Order-picking method and order-picking vehicle

Abstract

The invention relates to a method for the order picking of at least one object, in particular a product and / or a production part, using an order-picking vehicle (1) with a load-bearing apparatus (2), in particular a load fork (3), which can be raised and lowered by a lifting apparatus (4), wherein, during the course of an order-picking operation, an order picker (14) sets down the object in a setting-down operation, from outside the order-picking vehicle (1), on a target load carrier (5, 6) arranged on the load-bearing apparatus (2), and the height of lift of the load-bearing apparatus (2) is levelled automatically. According to the invention, the setting-down operation is sensed by means of a sensor system (9) that monitors an arm position and / or a hand position of the order picker (14) and the levelling of the height of lift of the load-bearing apparatus (2) is controlled depending on the arm position and / or hand position of the order picker (14). The invention also relates to an order-picking vehicle for carrying out the method.

Description

[0001] Description

[0002] Picking procedures and picking vehicle

[0003] The invention relates to a method for picking at least one object, in particular a product and / or a production part, using a picking vehicle with a load-handling device, in particular a load fork, which can be raised and lowered by a lifting device, wherein during a picking process the object is placed by a picking person in a depositing process from outside the picking vehicle on a target load carrier arranged on the load-handling device, wherein an automatic leveling of the lifting height of the load-handling device is carried out.

[0004] Furthermore, the invention relates to an order picking vehicle for carrying out the method.

[0005] For order picking in warehouses, industrial trucks are known as horizontal order pickers, which have a limited lifting height. This makes it possible, for example, to raise a pallet or load-handling device so high that, in its uppermost position, it is approximately at the waist level of a picker standing nearby, allowing the picker to place goods on or remove them from the load-handling device without having to bend down.

[0006] A disadvantage of this state of the art, however, is that the picking person has to spend a relatively long time readjusting the height position of the load handling device when a top layer of goods has been deposited or the top layer has been unloaded.

[0007] Devices for automatic leveling are therefore known, by means of which the height position of the load-handling device is adjusted so that, for example, the upper edge of the goods on a pallet is at the ergonomically optimal height for unloading or loading. For example, EP 2 181 959 A1 discloses a pallet truck for order picking which has a load section with a load fork that can be raised by means of a lifting device. A sensor device with a substantially horizontal detection range, in particular a laser beam sensor, detects the loading state by, for example, two laser beams along the edges of a pallet width detecting whether goods or boxes are in their path. Depending on the presetting, the truck is raised until goods are detected, or lowered until no more goods are detected.

[0008] The disadvantage of this state-of-the-art technology is that it only works well with flat pallets, especially Euro pallets. When load carriers with side walls are used, such as those commonly found in roll containers or lattice boxes, which are widely used in retail logistics, the detection systems detect the side wall and not the height of the loaded goods. Therefore, the state-of-the-art solution is not usable with such load carriers and in many areas of logistics.

[0009] It is also problematic if several, for example two, load carriers are arranged one behind the other on the load-handling device, for example, one with a particularly long load fork. A leveling device may not always adjust the height correctly if, for example, the two load carriers are loaded to different heights and a different height adjustment would be required depending on the load carrier used.

[0010] The known systems for automatic levelling of the fork height also require additional time for their operation and, especially in warehouses where staff work on piecework wages, automatic levelling is sometimes deliberately not used, although it is already required by law in some countries and health insurance companies, employers' liability insurance associations and trade unions strongly insist on its use.

[0011] Also known from DE 20 2012 004038 U1 is an industrial truck with automated leveling of a load-handling device mounted vertically on a lifting mast. A sensor unit with a downward-facing distance sensor is located at the free end of the lifting mast.

[0012] The disadvantage of this state of the art is that in the case of load carriers with side walls, such as roll containers or wire mesh boxes, the height of the loaded load cannot be reliably detected due to the oblique detection angle.

[0013] EP 2 987 760 A1 discloses an industrial truck with automatic leveling height adjustment. The sensors are mounted on a support vertically above the load detection zone. This allows the leveling level to be automatically adjusted correctly, even for load carriers with side walls, such as roll containers or pallet cages, and eliminates errors due to side wall detection. By positioning the sensors vertically above the load detection zone, the lateral extent of the detection zone can be adjusted so that side walls do not interfere.

[0014] Previous solutions for automatically leveling the height of load handling devices have the disadvantage that only a specific layer, usually the top layer, of the load is detected and used for height adjustment. When the load handling device is loaded with goods stacked at different heights, not all of the top edges of the goods are at the ergonomically optimal height for unloading or loading.

[0015] The present invention is therefore based on the object of providing an order picking vehicle with automatic leveling of a liftable load-carrying device, which avoids the aforementioned disadvantages and with which manual loading and unloading during order picking is facilitated.

[0016] In terms of the method, this object is achieved according to the invention in that the depositing process is detected by monitoring an arm position and / or a hand position of the order picker using a sensor system, and the leveling of the lifting height of the load handling device is controlled depending on the arm position and / or the hand position. By monitoring the arm position and / or the hand position of the order picker, the height of the object on a source load carrier from which the object is removed can be taken into account. If the order picker picks the object from a low position, the lifting height of the load handling device is also reduced accordingly. The order picker therefore does not even have to stand up, but can simply turn around.

[0017] According to an advantageous embodiment of the invention, in particular an adjustable lower monitoring limit is specified, wherein during a depositing process in which the arm and / or hand of the picking person is raised above the monitoring limit, the load-handling device is lowered until the lower monitoring limit is undershot during the depositing process, and / or during a depositing process in which the arm and / or hand of the picking person is moved below the monitoring limit, the load-handling device is raised until the lower monitoring limit is reached during the depositing process.

[0018] If the picker wants to place an object on the target load carrier, the picker's arm and / or hand position is monitored by sensors. This makes it possible to determine, in particular, the height to which the picker must lift the object to place it. If the picker has to lift the object above an adjustable height, the lifting device is automatically lowered. If the picker is carrying the object below an adjustable height, the lifting height can be adjusted accordingly.

[0019] In an advantageous embodiment of the invention, a radio device is used in particular for the sensor system and the monitoring of the arm position and / or hand position of the order picker is carried out by radio monitoring of at least one radio beacon that can be carried on the arm and / or an arm joint and / or on a hand and / or a wrist of the order picker.

[0020] A wearable, such as a smartwatch, can be used as a radio beacon. Monitoring of arm and / or hand position can also be supported by an inertial measurement unit (IMU) worn on the arm and / or hand. An IMU is a spatial combination of several inertial sensors, such as acceleration sensors and gyroscopes.

[0021] Additionally or alternatively, the arm position and / or hand position of the picking person can be monitored using optical sensors.

[0022] In a preferred embodiment of the invention, at least one laser scanner is used, in particular for the optical sensor system.

[0023] In a preferred embodiment of the invention, at least one camera is used, in particular for the optical sensor system.

[0024] According to a particularly preferred development of the invention, it is provided in particular that the sensor data of the optical sensor system are evaluated in a control unit, in particular a data processing device, by means of an image processing system and / or artificial intelligence.

[0025] When evaluating the sensor data, key points on the picker's body, especially the wrist, elbow, and shoulder, are analyzed. If an ergonomically unfavorable working position of the picker is detected, the lifting height of the load handling device is automatically adjusted.

[0026] The goal of this approach is to adjust the lifting height of the load-handling device so that the picker can always load the target load carrier arranged on the load-handling device at the same, most ergonomic level. To achieve this, the position of the aforementioned key points on the picker's body is analyzed using image processing and / or neural networks. If these processes determine that the picker is working in an unfavorable position, for example, because they have to bend too low or lift the object too high, the lifting height is automatically adjusted.The invention further relates to an order-picking vehicle for carrying out the method, wherein the order-picking vehicle is provided with a load-handling device, in particular a load fork, which can be raised and lowered by a lifting device, wherein in an order-picking process at least one object, in particular a product and / or a production part, can be deposited in a depositing process from outside the order-picking vehicle onto a target load carrier arranged on the load-handling device, wherein the order-picking vehicle is provided with an automatic leveling of the lifting height of the load-handling device.

[0027] In the order-picking vehicle, the stated object is achieved in that a sensor system is provided which is designed to detect an arm position and / or a hand position of a picking person carrying out the depositing process during the depositing process, wherein the sensor system is operatively connected to a control unit, in particular a data processing device, which is designed to evaluate the sensor data and to control the leveling of the lifting height of the load-handling device as a function of the arm position and / or the hand position.

[0028] According to an advantageous embodiment of the invention, the sensor system comprises in particular at least one radio device attached to the order-picking vehicle and at least one radio beacon that can be carried on the arm and / or an arm joint and / or on a hand and / or a wrist of the order-picking person.

[0029] Additionally or alternatively, the sensor system may in particular comprise at least one optical sensor system mounted on the order-picking vehicle.

[0030] According to an advantageous embodiment of the invention, the optical sensor system can in particular comprise a laser scanner attached to the order-picking vehicle and / or a camera attached to the order-picking vehicle.

[0031] According to an advantageous embodiment of the invention, the sensor system is arranged in the area of ​​an outer side of the order-picking vehicle, or the sensor system is arranged centrally on the order-picking vehicle. According to a particularly advantageous embodiment of the invention, a sensor system is arranged on each outer side of the order-picking vehicle. This preferably makes it possible to easily monitor the arm position and / or hand position of a picking operator performing the order-picking process on both outer sides of the vehicle during depositing operations.

[0032] According to an advantageous embodiment of the order-picking industrial truck, the control unit has an image processing system and / or an artificial intelligence system which is configured to analyze key points on the body of the order-picking person, in particular those of the wrist, elbow and shoulder, when evaluating the sensor data and to automatically adjust the lifting height of the load-handling device if an ergonomically unfavorable working position of the order-picking person is detected.

[0033] The invention offers a whole range of advantages:

[0034] By automatically adjusting the lifting device, especially the fork lift, loading the target load carrier is more ergonomic for the picker, resulting in less physical strain. The time required for picking is also reduced, which inevitably leads to increased performance of the overall system without placing additional strain on the picker.

[0035] The method according to the invention can also be used for automatically switching the target load carrier if several target load carriers are arranged on the load-handling device.

[0036] Furthermore, the method can be used for other applications in the field of robotics, such as the detection of the environment for the manipulation of certain charge carriers.

[0037] In addition, a picking vehicle can be easily upgraded to a picking vehicle according to the invention by retrofitting appropriate sensors and a control unit in hardware or software.

[0038] Further advantages and details of the invention are explained in more detail with reference to the embodiment shown in the schematic figure.

[0039] Figure shows a picking vehicle in top view and a picking person in side view.

[0040] Figure 1 shows an order picking vehicle 1 with a load-handling device 2 configured as a load fork 3. The load fork 3 can be raised and lowered by means of a lifting device 4, which, for example, comprises a vertical lifting mast and a vertically movable lifting carriage to which the load fork 3 is attached. On the load fork 3, there is at least one target load carrier 5, 6, configured, for example, as a target pallet 7, 8. In the illustrated embodiment, two target load carriers 5, 6 are located on the load-handling device 2.

[0041] To enable a picking operator 14 to ergonomically place an object on the target load carrier 5 or 6, the lifting height of the lifting device 4 is automatically adjusted to the height of the objects already stacked on the target load carrier 5 or 6. The control of the lifting height is based on observation by the picking operator 14.

[0042] For this purpose, a placement process of an object on the target load carrier 5 or 6 performed by the picking person 14 is recorded by monitoring the arm position and / or hand position of the picking person 14 using a sensor system 9. The sensor data is evaluated in a control unit 10, for example, a data processing device. The leveling of the lifting height of the load-handling device 2 is controlled depending on the arm position and / or hand position of the picking person 14.

[0043] The sensor system 9 preferably comprises at least one radio device 11 attached to the order-picking vehicle 1 and at least one radio beacon 15 carried on the arm and / or an arm joint and / or on a hand and / or a wrist of the order-picking person 1, which is located by the radio device 11. In this way, the arm position and / or hand position of the order-picking person 14 can be precisely located using radio technology, so that the lifting height can be adjusted to the working height at which the order-picking person 14 places the object on the target load carrier 5 or 6. The radio beacon 15 can, for example, be designed in the form of a smartwatch that is worn on the wrist of the order-picking person 14.

[0044] Additionally or alternatively, the sensor system 9 can comprise at least one laser scanner 12 attached to the picking vehicle 1 and / or at least one camera 13 attached to the picking vehicle 1, with which the picking person 14 is analyzed when picking an object.

[0045] In particular, when using a camera 13, it is particularly advantageous if the sensor data of the camera 13 are evaluated in the data processing device 10 by means of an image processing system and / or artificial intelligence.

[0046] In particular, key points on the body of the picker 14, especially the wrist, elbow, and shoulder, are analyzed when evaluating the sensor data. If an ergonomically unfavorable working position of the picker 14 is detected, for example, if the picker 14 has to bend too low or lift too high when placing an object on the target load carrier 5 or 6, the lifting height of the load handling device 2 is automatically adjusted.

[0047] In the exemplary embodiment of Figure 1, a sensor system 9 is arranged in the area of ​​the right-hand outer side of the order picking vehicle 1 in the direction of travel, which is designed to detect an arm position and / or a hand position of a picking person 14 carrying out the depositing process during the depositing process, in particular when the picking person 14 deposits an object on the target load carrier 5 or 6 from the right-hand side of the vehicle, and a further sensor system 9 is arranged in the area of ​​the left-hand outer side of the order picking vehicle 1 in the direction of travel, which is designed to detect an arm position and / or a hand position of a picking person 14 carrying out the depositing process during the depositing process, in particular when the picking person 14 deposits an object on the target load carrier 5 or 6 from the left-hand side of the vehicle. The invention is not limited to the exemplary embodiment shown in Figure 1.

[0048] Alternatively, a single sensor system 9 can be provided only on a single vehicle outer side, for example on the right-hand vehicle outer side or the left-hand vehicle outer side of the order picking vehicle 1, or a single sensor system 9 can be arranged centrally on the order picking vehicle 1 in the vehicle transverse direction.

[0049] The order picking vehicle 1 can also have a load-handling device 2 that can only accommodate a single target load carrier, or a load-handling device 2 that can accommodate more than two target load carriers one behind the other.

Claims

Patent claims 1. A method for picking at least one object, in particular a product and / or a production part, using a picking vehicle (1) with a load-handling device (2), in particular a load fork (3), which can be raised and lowered by a lifting device (4), wherein during a picking process, a picking person (14) places the object in a depositing process from outside the picking vehicle (1) on a target load carrier (5, 6) arranged on the load-handling device (2), wherein an automatic leveling of the lifting height of the load-handling device (2) is carried out, characterized in that the depositing process is detected by monitoring an arm position and / or a hand position of the picking person (14) by means of a sensor system (9), and the leveling of the lifting height of the load-handling device (2) is controlled as a function of the arm position and / or hand position.

2. Method according to claim 1, characterized in that an adjustable lower monitoring limit is specified, wherein during a depositing process in which the arm and / or the hand of the order-picking person (14) is raised above the monitoring limit, the load-carrying device (2) is lowered until the lower monitoring limit is undershot during the depositing process, and / or wherein during a depositing process in which the arm and / or the hand of the order-picking person (14) is moved below the monitoring limit, the load-carrying device (2) is raised until the lower monitoring limit is reached during the depositing process.

3. Method according to claim 1 or 2, characterized in that a radio device (11) is used for the sensor system (9) and the monitoring of the arm position and / or the hand position of the order-picking person (14) is carried out by radio monitoring of at least one radio beacon (15) which can be carried on the arm and / or an arm joint and / or on a hand and / or a wrist of the order-picking person (14).

4. Method according to one of claims 1 to 3, characterized in that the monitoring of the arm position and / or hand position of the order-picking person (14) is carried out by means of an optical sensor system (9).

5. Method according to claim 4, characterized in that at least one laser scanner (12) is used for the optical sensor system (9).

6. Method according to claim 4 or 5, characterized in that at least one camera (13) is used for the optical sensor system (9).

7. Method according to one of claims 4 to 6, characterized in that the sensor data of the optical sensor system (9) are evaluated in a control unit (10), in particular a data processing device, by means of an image processing system and / or artificial intelligence.

8. Method according to claim 7, characterized in that during the evaluation of the sensor data, key points on the body of the order-picking person (14), in particular those of the wrist, elbow and shoulder, are analyzed and if an ergonomically unfavorable working position of the order-picking person (14) is detected, the lifting height of the load-carrying device (2) is automatically adjusted.

9. Order-picking vehicle for carrying out the method according to one of claims 1 to 8, wherein the order-picking vehicle (1) is provided with a load-carrying device (2), in particular a load fork (3), which can be raised and lowered by a lifting device (4), wherein in a picking process an object, in particular a product and / or a production part, can be deposited in a depositing process from outside the order-picking vehicle (1) on a target load carrier (5, 6) arranged on the load-carrying device (2), wherein the order-picking vehicle (1) is provided with an automatic leveling of the lifting height of the load-carrying device (2), characterized in that a sensor system (9) is provided which is designed to detect an arm position and / or a hand position of a picking person (14) carrying out the depositing process during the depositing process, wherein the Sensor system (9) is operatively connected to a control unit (10), in particular a data processing device, which is designed to evaluate the sensor data and to control the levelling of the lifting height of the load-handling device (2) as a function of the arm position and / or the hand position of the order-picking person (14).

10. Order-picking vehicle according to claim 9, characterized in that the sensor system (9) comprises at least one radio device (11) attached to the order-picking vehicle (1) and at least one radio beacon (15) that can be carried on the arm and / or an arm joint and / or on a hand and / or a wrist of the order-picking person (14).

11. Order-picking vehicle according to claim 9 or 10, characterized in that the sensor system (9) comprises at least one optical sensor system (9) attached to the order-picking vehicle (1).

12. Order-picking vehicle according to claim 11, characterized in that the optical sensor system (9) comprises at least one laser scanner (12) attached to the order-picking vehicle (1).

13. Order-picking vehicle according to claim 11 or 12, characterized in that the optical sensor system (9) comprises at least one camera (13) attached to the order-picking vehicle (1).

14. Order-picking vehicle (1) according to one of claims 9 to 13, characterized in that the sensor system (9) is arranged in the region of an outer side of the order-picking vehicle (1) or the sensor system (9) is arranged centrally on the order-picking vehicle (1).

15. Order picking vehicle (1) according to one of claims 9 to 14, characterized in that a sensor system (9) is arranged on each outer side of the order picking vehicle (1).

16. Order picking vehicle according to one of claims 11 to 15, characterized in that the control unit (10) has a Image processing system and / or an artificial intelligence system which is designed to analyse key points on the body of the order picker (14), in particular those of the wrist, elbow and shoulder, when evaluating the sensor data and to automatically adjust the lifting height of the load-handling device (2) when detecting an ergonomically unfavourable working position of the order picker (14).

Images