-controlled industrial truck, such as steering angle and / or travel speed, but also working functions of the remote-controlled industrial truck, such as a lift and / or mast extension. In principle, however, the control signals can also simply reflect the actuation of the respective control element of the remote control station, with setpoints for the control functions then only being generated at the remote-controlled industrial truck receiving the control signals. Thus, according to one embodiment, the remote-controlled industrial truck can receive the control signals and, from the received control signals, generate setpoints for the control functions of the industrial truck, for example, using an on-board control unit. The radio transmission link is established before the transmission of control signals and can be secured, for example, by encryption.The radio transmission link can enable flow control, i.e., the receiver-side check to determine whether the data is arriving regularly. The remote control station, the central control unit, or the on-board control unit of the remotely controlled industrial truck can be configured to perform authorization and / or authentication. Authorization can include, for example, checking whether the operator of the remote control station is authorized to remotely control the industrial truck. Authentication can include, for example, checking whether the operator using the remote control station is who they claim to be. Various devices and methods known in the art can be used for this purpose.

[0015] A system can be provided comprising such a device for remotely controlling an industrial truck and at least one industrial truck remotely controlled by the device, preferably several industrial trucks. Such a system can in particular be an AGV, wherein the industrial trucks, which otherwise drive automatically as AGVs, can be remotely controlled via the remote control station. Should one of these AGVs, as explained above, experience a malfunction, an operator can easily remotely control the affected industrial truck using the remote control station and thus rectify the malfunction. Should the malfunction occur, for example, due to an obstacle having entered the path of the AGV, the operator can steer the AGV around the obstacle using the remote control station. It is also possible to steer the obstacle around in remote-controlled operation, e.g.a pallet, and move it to another location, thus eliminating the cause of the malfunction. Once the malfunction has been eliminated, automatic operation of the AGV can resume. As mentioned above, the remote control station's operating elements correspond to the industrial truck's operating position, making it easy and intuitive to operate. Not only can the operating elements or some of the operating elements correspond to the industrial truck's operating position, but, as also mentioned, an operating head or even a tiller can also be included. In particular, the remote control station can have a complete industrial truck operating position, including the operating elements and, for example, a standing platform.

[0016] According to a particularly preferred embodiment, the remote control station is part of a driving simulator for industrial trucks. In this case in particular, the remote control station can completely correspond to the control station of an industrial truck, in particular with original operating elements. Such simulators are used to train operators in the control of industrial trucks. For this purpose, such a driving simulator can, for example, have a visualization device, e.g. virtual reality glasses, a screen or a head-up display, which presents a simulated environment to the operator. The device according to the invention can, in particular, also have such a visualization device independently of the present embodiment. For example, the visualization device can display environmental data, but also actual values ​​of operating data, of the industrial truck to be remotely controlled, for example a video feed.Thus, an operator can use the remote control station to remotely control industrial trucks that are far away and, in particular, not within the operator's field of vision. By integrating the remote control station according to the invention, in particular the entire device according to the invention, into the driving simulator, only a single device is required for these two purposes—i.e., for remotely controlling an industrial truck and for driving simulation. This is economically advantageous. For example, a driving simulator that may already be available can be used as the remote control station according to the invention.

[0017] According to the invention, the remote control station is a control station dedicated to an industrial truck. According to the invention, the control station of a real, particularly functional, industrial truck is used to remotely control another industrial truck. The control station can be supplemented by a visualization device as described above. The industrial truck can be manually controlled via its own control station. The system explained accordingly comprises an industrial truck having the remote control station as its own control station. Thus, an industrial truck that is already present can be used to remotely control another industrial truck. The purchase of a separate remote control station intended solely for remote control is then not necessary. Rather, the control station of a possibly already present industrial truck can serve as a remote control station for another industrial truck.Should a malfunction occur with the AGV described above, an operator can use the control station of their own manually operated industrial truck as a remote control station for the AGV experiencing the malfunction and connect to it. This is particularly feasible with current generations of industrial trucks, as these are typically designed according to the "drive-by-wire" principle, meaning there is no mechanical connection between the controls and the vehicle's mechanics, but only an electrical one. The control signals generated by the industrial truck's controls can thus be transmitted remotely to the remotely controlled industrial truck instead of to their own industrial truck. A transmitter unit or transmitter / receiver unit already present on the industrial truck can be used for this purpose.The control unit of the remote-controlled industrial truck can also generate a setpoint for the remote-controlled truck. However, as mentioned above, this can also be done via a central control system or on the industrial truck receiving the control signals.

[0018] According to a related embodiment, the industrial truck having the remote control station is also designed to be remotely controlled by a correspondingly designed, additional remote control station. This additional remote control station can, in particular, also be a separate control station of another industrial truck, via which the latter is otherwise controlled manually. Consequently, the industrial truck having the remote control station can be an industrial truck designed for both manual and automatic operation. In particular, in automatic operation, this industrial truck can then itself be remotely controlled. The aforementioned system can have multiple industrial trucks that can remotely control one another. In particular, all industrial trucks of the system can remotely control one another in the manner according to the invention.For example, in the event of a malfunction in the AGV described, the AGV experiencing the malfunction can be remotely controlled by another AGV in the AGV. This creates a closed AGV system, with which any malfunctions that may occur during automatic operation can be easily resolved through manual intervention. This can be useful, for example, if the AGV affected by the malfunction is quite far away or difficult to reach, or if it does not have its own control station. In particular, this eliminates the need for a separate remote control station or another industrial truck independent of the system.

[0019] According to one embodiment, the remote control station has an operating head corresponding to the operating station of an industrial truck, with at least some of the operating elements being arranged on the operating head. In particular, the entire operating head, including all operating elements relevant for remote control, can correspond to the operating station of an industrial truck, in particular a remotely controlled industrial truck. As mentioned, these can in particular be the same components. The operating head can, for example, have a horn extending along its longitudinal axis with support sections extending away from the longitudinal axis on opposite sides of the horn, and handles connected to the horn, each with gripping sections arranged opposite the support sections. The opposing support sections and gripping sections can each be spaced from one another by a handle opening.The control elements can be located on one or both of the support sections. A driver's switch handle can also be located as a control element, particularly at one end of the horn. This makes operation of the remote control station even more intuitive.

[0020] According to one embodiment, the remote control station comprises a tiller with a tiller shaft, at the free end of which the control head is located. The tiller can, in particular, be pivotable about a horizontal axis. The tiller of the remote control station also corresponds to the tiller of an industrial truck and thus allows, in particular, intuitive remote control of tiller-guided industrial trucks. The tiller operates in particular according to the aforementioned "drive-by-wire" principle, i.e., it generates only electrical signals without mechanically accessing the vehicle's mechanical system.

[0021] According to a further embodiment, the control head is a multifunction steering wheel, so the remote control station has a control head corresponding to the multifunction steering wheel of an industrial truck.

[0022] According to a further embodiment of the invention, the remote control station comprises the shape and the operating elements of a handlebar for rider-operated industrial trucks according to EP 1 155 939 B1.

[0023] According to a further embodiment of the invention, the remote control station comprises the shape and operating elements of an industrial truck according to EP 1 772 344 B1 or EP 1 030 816 B1.

[0024] According to one embodiment, the control elements comprise one or more of the following: drive switches, rocker switches, switching buttons, levers for the travel drive, stop buttons, rocker switches, in particular for permanent creep speed, buttons for honking, buttons for raising and lowering a load-bearing device of the industrial truck, buttons for selecting forward or reverse travel. According to the invention, these control elements are modeled on the control elements of an industrial truck and can therefore, in particular, have the same design and function. They can be the original components, i.e., the same components that were also used for the on-board control station of the industrial truck. The control elements can be arranged on the control head described.

[0025] According to one embodiment, the radio transmission link is secured and / or has flow control. The control unit can be designed to send control signals at least every 50 ms, preferably at least every 40 ms, particularly preferably at least every 30 ms, to secure the radio transmission. This can contribute to ensuring the secure radio transmission link, as it ensures a quasi-continuous data flow. Even in the event of a brief interruption in the connection to the remote-controlled industrial truck, the control signals can thus reach the remote-controlled industrial truck with relatively high reliability. Such control signals can also be sent in a quasi-continuous data flow - as long as the radio transmission link exists - if an operating element of the control unit is in its neutral position, i.e., not actuated.According to one embodiment, the control unit is designed to secure the radio transmission link by means of error detection. For example, a cyclic redundancy check (CRC) can be performed as error detection. The control unit can therefore add a CRC value to each control signal for redundancy purposes. Flow control can also be performed, i.e., the receiver-side check to determine whether the data is arriving regularly. This allows the radio transmission link to be protected, particularly against interference.

[0026] According to one embodiment, the control unit is designed to secure the radio transmission path using encryption. This can be done using any known encryption method. Thus, the radio transmission path can be secured, in particular, against unauthorized access.

[0027] According to one embodiment, the control unit is designed to receive vehicle data and / or environmental data relevant for remote control from the remotely controlled industrial truck and to take this into account for generating the control signals. The remotely controlled industrial truck can have various sensors in this regard, for example proximity sensors and / or cameras for recording environmental data. The vehicle data can come from the industrial truck's own vehicle control system and include, for example, a current speed, a steering angle and / or a lifting height of any lifting mast present. According to this embodiment, the control unit therefore receives feedback from the remotely controlled industrial truck. Data from any (safety) laser scanners present on the AGV can be used, for example, to determine a maximum speed in remote-controlled mode.The vehicle data and in particular the environmental data can also be displayed to an operator using the remote control station via a visualization device, for example via a screen, a head-up display or virtual reality glasses, as already mentioned.

[0028] According to one embodiment of the system, the at least one remote-controlled industrial truck does not have its own control station. Such an industrial truck can, in particular, be exclusively remotely controlled, for example, via the remote control station. The industrial truck can otherwise operate as an AGV within an AGV system, for which it does not require its own control station. In particular, it can be provided that the at least one remote-controlled industrial truck does not have any on-board control elements. Thanks to the remote control station provided according to the invention, simple and intuitive operation of such an industrial truck is also possible. The elimination of a separate control station or separate control elements leads to a reduction in weight and lower costs.

[0029] The system, device and method for remotely controlling at least one industrial truck can also be used in regular operation in the warehouse in which an operator remotely monitors and controls at least one industrial truck.

[0030] Embodiments of the invention are explained below with reference to figures. They show: Figure 1 shows a device according to the invention in which the remote control station is part of a driving simulator, Figure 2 shows a device according to the invention in which an industrial truck's own control station functions as a remote control station, and Figure 3 shows an operating head of the remote control station modeled on an industrial truck's control station.

[0031] Unless otherwise stated, the same reference symbols refer to the same items in the following.

[0032] Figure 1shows a first embodiment of the invention. The device according to the invention comprises a driving simulator 100 with an operating station 110 and a control unit 300. The operating station 110 of the driving simulator 100 has an operating head 120 arranged at a free end of a drawbar 115. The driving simulator 100 is connected to the control unit 300 via a data line 140. The cable connection 140 can also be replaced by a wireless connection. The control unit 300 is designed as a central controller and is schematically represented by two computers and a screen.

[0033] The control station 110 of the driving simulator 100 is designed as a remote control station according to the invention, which is designated below by the reference numeral 110. The remote control station 100, as well as the tiller 115 and the control head 120, together with the control elements not shown arranged thereon, are each modeled on the corresponding components of an industrial truck. These can be the original components of an control station. In particular, the entire remote control station 110, including, for example, a standing platform 125, can correspond to the control station of an industrial truck. The driving simulator 100 is fundamentally used to train employees in the operation of industrial trucks. However, according to this embodiment, the driving simulator 100 can also be used to remotely control an industrial truck 200.

[0034] The industrial truck 200 can, in particular, be an automated guided vehicle (AGV) as part of an automated guided vehicle system (AGVS), meaning it can operate automatically during regular operation. In the event of a malfunction, for example, if an obstacle enters the travel path, the AGV 200 can be remotely controlled using the method according to the invention. For this purpose, an operator can use the remote control station 110 of the driving simulator 100. By actuating the Figure 1Control elements of the remote control station 110 (not shown) transmit signals via the cable connection 140 to the control unit 300, which, in response to these signals, generates control signals for the remotely controlled industrial truck 200 and transmits these control signals to the industrial truck 200 via a secure radio transmission link 310. The control unit 300 can, in principle, also be part of the driving simulator 100. The control signals include, in particular, setpoints for control functions of the AGV 200, in particular setpoints for driving functions of the AGV 200, such as, for example, steering angle and / or driving speed, or also setpoints for work functions of the AGV 200, such as, for example, lifting and / or mast extension.

[0035] Since the remote control station 110 according to the invention, with its operating elements and in particular the control head 120, corresponds to the control station of an industrial truck, the remote control of the industrial truck 200 via the remote control station 110 according to the invention is particularly simple and intuitive. The remote control station 110 according to the invention can, in particular, correspond to a control station 210 of the industrial truck 200 to be remotely controlled, with the control head 120 corresponding, in particular, to a control head 220 of the industrial truck 200. This makes the remote control of the industrial truck 200 particularly intuitive. Furthermore, this configuration allows the use of a driving simulator, which may already be present, for remote control of industrial trucks.

[0036] A second embodiment of the invention is in Figure 2, whereby the remote control station 110 is implemented by the control station of an industrial truck 130. The industrial truck 130 is a basically operational industrial truck, which in regular operation is manually controlled by an operator via the control station of the industrial truck 130. In this regular operation, i.e., with manual, local control of the industrial truck 130 itself, the control station 110 is set to "local" via a switching element 135, as shown in Figure 2 shown. In Figure 2 The control unit 300 and the remote-controlled industrial truck 200 can also be seen. The remote-controlled industrial truck 200, also an AGV, is seen in a top view in a rack aisle, with shelves 400 with pallets 410 arranged on both sides of the industrial truck 200. During regular operation of the AGV comprising the AGV 200, the AGV 200 automatically transports the pallets 410 between the shelves 400 and another location.

[0037] Should a malfunction occur in the AGV, for example due to a pallet 411 being in the path of the AGV 200, the automatic control of the AGV 200 may be overwhelmed because this is a non-implemented situation. Manual intervention may then be necessary. To this end, according to the invention, the operator of the industrial truck 130 can set the control station 110 of their industrial truck to the remote state via switch 135, in which the control station 110 functions as a remote control station for remotely controlling the AGV 200. Control commands issued via the control elements of the control station 110 (not shown) are transmitted via radio link 150 to the central control unit 300, translated by the central control unit into setpoints for the AGV 200 to be remotely controlled, and transmitted via the radio link to the AGV 200. Thus, the industrial truck 200 can be easily remotely controlled using an already existing industrial truck 130.The radio connection 150 between the industrial truck 130 and the control unit 300 is also preferably secured, for example encrypted.

[0038] In both embodiments, the setpoint values ​​for the control functions of the remotely controlled industrial truck 200 can be generated at the remote control station 110 or only at the remotely controlled industrial truck 200 itself, instead of at the central control unit 300.

[0039] An example of an operating head 120 of the remote control station 110, which corresponds to an operating head of an industrial truck, is shown in Figure 3The control head 120 comprises a horn 12 extending along its longitudinal axis L, with support sections 14 extending away from the longitudinal axis L on opposite sides of the horn 12, and handles connected to the horn 12, each with gripping sections 16 arranged opposite the support sections 14. The opposing support sections 14 and gripping sections 16 are each spaced from one another by a handle opening 18. The support sections 14 each have buttons 7a for triggering the horn, as well as rockers 7b that can be tilted about axes 8 for raising and lowering a load-bearing means. Also arranged on the horn 12 are a stop button 5 and a locking rocker 6 for setting a permanent creep speed. At opposite ends of the horn 12, driver's control handles 4 are arranged laterally at a free end, each of which is rotatable about an axis pointing away from the horn 12 in the direction of the respective gripping sections 16.

[0040] The control elements 7a, 7b, 4, 5, and 6 all correspond to the control elements of an industrial truck, in particular the control elements that the remote-controlled industrial truck has at its control station. The control elements thus enable particularly simple and intuitive remote control. LIST OF REFERENCE SYMBOLS

[0041] 4 Control element 5 Stop button 6 Rocker switches 7 a Button 7 b Rocker switches 8 Axles 12 Horn 14 Support section 16 Grip section 18 Handle opening 100 Driving simulator 110 Control station / remote control station 115 Drawbar 120 Control head 125 Stand-on platform 130 Industrial truck 135 Switch 140 Cable connection 150 Radio connection 200 Industrial truck / AGV 220 Control head 300 Control unit 310 Radio transmission link 400 Shelves 410 Pallets 411 Pallet L Longitudinal axis

Claims

1. A device for remotely controlling at least one industrial truck (200) comprising a remote operating station (110) and a control unit (300), wherein the remote operating station (110) has operating elements corresponding to an operating station of an industrial truck, wherein the control unit (300) is configured to generate control signals for the industrial truck (200) to be remotely controlled, in response to an actuation of the operating elements of the remote operating station (110), and to transmit the control signals via a radio transmission path (310) to the industrial truck (200) to be remotely controlled, characterized by an industrial truck having the remote operating station (110) as its own dedicated operating station.

2. The device according to claim 1, characterized in that the industrial truck (130) having the remote operating station (110) is configured to be remotely controllable by a correspondingly configured, further remote operating station.

3. The device according to one of the preceding claims, characterized in that the remote operating station (110) has an operating head (120) corresponding to the operating station of an industrial truck, wherein at least some of the operating elements are arranged on the operating head (120).

4. The device according to claim 3, characterized in that the remote operating station (110) comprises a tiller (115) corresponding to the tiller of an industrial truck and having a tiller shaft, the operating head (120) being arranged on the free end thereof and / or in that the operating head is a multi-functional steering wheel.

5. The device according to one of the preceding claims, characterized in that the control unit (300) is configured to transmit control signals in a continuous or clocked manner for securing the radio transmission, and / or in that the control unit (300) is configured to secure the radio transmission path (310) by means of a fault detection, in particular by means of a cyclic redundancy check (CRC) and / or a receiver-side flow control, and / or to encrypt the radio transmission.

6. The device according to one of the preceding claims, characterized in that the control unit (300) is configured to receive vehicle data and / or environmental data, which are relevant for the remote control, from the industrial truck (200) to be remotely controlled and to consider this data for generating the control signals and / or to display this data to the operator by means of a visualization device.

7. A system consisting of a device according to one of the preceding claims and at least one industrial truck (200) to be remotely controlled by the device.

8. The system according to claim 7, further comprising a driving simulator (100) having the remote operating station (110).

9. The system according to one of claims 7 or 8, characterized in that the industrial truck (130) having the remote operating station (110) is in turn configured to be remotely controllable by a correspondingly configured, further remote operating station.

10. The system according to one of claims 7 to 9, characterized in that the at least one remotely controlled industrial truck does not have an operating station which is dedicated to the vehicle.

11. A method for remotely controlling at least one industrial truck (200) by means of a remote operating station (110), wherein the remote operating station (110) has operating elements corresponding to an operating station of an industrial truck, wherein a control unit (300) generates control signals for the industrial truck (200) to be remotely controlled, in response to an actuation of the operating elements of the remote operating station (110), and transmits the control signals via a radio transmission path (310) to the industrial truck (200) to be remotely controlled, characterized in that an industrial truck having the remote operating station (110) as its own dedicated operating station is used.

12. The method according to claim 11, characterized in that the industrial truck (200) to be remotely controlled receives the control signals and generates target values for control functions from the received control signals.