Method for automatically controlling an industrial truck, and industrial truck

Abstract

A method for automatically controlling an industrial truck (1) when entering a rack aisle (2, 3, 4) and when driving along at least one rack (5) of a rack system (100, 200), comprising the following steps: driving over a predefined entry region (6a, 6b) of at least one rack aisle (2, 3, 4) and detecting an environment (U) adjacent to the industrial truck (1) by means of at least one optical and / or time-of-flight-measuring detection sensor (20, 21), wherein detection of at least one predefined, in particular geometrical, feature of an entrance (2a, 3a, 4a) leading into a rack aisle (2, 3, 4) enables the industrial truck (1) to be oriented automatically into a predefined position relative to the detected rack aisle (2, 3, 4).

Description

[0001] Method for automatically controlling an industrial truck and industrial truck

[0002] The invention relates to a method for automatically controlling an industrial truck when entering a rack aisle and / or when traveling along an aisle along at least one rack wall. Furthermore, the invention relates to an industrial truck for implementing such a method.

[0003] In aisles between or along racks, so-called rack aisles, which are generally chosen to be as narrow as possible to optimize the use of available space, even relatively small deviations in the movement of the industrial truck from an ideal travel path can lead to collisions between the industrial truck and the racks or their side barriers. This, in turn, can cause damage to both the industrial truck and the racks, even to the point of complete destruction and thus loss of use. Particularly when transitioning from travel on open space into such a rack aisle, the so-called entry area, collisions with racks or their side barriers are not uncommon due to inaccuracies in the alignment of the industrial truck.It should be clear that the term "rack aisles" in this context refers to any laterally limited path where industrial trucks are restricted in their freedom of movement for loading and unloading, in particular storage aisles or open storage aisles. A number of attempts have therefore already been made to improve the problem of entering such rack aisles. These improvements were initially applied on the building side, in particular through mechanical guides, for example in the form of reinforced impact protection on the sides of the rack, particularly in the entry areas. Although this did provide effective protection for the racks, it has been shown that in collisions with such building- or rack-side impact protection, the extent of damage to the vehicle was comparatively significantly greater.Therefore, vehicle-side improvements have been pursued, so that today, methods and industrial trucks are known in particular that provide automatic control, in particular automatic steering of the industrial truck, for entering and driving along rack aisles. For this type of automatic steering of industrial trucks, guide wire guidance systems have become particularly popular. These systems involve a predefined guide wire—whether physically installed in the building floor or virtually generated—which is detected by the vehicle using a lane detection system, and the vehicle is automatically guided along a lane.

[0004] Such a lane detection system, industrial truck and method for automatically steering an industrial truck along a guide wire when entering and driving through rack aisles is known, for example, from WO 2022 / 199912 A1.

[0005] Although the automatic control of industrial trucks, in particular steering and / or driving, using a guide wire within or along rack aisles has proven to be generally successful, practice has shown that, particularly when approaching and / or entering a rack aisle, for various reasons such as contamination, damage, ruts or driving dynamics, the industrial truck can be offset from the guide wire or the aisle center. This means that very high levels of attention from the operator are still required to avoid collisions and, if necessary, the operator may even have to intervene in the automatic steering process. The invention is therefore based on the object of improving a method mentioned above with regard to this disadvantage and of providing an improved industrial truck for carrying out such a method.

[0006] This object is achieved by the method recited in claim 1 and by the industrial truck recited in claim 14. Advantageous embodiments and further developments of the method and of the industrial truck are disclosed in the subclaims, the description, and the figures.

[0007] The method according to the invention for automatically controlling an industrial truck when entering and driving along an aisle along at least one shelf wall provides that when driving through a predefined entry area of ​​at least one shelf aisle, an optical and / or runtime-measuring detection of an environment adjacent to the industrial truck, in particular of objects located adjacent to the industrial truck, is carried out by means of at least one optical and / or runtime-measuring detection sensor arranged on the industrial truck.

[0008] According to the invention, the environment is detected optically and / or by a time-of-flight measurement. With optical detection, the environment adjacent to the industrial truck is monitored by means of an optical detection device. An optical detection device can be a camera, for example. The camera can enable 2D or 3D detection. With detection by time-of-flight measurement, detection can be carried out in particular by a lidar, an electromagnetic radar sensor and / or an acoustic ultrasonic sensor. Here, for example, laser beams or electromagnetic pulses or waves are sent into the environment; when they are reflected off an object, the time until they arrive again is measured, so that a distance to the object can optionally be determined.The sensors are preferably arranged and aligned on the industrial truck in such a way that they enable detection from the side and / or in front of the industrial truck, particularly within the entry zone. In this case, an entry zone is understood to mean, in particular, the area that forms a transition from an open area into an aisle arranged between two rack walls, or from an open area into an adjacent path leading along a single rack wall. This area is typically located at the front end of one or two rack walls, particularly in the space between the ends of two adjacent rack walls, i.e., where the aisle begins.

[0009] The objects that can be detected by the at least one detection sensor can be, for example, the shelf or the shelf wall itself, a side wall of the shelf, or any other object, such as a pallet, a piece of cargo, or a person. It should be clear that, while people can also be detected as objects within the scope of the aforementioned detection, this detection system does not represent or even replace a personal protection system.

[0010] According to the invention, it is provided that upon detection of at least one predefined, in particular geometric, feature of an entry into a rack aisle, an automatic alignment of the industrial truck into a predefined position relative to the detected rack aisle is enabled.

[0011] The aforementioned features of an entrance that can be detected by the detection sensor can, in particular, be geometric configurations, shapes, or components, such as a wall, edge, or corner of a shelf, a side boundary, or another body, which as such are characteristic of an entrance to a shelf aisle and have been predefined for this purpose in a control system for carrying out the method. Furthermore, it can be provided that an individual code, such as a barcode, that can be optically detected by the detection sensor is arranged at each entrance to a shelf aisle. Such a barcode can, for example, serve as a link to a data set, which can contain information about the respective shelf aisle. Thus, upon detection of such a code, additional information about the respective shelf aisle or the adjacent shelf walls can be immediately retrieved.For example, information or such a data set can be retrieved from a database located on the vehicle or in the building.

[0012] The aforementioned position refers, in particular, to the orientation or alignment of the industrial truck relative to the detected rack aisle entrance. In particular, if the industrial truck is designed as a side-loading forklift, the industrial truck is aligned in the longitudinal direction of travel relative to the entrance. The industrial truck can be aligned centrally to the rack aisle or—especially if the rack aisle is significantly wider than the industrial truck—off-center, in particular at a predefined lateral distance from the rack wall.

[0013] In this case, activation means that - depending on the setting or specification by the operator on the vehicle - either the industrial truck moves automatically to the predefined position without confirmation from the operator, or alternatively the operator of the industrial truck is notified of the activation, in particular visually, acoustically and / or haptically, or by another type of notification, so that the operator can manually select the automatic alignment of the industrial truck using a control command. The notification can be made, for example, by a button or display lighting up. In the latter case, the operator can then select and specify by pressing the button or touch display whether and optionally which rack aisle the industrial truck should be driven into and aligned accordingly.In this case, the industrial truck is automatically positioned in the predefined position only after confirmation from the operator. This allows for particularly fast and uncomplicated entry into the rack aisle.

[0014] For alignment purposes, the industrial truck can in particular be steered, accelerated and / or braked automatically. It is preferably brought into a position parallel in the direction of travel and at a predefined distance to at least one rack wall. The industrial truck can then be driven into an aisle - either manually by the operator or still automatically - in particular without touching the rack, preferably by driving purely straight ahead. This can effectively prevent collisions when entering the rack aisle. During off-center entry, it is optionally possible to select the side wall boundary to which the industrial truck is to be aligned at a predefined distance before aligning the industrial truck. This can particularly optimize storage and retrieval processes in the side area of ​​the racks, i.e. within the aisle.

[0015] The method according to the invention thus has the particular advantage that the automatic alignment of the industrial truck is completely independent of other devices, such as a navigation system or guide wire, but is carried out exclusively based on the objects currently detected adjacent to the industrial truck. This eliminates the need for complex installation or intensive maintenance of the system. Rather, the method according to the invention can be used flexibly and individually on any shelving system.

[0016] If the industrial truck detects multiple rack aisle entrances, a preferred embodiment provides for the detected entrances to be visually displayed to the operator for selection for automatic alignment of the industrial truck, and for the operator to manually select one of the entrances before which the automatic alignment of the industrial truck should take place using a control command. This allows for particularly fast and uncomplicated entry into the desired rack aisle, particularly when there is more than one rack aisle.

[0017] In a preferred embodiment, it is provided that after an entry has been detected, a determination, in particular a calculation, of a distance and / or a positioning of the industrial truck to the detected entry takes place. When the industrial truck approaches the entry area of ​​a rack aisle, not only can the entry as such be automatically detected, but the distance of the industrial truck to the entry can also be automatically determined. Particularly preferably, the distance between the industrial truck and a side boundary of the rack is determined. Depending on the arrangement of the sensors on the vehicle and the design of the side boundary, a relative position of the industrial truck to the side boundary or to the entire entrance to the rack aisle can thus be determined.The position or orientation of the industrial truck relative to the entrance can be determined, for example, using suitable detection sensors, particularly those that use a time-of-flight measurement. The information obtained from this can be used to control the automatic alignment of the industrial truck relative to the entrance and minimize the risk of the truck colliding with the side barrier. In particular, the automatic alignment of the industrial truck can be adapted to predefined, individual specifications for the entrance.

[0018] To enable particularly quick and uncomplicated entry into the rack aisle, the distance to the entrance can be detected as the industrial truck approaches it. If the truck falls below a predefined distance to the detected entrance, the system can be activated to automatically align the truck. This prevents misinterpretations by the system. In particular, the operator's selection or desire to enter the approached rack aisle can be detected particularly reliably and easily.

[0019] According to an advantageous embodiment, to avoid a collision with detectable objects, after detecting at least one object located adjacent to the industrial truck, a distance or position of the industrial truck relative to the at least one detected object is determined, in particular a mathematical calculation. This allows, for example, objects located in an entry area of ​​a rack aisle or a maneuvering area of ​​the vehicle to be detected, and the activation for aligning the industrial truck and / or the alignment itself to be adjusted depending on the detected object.In particular, if the position of the detected object allows it, the industrial truck can be aligned in a way that is adapted to the detected object, in particular one that deviates from the usual movement, or alternatively, the release for aligning the vehicle can be stopped and a warning signal can be issued to the operator.

[0020] In a further preferred embodiment, after aligning the industrial truck to a predefined position relative to the detected rack aisle, the truck automatically enters the aisle and optionally continues to drive along the aisle. This allows the entire process, from aligning the industrial truck to entering and entering the rack aisle, to be fully automated, allowing the operator to approach the rack easily.

[0021] In this case, it can be provided that the industrial truck, after it has entered a rack aisle, is further controlled automatically by detecting the lateral distances to the rack walls or a side boundary, in particular at least steered.

[0022] Alternatively, according to a further advantageous embodiment of the invention, after an entry has been detected, a virtual center line running along the middle of the rack aisle is determined, in particular calculated. The industrial truck can therefore be guided based on the virtual center line after entering an aisle, in particular as it continues along its path. This can be done in particular to avoid unwanted readjustment of the steering depending on the lateral distances to the side barrier in a rack aisle, especially if the side barrier is not exactly flat or straight, for example if the side barrier has elevations or projections protruding in the direction of the aisle caused by contamination or minor damage.

[0023] In a preferred embodiment, it is provided that after or during the detection of an environment, a computer-aided generation, in particular a creation and storage of a segmentation of the environment and / or the detected objects takes place. In particular, the environment detected by the industrial truck can be divided into individual segments. Detected objects can be assigned to these segments. This makes it possible to determine a rough orientation in the environment as well as an assignment and positioning of the detected objects in the environment, in particular relative to the current position of the industrial truck. The segmentation can optionally be visually displayed to the operator. In this case, segmentation is understood to mean a subdivision of the surrounding area into individual, in particular smaller areas.

[0024] Segmentation is preferably performed by setting coordinates and / or measurement points. For example, computer-aided recording of coordinates and / or measurement points can be performed on the vehicle. This enables the storable and retrievable assignment and positioning of objects in the environment.

[0025] It is also conceivable that the detected objects are grouped based on predefined criteria. For example, the detected objects can be divided into control-relevant environmental objects for the alignment of the industrial truck and non-control-relevant environmental objects for the alignment of the industrial truck. Control-relevant environmental objects can, for example, be the side border of a shelving unit or an object located in the entry area. These objects can, in particular, influence the control for aligning the industrial truck. A non-control-relevant environmental object can, for example, be an object located further away that is not important for the alignment of the industrial truck before entering an aisle.

[0026] In a further preferred embodiment, it can be provided that, after or during the detection of an environment, a computer-aided generation, in particular a creation and storage of a time-updated local, in particular virtual, map of the environment takes place. The generation and storage of the map can be carried out, in particular, computer-aided in the form of computer data. This allows information about an environment and the objects arranged therein to be collected, stored, and visually displayed. It can of course also be provided that a map is predefined, for example, a building plan, and the detected objects are subsequently entered.

[0027] It is conceivable that recurring objects, such as a permanently installed side barrier on a shelving unit, are recorded as such and included in a map with appropriate labeling. Furthermore, real-time information on newly recorded objects, such as movable pallets or goods, can be collected and entered into the map. In order to be able to use the information on the map not only for the current control of the industrial truck but also for subsequent or other industrial trucks, in particular for the automatic alignment of the industrial truck in the entry area, it can be provided that the information on the recorded objects is transmitted via an interface to other industrial trucks and / or to a higher-level computer system, in particular one located on the building, from where it can then be retrieved.

[0028] According to one embodiment of the invention, the automatic control of the industrial truck relates exclusively to the control of the steering system. This means that only the steering of the industrial truck for aligning in front of a rack aisle is controlled automatically, while the acceleration and / or braking of the industrial truck is carried out manually by the operator.

[0029] The invention further relates to an industrial truck for carrying out the method explained above. This vehicle can, in particular, have the design features required for carrying out the method—some of which have already been discussed above. In particular, a device for detecting the surroundings, in particular at least one detection sensor, and a computer-assisted device for controlling the vehicle, in particular an automatic steering control, can be arranged on the industrial truck for this purpose.

[0030] The drawings show two exemplary embodiments of the method according to the invention, purely schematically, using an industrial truck and an arrangement of rack aisles. Figures 1a to 1d each show a racking system from above with an industrial truck according to the invention for carrying out the method according to the invention, and

[0031] Figures 2a and 2b - each show the industrial truck carrying out the method according to the invention on another racking system.

[0032] All figures show a top view of a shelving system 100 or 200, respectively. The shelving system 100, 200 can be designed as a subsection of a large shelving system or mobile shelving system and in this case comprises two conventional shelves 5, also called shelf walls. Between the shelves 5, in particular along their long sides, so-called shelf aisles 2, 3, 4 extend in the usual way. In this case, the shelf aisles 4 are only bounded on one side by a shelf wall 5, while the shelf aisles 2 and 3 are bounded on both sides. The shelf aisles 2, 3, 4 serve for storing and retrieving goods into and from the respective shelf 5 and can in particular be accessed by an industrial truck 1.In order to save space, each rack aisle 2, 3, 4 regularly has a width that is only slightly greater than the width of the industrial truck 1 used for storage and retrieval, in particular the width of the industrial truck 1 in relation to its main direction of travel, which is marked in the figure with the arrow 10.

[0033] Particularly in a transition from an open area into such a relatively narrow rack aisle 2, 3, 4, particularly at the front ends 9 of the racks 5, as shown in the present figures to the right and left of the racks 5 and only identified as an example in the right-hand part of the image as a so-called entry area 6a, 6b, collisions with racks or their side barriers not infrequently occur due to inaccuracies in the alignment of the industrial truck 1. To protect the racks 5, reinforced, funnel-shaped side barriers 7 are therefore generally provided, at least in the entry areas 6a, 6b, which, in the event of misalignment, prevent the industrial truck 1 from colliding with the rack 5. Within the rack aisles 2, 3, 4, further side barriers 8 are provided for guiding and / or

[0034] Collision avoidance with shelf 5 arranged.

[0035] The industrial truck 1 according to the invention is designed as a side-loading forklift truck. This industrial truck 1 has a U-shaped chassis with an unspecified lifting mast arranged transversely and preferably displaceable in this direction, with two lifting forks. Of course, the industrial truck can also be of a different design; in particular, it can be designed as a conventional lifting mast truck, forklift truck, or any other vehicle with a lifting mast and forks. The industrial truck 1 has a running gear connected to the chassis, which generally comprises at least three wheels or wheel arrangements, in particular each mounted to rotate 360°, two of which are usually driven. The industrial truck 1 is therefore highly maneuverable and can generally rotate on the spot.A control station for driving and operating the industrial truck 1 is usually arranged on a front side area arranged in the main direction of travel 10, which is not identified in more detail here for the sake of clarity.

[0036] For example, a detection sensor 20, 21 designed as a distance sensor is arranged on a left and right side of the industrial truck 1 with respect to the main direction of travel 10, in a front side area and in a rear side area. The front detection sensors 20 in the main direction of travel 10 and the rear detection sensors 21 in the main direction of travel 10 are used in this case to detect objects G located adjacent to the industrial truck 1. Furthermore, the detection sensors 20, 21 are suitable in this case for detecting a respective distance between the industrial truck 1 and the detected object G. For example, the detection sensors 20, 21 are designed as optical or time-of-flight measuring sensors.

[0037] In addition, the industrial truck 1 shown here has a control device (not shown), in particular a computer unit, which, based on recorded and predefined data, enables the determination of a respective minimum distance A between the industrial truck 1 and the detected object G, for example when the minimum distance A to the object G is not in the area of ​​the sensor 20, 21, but in the area of ​​the lifting forks. This enables rapid and precise detection of a distance A between the industrial truck 1 and an environmental obstacle G, such as, for example, in Figure 1a to the side boundary 7 and in Figures 2a, 2b in addition to the object G. The detection sensors 20, 21 are each connected to the control device (not shown) for automatically aligning the industrial truck 1, in particular by steering, accelerating and / or braking the industrial truck 1.

[0038] In order to be able to drive the industrial truck 1 into one of the rack aisles 2, 3, 4 in a particularly comfortable and safe manner, it is provided according to the invention that in the entry area 6a, 6b the industrial truck 1 is automatically aligned into a predefined position, in particular in the direction of travel 10 in front of the respective rack aisle 2, 3, 4. In order to carry out the aforementioned alignment particularly quickly and easily, it is also provided that objects G located adjacent to the industrial truck 1 are detected by means of the above-described detection sensors 20, 21 and that the alignment is enabled when an entry 2a, 3a into a rack aisle 2, 3, 4 is detected.The actual execution of the automatic alignment of the industrial truck 1 after activation can be carried out by an operator of the industrial truck 1 by means of a control command before the start of the journey, in particular before detecting an entrance 2a, 3a, or alternatively by means of an individual confirmation after detecting an entrance 2a, 3a.

[0039] Figure 1a shows a racking system 100 showing how the industrial truck 1 enters the entry area 6b of the entrance 3a into the rack aisle 3. Up to this point, the industrial truck 1 has monitored the surrounding area U for adjacent objects G using the detection sensors 20, 21 to avoid collisions. At the moment of entering the entry area 6b, the detection sensors 20, 21, in this case in particular the detection sensor 20 located at the front left of the industrial truck 1, detect the features predefined for the entrance 3a, such as a specific shape or color of the side barrier 7 located in this area or an individual coding arranged there, such as a barcode. The automatic alignment of the industrial truck 1 relative to the rack aisle 3 is thereby enabled.

[0040] In the example shown, the activation results in the operator of the industrial truck 1 being visually informed that the entrance 3a has been detected and that automatic alignment of the industrial truck 1 is possible. The visual indication can be provided, in particular, by a button or display illuminating in the control station of the industrial truck 1. The operator can then manually issue a control command to perform the automatic alignment of the industrial truck 1, for example, by pressing the illuminated button or display.

[0041] In the present case, however, the industrial truck 1 is not supposed to enter rack aisle 3, but rather rack aisle 2. Accordingly, the operator does not press the illuminated button, but instead drives the industrial truck 1 further in the direction of rack aisle 2, as shown in Figure 1b. In doing so, the industrial truck 1 moves from the entry area 6b of the entrance 3a into the entry area 6a of the entrance 2a. The entry areas 6a, 6b can be color-coded for easy orientation and to mark a hazardous area on a floor.

[0042] When exiting the entry area 6b, the authorization for alignment can either be withdrawn and consequently the button illuminated at the entry 3a can go out and be kept ready for a next message, or alternatively - especially if there is more than one button for visualizing and selecting an entry - it can continue to illuminate until the entrance 3a can no longer be detected by the detection sensors 20, 21.

[0043] As soon as the industrial truck 1 has entered the next entry area 6a, the detection sensors 20, 21 detect the features predefined for the entry 2a and enable the automatic alignment of the industrial truck 1 relative to the rack aisle 2. A lit button again gives the operator the option of selecting automatic alignment of the industrial truck 1, which they confirm in this case. For alignment, the position of the industrial truck 1 relative to the rack aisle 2 is first determined using the detection sensors 20, 21 and the control device. This can be done in particular by detecting and / or determining at least one distance A to the entrance. As shown in Figure 1c, the distance A between sensor 20 and the side boundary 7 is used for this purpose.When determining the distance mathematically, for example, the distance between the side boundary 7 and the center of the vehicle can be calculated. Furthermore, additional stored data can be used to determine the location or positioning of the industrial truck 1, in particular, retrieved from a database (not shown).

[0044] Under continuous monitoring of the surrounding area U adjacent to the industrial truck 1 by means of the detection sensors 20, 21, the industrial truck 1 is moved to the position shown in Figure 1d by means of automatic steering, acceleration, and braking. Here, while the entrance 2a is being detected, a virtual centerline 11 of the rack aisle 2 can be determined or calculated. This virtual centerline 11 can be used to guide the industrial truck 1 precisely in the center of the rack aisle lane.

[0045] According to the example described above, the actual automatic alignment of the industrial truck 1 only occurs after confirmation by the operator (pressing a button). If the operator has already confirmed automatic alignment of the industrial truck 1 before starting the journey, the industrial truck 1 would align the vehicle 1 according to the respective rack aisle 2, 3, 4 immediately after entering the entry area 6a, 6b. To prevent unintentional alignment of the industrial truck 1, it can be provided that the release does not occur upon entering the entry area 6a, 6b, but only when a predefined distance to the detected entrance 2a, 3a is undercut.

[0046] Furthermore, the unlocking and / or an already initiated alignment of the industrial truck 1 can be stopped or at least automatically adjusted if an object G located within the movement range of the industrial truck 1 is detected, as shown in the shelving system 200 in Figure 2a. After the object G has been detected, a distance A to the object G is first monitored by means of the detection sensors 20, 21 and the control device. Should the industrial truck 1 come too close to the object G, the automatic movement of the industrial truck 1 is stopped or - if the further distance A to the side boundary 7 permits this - the industrial truck 1 is aligned by moving past the object until it has moved into the position shown in Figure 2b.

[0047] The method described above has the particular advantage that the automatic alignment of the industrial truck is completely independent of other devices or specifications, such as a navigation or guide wire system, and is carried out exclusively based on the objects currently detected adjacent to the industrial truck. This eliminates the need for complex installation or intensive maintenance of the system. Rather, the method according to the invention can be used flexibly and individually on any racking system.

[0048] The system, which is specifically designed for aligning the industrial truck 1, can also be used to automatically drive, in particular steer, the industrial truck 1 into the corresponding rack aisle 2, 3, 4 and continue along it. The control of the industrial truck 1 can, for example, be based on the detected distance to the side barrier 8 arranged along the rack 5 or on a generated virtual centerline 11.

[0049] Furthermore, the system for aligning the industrial truck 1 can be expanded to include the detection sensors 20, 21 detecting the surroundings of the industrial truck 1, in particular objects G located adjacent to the industrial truck 1, during each journey. This allows the entire environment or an area surrounding the industrial truck 1 to be detected. The information obtained in this way about the environment and the objects detected therein can be stored, for example, in the control device or another computer unit as electronic data and used, for example, for subsequent journeys. For this purpose, it can be provided that the detected environment and / or the detected objects are divided into segments, in particular by setting coordinates or measuring points.Furthermore, objects can be assigned to differentiated groups - for example, depending on their size, shape, or mobility - in particular into objects relevant for the alignment of the industrial truck 1 and objects irrelevant for alignment. For example, an object located in the entry area 2a, 3a can be classified as control-relevant, and an object further away as non-control-relevant. Furthermore, the funnel-shaped side barrier 7 arranged in the entry area 2a, 3a can be grouped as a non-contact object, whereas a side barrier 8, designed, for example, as a guide rail, within a rack aisle 2, 3, 4 can be grouped as a contact object.

[0050] Based on all this information, a real-time map of the local environment can be created, which can be used at least by the control system to align the industrial truck 1. Furthermore, incorrect positioning of objects or damage to equipment, such as the side barriers 7, 8, can be detected quickly and effectively.

[0051] It should be clear that the scope of the present invention is not limited to the described embodiment. In particular, the design of the industrial truck and the racks can be modified without altering the essence of the invention.

[0052] Reference list:

[0053] 1 industrial truck

[0054] 2 alley

[0055] 2a Entrance

[0056] 3 Alley

[0057] 3a Entrance

[0058] 4 Alley

[0059] 4a Entrance

[0060] 5 shelves, shelving unit

[0061] 6a Entry area

[0062] 6b Entry area

[0063] 7 Page limit

[0064] 8 Page limit

[0065] 9 front end 0 main direction of travel 1 virtual guide wire 0 detection sensor 1 detection sensor 0 shelving system 0 shelving system

[0066] A distance

[0067] G Object

[0068] U environment

Claims

Patent claims:

1. A method for automatically controlling an industrial truck (1) when entering a rack aisle (2, 3, 4) and when traveling along at least one rack (5) of a racking system (100, 200), comprising the following steps: - Driving into a predefined entry area (6a, 6b) of at least one rack aisle (2, 3, 4), - detecting an environment (U) adjacent to the industrial truck (1), in particular objects (G) located adjacent to the industrial truck (1), such as a side boundary (7, 8) of the rack aisle (2, 3, 4), by means of at least one optical and / or travel time measuring detection sensor (20, 21), wherein - upon detection of at least one predefined, in particular geometric, feature of an entrance (2a, 3a, 4a) into a rack aisle (2, 3, 4), an automatic alignment of the industrial truck (1) into a predefined position relative to the detected rack aisle (2, 3, 4) is enabled.

2. Method according to claim 1, characterized in that the detection of the environment (U) is carried out by means of a camera, a lidar, an electromagnetic radar sensor and / or an acoustic ultrasonic sensor.

3. Method according to one of claims 1 or 2, characterized in that after the activation of an automatic alignment of the industrial truck (1) into a predefined position, either an automatic implementation of the activated alignment takes place immediately, or the activation is displayed to an operator of the industrial truck (1), and the operator can manually select the automatic alignment of the industrial truck (1) by means of a control command.

4. Method according to one of the preceding claims, characterized in that when several possible entrances (2a, 3a, 4a) are detected, the detected entrances (2a, 3a, 4a) are displayed to the operator for selection for automatic alignment of the industrial truck (1), and the operator can manually select one of the entrances (2a, 3a, 4a) in front of which the automatic alignment of the industrial truck (1) is to take place by means of a control command, or the entrance (2a, 3a, 4a) closest to the industrial truck (1) is automatically selected.

5. Method according to one of the preceding claims, characterized in that after the detection of an entrance (2a, 3a, 4a) a distance (A) of the industrial truck (1) to the detected entrance (2a, 3a, 4a) is determined or ascertained.

6. Method according to one of the preceding claims, characterized in that the activation for the automatic alignment of the industrial truck takes place when a predefined distance (A) of the industrial truck (1) to the detected entrance (2a, 3a, 4a) is detected.

7. Method according to one of the preceding claims, characterized in that after the detection of an object (G) a Determining or ascertaining a distance and / or position of the industrial truck (1) relative to the detected object (G).

8. Method according to one of the preceding claims, characterized in that after the industrial truck (1) has been aligned in a predefined position relative to the detected rack aisle (2, 3, 4), the industrial truck (1) is additionally automatically driven into the aisle (2, 3, 4).

9. Method according to one of the preceding claims, characterized in that after detecting an entrance (2a, 3a, 4a), a center line (M) running along the center of the rack aisle (2, 3, 4) and / or a predefined distance to a rack wall is determined or ascertained.

10. Method according to one of the preceding claims, characterized in that after or during the detection of an environment (U), a computer-aided generation of a segmentation of the environment (U) and / or of the detected objects (G) takes place.

11. Method according to claim 10, characterized in that the segmentation is carried out by setting coordinates and / or measuring points.

12. Method according to one of the preceding claims, characterized in that after the detection of an object (G), a computer-aided generation of a grouping of control-relevant environmental objects (7, 8) and non-control-relevant environmental objects (9, 10) takes place.

13. Method according to one of the preceding claims, characterized in that after or during the detection of an environment (U), a computer-aided generation of a time-updated local map of the environment (U) takes place.

14. Method according to one of the preceding claims, characterized in that the automatic control of the industrial truck (1) exclusively concerns control of the steering.

15. Industrial truck (1) for carrying out a method having the features according to one of the preceding claims.

Images