Narrow speed industrial truck, narrow speed shelf storage system and method for operating such a narrow speed industrial truck

Abstract

The present invention relates to a narrow-aisle industrial truck (100) comprising a vehicle body (102) with a longitudinal direction (L) and a lateral direction (B), wherein a plurality of wheels (104) are assigned to the vehicle body (102) and, in a top view of the industrial truck (100), a contour of the industrial truck (100) is formed by the vehicle body (102) and, if applicable, the wheels (104), a front extension (106) arranged in the longitudinal direction (L) in front of the vehicle body (102), and a collision protection system (108) with at least one detection unit, which is configured to span a first collision protection field (F1) which projects beyond the front extension (106) in the longitudinal direction (L) and has an extent in the lateral direction (B) at least equal to the contour of the industrial truck (100).According to the invention, the collision protection system (108) is further configured to selectively create a second collision protection field (F2) by switching, which is shorter in the longitudinal direction (L) and wider in the lateral direction (B) than the first collision protection field (F1). The invention also relates to a narrow-aisle rack storage system (10), comprising at least one such narrow-aisle industrial truck (100) and a narrow-aisle rack, as well as a method for operating such a narrow-aisle industrial truck (100).

Description

[0001] The present invention relates to a narrow-aisle industrial truck comprising a vehicle body with a longitudinal and a lateral direction, wherein a plurality of wheels are assigned to the vehicle body and, in a top view of the industrial truck, the vehicle body and, optionally, the wheels form a contour of the industrial truck, a front section arranged longitudinally in front of the vehicle body, and a collision protection system with at least one detection unit, which is configured to define a first collision protection field that projects longitudinally beyond the front section and has a lateral extent at least equal to the contour of the industrial truck. The invention further relates to a narrow-aisle racking system comprising at least one such narrow-aisle industrial truck and a narrow-aisle rack, as well as a method for operating such a narrow-aisle industrial truck.

[0002] Narrow-aisle racking systems are characterized by the fact that only a narrow aisle suitable for forklifts is available between adjacent rows of racking, meaning that vehicles cannot pass each other within the narrow aisles. Consequently, due to the lack of escape and maneuvering options, initially only one forklift can operate in a single aisle at a time. However, by using a collision avoidance system on appropriate vehicles to reliably detect other vehicles, the simultaneous operation of several forklifts in a narrow aisle may be permitted. These vehicles, however, cannot enter sections of the aisle already occupied by another forklift.

[0003] In particular, such collision protection systems are designed to detect, for example, the approach of two industrial trucks using suitable sensor units. This is achieved by defining a so-called collision protection zone, within which no foreign objects, and consequently no other industrial trucks, may be present. Should an operational situation arise in which one of the industrial trucks violates this collision protection zone while moving, automatic countermeasures can be initiated, such as braking the vehicle until it comes to a complete stop.

[0004] On the other hand, such industrial trucks used in narrow-aisle racking systems often have long extensions, such as picking platforms, which extend from the truck body into the narrow aisle. To reliably implement the safety mechanism described above, the required collision protection zones must be sufficiently long to extend long enough along the length of the truck body over the extension, ensuring timely braking upon encountering an obstacle or an oncoming vehicle.

[0005] Since, for example, when such a forklift truck exits a narrow aisle, a collision protection field extends far into the area in front of it, situations can arise in which an obstacle opposite the storage rack, such as a wall limiting the travel area, can be detected by a corresponding detection unit before the vehicle has completely left the narrow aisle.

[0006] To prevent this problem during the planned operation of such a narrow-aisle industrial truck, it was previously necessary either to make the area in front of the racking system relatively large, which led to a loss of usable storage space and thus to a reduced efficiency of the overall system, or, on the other hand, to require drivers of such a narrow-aisle industrial truck to deactivate their vehicle's collision protection system when leaving the narrow aisle, which increased the workload of the drivers and also entailed the risk of operating errors.

[0007] Therefore, there is a need at this point for an improved narrow-aisle industrial truck with which the above-described operating situation can be handled more effectively and which can avoid an enlargement of the area in front of the racking system as well as an additional manual intervention in the operation of the vehicle to deactivate a collision protection system with the associated disadvantages.

[0008] To solve the problem just formulated and to eliminate the disadvantages of the prior art just described, it is proposed according to the present invention to further develop a generic narrow-aisle industrial truck of the type described above in such a way that the collision protection system is configured to selectively create a second collision protection field by switching, which is shorter in the longitudinal direction and wider in the lateral direction than the first collision protection field.This not only reduces the required free distance between the racking rows and an opposing obstacle, such as a wall, when exiting a narrow aisle into a forecourt by shortening the second collision protection field compared to the first, but also ensures, by widening the second collision protection field compared to the first, that in the event of a faulty switching within the narrow aisle, the respective racking rows themselves can trigger the wider second collision protection field, so that in such a case a suitable countermeasure, in particular stopping the forklift truck, can be initiated and thus a dangerous situation can be prevented.

[0009] As already mentioned above, in a narrow-aisle industrial truck according to the invention, the front section thereof can be formed by a picking platform, a boom or similar, or comprise one or more such components.

[0010] In principle, however, other types of attachments for corresponding industrial trucks are of course also conceivable, for example a simple height-adjustable load handling device.

[0011] Although there are initially no fundamental restrictions regarding the type and placement of the detection unit of the collision protection system on the industrial truck, as long as the two collision protection fields provided according to the invention can each be covered in a suitable manner, it may be particularly advantageous to arrange the detection unit of the collision protection system on the front of the vehicle body with respect to its longitudinal direction.

[0012] Furthermore, the collision protection system can be integrated with or operationally coupled to a central control unit of the industrial truck, so that a potential violation of one of the collision protection zones can be reported to the central control unit, which can then initiate appropriate countermeasures. It should also be noted that a narrow-aisle industrial truck according to the invention can, in principle, be manually controlled, autonomous, or semi-autonomous, since the inventive development described above can be advantageously used in all of the aforementioned types of industrial trucks.

[0013] As already mentioned several times above, the industrial truck can also be equipped to initiate a predetermined countermeasure in the event of an injury to the first or second collision protection field, for example braking, in particular to a standstill; however, alternative or additional countermeasures are also conceivable, such as issuing a warning to a driver or control center operator who is driving the vehicle or is positioned at a distance.

[0014] Furthermore, the industrial truck can be equipped to automatically switch from the first to the second collision protection field based on at least one predetermined condition; for example, reaching a predetermined position within an operating environment could be considered, which could correspond in particular to exiting a narrow aisle in a front-end area.

[0015] In this context, it should also be noted that a corresponding narrow-aisle industrial truck may also include a position detection device designed to record the truck's position within its operating environment. This position detection device can also be implemented in various ways, provided that the intended purpose can be fulfilled with the appropriate design. For example, it could consist of a system of transponders arranged in the operating environment, a corresponding receiver assigned to the vehicle, and position detection via triangulation or signal units embedded in the drivable floor of the operating environment, or it could involve environmental detection using appropriate optical sensors, such as laser scanners.

[0016] According to a second aspect, the present invention relates to a narrow-aisle racking system, comprising at least one narrow-aisle industrial truck of the type described above, and further, a narrow-aisle rack, again comprising at least one pair of rack rows arranged parallel to one another at a row spacing, each row comprising a plurality of rack uprights, each upright having a spacing between them, wherein the second collision protection zone of the industrial truck is at least as wide in the lateral direction as the row spacing and at least as long in the longitudinal direction as the largest of the upright spacings. In particular, all of the upright spacings can be substantially the same; however, embodiments with variable upright spacings are also conceivable.Furthermore, variants of the invention are conceivable in which the shelf uprights of the two shelf rows are offset from each other or differ in their arrangement in another way, so that, in order to determine the largest of the upright spacings of a specific shelf storage system with respect to the extension direction of the narrow aisle, shelf uprights opposite each other across the narrow aisle can also be considered.

[0017] It is understood that the first collision protection zone is narrower in the width direction than the row spacing, as this is the only way to enable movement within such a narrow aisle as intended. In any case, the dimensions of the second collision protection zone described above ensure that, in the event of an accidental switch to this zone during regular movement within a narrow aisle, at least one upright will always be within the second collision protection zone to damage it and thus signal the undesired malfunction.

[0018] The spacing between the rack rows can be formed or defined by the distance between pairs of uprights opposite each other across the narrow aisle. However, other rack configurations are also conceivable, in which, for example, objects stored on the rack rows may extend further into the narrow aisle than the uprights. In such a case, the widths of the first and second collision protection zones must be adjusted accordingly so that, even when the rack is at maximum capacity, the first collision protection zone remains within the minimum remaining narrow aisle, while the second collision protection zone would always be affected by the row spacing.

[0019] As already indicated above, the narrow-aisle racking system according to the invention can further comprise at least one aisle exit provided at one end of the racking rows, which runs essentially orthogonally to the narrow aisle and has a forecourt width in this direction, wherein the drivable operating environment can in particular be limited by an obstacle opposite the racking rows, especially by a wall, wherein the distance between the racking rows and the obstacle is greater than the largest upright spacing and is referred to as the forecourt. The forecourt is thus the area of ​​the warehouse that is located between the end of the racking and the wall opposite it and that allows for the transfer of industrial trucks between the racking aisles and the transport of goods to and from the racking aisles or racks.

[0020] Furthermore, in the system according to the invention, the industrial truck can be configured to switch from the first to the second collision protection field when exiting the narrow aisle, and particularly when transitioning into the aisle exit. This switching can be based on data available to the industrial truck regarding its own position and map data of its operating environment, if this data indicates that exiting a narrow aisle is imminent. It is particularly important that the switch from the first to the second protection field only occurs when the second protection field will no longer cover the last upright of the corresponding rack rows, as switching too early would result in a violation of the protection field. Accordingly, the specific switching position when exiting the narrow aisle must be selected.

[0021] In any case, the length of the second collision protection field can be chosen so that it is less than the apron width.

[0022] Furthermore, the system according to the invention can also include a central warehouse management system which is wirelessly connected to the at least one industrial truck, whereby switching to the second collision protection field can also be carried out, for example, via the warehouse management system based on data available to it about the current operating status of the corresponding industrial truck. It also becomes clear at this point that the system according to the invention described here can include a plurality of independent industrial trucks and, for example, only a single central warehouse management system, which directs and ensures coordinated operation of the industrial trucks. The specific number of industrial trucks used can, for example, also vary over time and depend in particular on the overall size of the warehouse system.

[0023] Furthermore, the present invention relates to a method for operating a narrow-aisle industrial truck of the type described above, particularly within a corresponding narrow-aisle racking system, comprising the steps of deploying the first collision protection field while moving within the narrow aisle and switching to the second collision protection field when leaving the narrow aisle. In this context, it should be noted that the additional features of the industrial truck or storage system introduced above as optional are also to be understood as features of the method according to the invention, and accordingly, for example, the detection of the position of the industrial truck within the operating environment and the automatic switching to the second collision protection field based on the predetermined condition are also claimed within the framework of a corresponding method.

[0024] Further advantages and features of the present invention will become even clearer from the following description of an embodiment thereof, when this is presented together with the enclosed Figure 1 This is considered. This shows in detail: Figure 1 shows a schematic top view of a narrow-aisle rack storage system according to the invention with a narrow-aisle industrial truck.

[0025] Figure 1 Figure 1 now shows a purely schematic top view of a narrow-aisle rack storage system according to the invention, which is generally designated by reference numeral 10 and of which only a pair of parallel rack rows 12 and also only a single narrow-aisle industrial truck 100 are shown.

[0026] The rack rows 12 are constructed such that each row comprises a plurality of rack uprights 14, each with a uniform upright spacing X14 between them. Simultaneously, the rack rows 12 are spaced from one another with a row spacing X12 such that a narrow aisle 16 is formed between them, in which the industrial truck 100 described below can move. In alternative versions of a rack storage system 10 according to the invention, the upright spacing in the direction of extension of the narrow aisle 16 could also be variable. However, for the present invention, and in particular for the definition of the second collision protection zone explained below, the largest upright spacing in this direction is particularly relevant, possibly also across the narrow aisle 16 or taking into account rack uprights 14 on both sides thereof.

[0027] Furthermore, it can be seen that each of the shelf rows 12 supports a plurality of pallets P, which, in the construction shown here, project towards each other beyond the shelf uprights 14 with respect to the width of the narrow aisle 16, so that in the representation they Figure 1 Ultimately, the row spacing X12 is defined. However, in other variants, this row spacing X12 could also be defined by the distance between the shelf uprights 14 perpendicular to the narrow aisle 16, if the pallets P do not extend beyond them due to their design.

[0028] Furthermore, in Figure 1It can be seen that at the upper end of the narrow aisle 16, or the rack rows 12, a forecourt 18 is connected, which in turn is bounded opposite the rack rows 12 by a wall 20. Accordingly, at the transition from the narrow aisle 16 to the forecourt 18, an aisle exit with a forecourt width G is formed for the industrial truck 100, so that it can enter or exit the narrow aisle 12 at this point.

[0029] The industrial truck 100 itself comprises a vehicle body 102 with a longitudinal direction L and a lateral direction B, wherein, during movement within the narrow aisle 12, the longitudinal direction L of the vehicle body 102 of the industrial truck 100 is aligned with the extension direction of the narrow aisle 16. Furthermore, several wheels 104 are assigned to the vehicle body 102, wherein in the following Figure 1The outline of the industrial truck 100 is formed by the vehicle body 102 and the wheels 104 protruding from it, as shown in the top view of the industrial truck 100.

[0030] Furthermore, the industrial truck 100 includes a front section 106, for example, a relatively far-projecting picking platform, which extends forward in the longitudinal direction L from the vehicle body 102. Adjacent to the front section 106, a collision protection system 108 with at least one detection unit is also attached to the front of the vehicle body 102 in the longitudinal direction L. This system is configured to define the two collision protection zones described below. The detection unit can, for example, be a laser scanner known per se, which periodically scans a detection area and is capable of detecting the presence and distances of objects within it.

[0031] It should be noted that the collision protection system 108 is also operationally coupled to a central control unit 110 of the industrial truck 100, shown here only schematically. This control unit is in turn coupled to a communication unit 112, which allows wireless communication, for example, with a central warehouse management system or a control center of the corresponding logistics facility. Furthermore, the industrial truck 100 includes a position detection device 114, which is configured to detect the position of the industrial truck 100 within its operating environment and which also provides data to the central control unit 110.

[0032] During normal operation of the industrial truck 100, the collision protection system 108 first establishes the first collision protection field F1, which has a length L1 and a width B1. It is evident that, for safety reasons, the length L1 must be relatively large, while the width B1 corresponds at least to that of the contour of the vehicle body 102 together with the protruding wheels 104.

[0033] Furthermore, the representation shows Figure 1 Furthermore, it is understood that if the industrial truck 100 were to exit the narrow aisle 16 again before a turn could be made, the first collision protection zone F1 would already be violated by the aforementioned wall 20. To prevent this and to keep the space required for the apron 18 as small as possible, the industrial truck 100 is now equipped with a [missing information - likely a specific device] when exiting the narrow aisle 12, i.e., at approximately the time which in Figure 1As just shown, based on position and map data known from the industrial truck 100, or for example also based on an instruction from an external central warehouse management system, a switch to the second collision protection field F2 is carried out by means of an interaction between the control unit 110 and the collision protection system 108, which is located in Figure 1 is also shown.

[0034] It is possible to switch to the second protection zone F2 in the area of ​​the aisle exit, since in the approach zone 18, vehicles can swerve to avoid an oncoming vehicle, whereas in the narrow aisle 16, vehicles cannot swerve to avoid each other. Therefore, a suitable anti-collision system is necessary, designed for an oncoming narrow-aisle forklift traveling at maximum speed and detecting it early enough. Furthermore, the lifting front section 106 of an oncoming narrow-aisle forklift must also be taken into account in the collision protection zone length, as the oncoming narrow-aisle forklift can only be reliably detected by scanners based on its non-liftable structure. Since an oncoming vehicle can or even must swerve in the approach zone 18, it is possible to switch from the very long collision protection zone F1 for the narrow aisle 16 to the shorter collision protection zone F2.

[0035] The latter has a shorter length L2 compared to the first collision protection field F1, but an increased width B2, where the second length L2 is at least as large as the upright spacing X14 and the width B2 is larger than the row spacing X12. Here, the upright spacing X14 is to be understood as the largest free distance between adjacent uprights 14 in the direction of extension of the narrow aisle 16.

[0036] Furthermore, it is conceivable in this context that in another embodiment of a shelving system 10 according to the invention, the opposing rows of shelves 12 are arranged offset with respect to the arrangement of their uprights 14, or that the respective distances between the uprights 14 differ. Accordingly, the maximum free distance between two uprights 14 would be reduced with respect to the direction of extension of the narrow aisle 16, since in such a case, uprights 14 opposite each other across the narrow aisle 16 would have to be considered with respect to their distance along the direction of extension of the narrow aisle 16. This is because the second protective field F2 is located in the Figure 1If, as shown, the shelf extends beyond the shelf contour on both sides and the detection of a shelf upright 14 on one side would be sufficient to determine a violation of the second protective field F2, then, in such a variant of a shelf system 10, opposing shelf uprights 14 of the two shelf rows 12 can also be used to determine the maximum upright spacing.

[0037] In any case, on the one hand, an exit from the narrow aisle 12 in the area of ​​the apron 18 is thus made possible without the second protective field F2 being violated by the wall 20, but on the other hand, the increased width of the second protective field F2 also ensures that in the event of an unintentional switch to it during normal movement within the narrow aisle 16, the second protective field F2 is immediately violated on at least one side and appropriate countermeasures can be taken accordingly before any kind of dangerous situation can arise.

Claims

1. Narrow-aisle industrial truck (100), comprising: a vehicle body (102) with a longitudinal direction (L) and a lateral direction (B), wherein a plurality of wheels (104) are assigned to the vehicle body (102) and, in a top view of the industrial truck (100), the vehicle body (102) and, if applicable, the wheels (104) form a contour of the industrial truck (100); a front section (106) arranged in the longitudinal direction (L) in front of the vehicle body (102); and a collision protection system (108) with at least one detection unit, which is configured to span a first collision protection field (F1) which projects in the longitudinal direction (L) beyond the front section (106) and has an extent in the lateral direction (B) at least equal to the contour of the industrial truck (100); characterized by the fact thatthe collision protection system (108) is further configured to selectively create a second collision protection field (F2) by switching, which is shorter in the longitudinal direction (L) and wider in the lateral direction (B) than the first collision protection field (F1).

2. Narrow aisle industrial truck (100) according to claim 1, wherein the front section (106) is formed by or comprises a picking platform or a boom.

3. Narrow aisle industrial truck (10) according to one of the preceding claims, wherein the detection unit of the collision protection system (108) is arranged at the front of the vehicle body (102) with respect to its longitudinal direction (L).

4. Narrow aisle industrial truck (10) according to one of the preceding claims, wherein the collision protection system (108) is integrated or operationally coupled with a central control unit (110) of the industrial truck (100).

5. Narrow aisle industrial truck (100) according to one of the preceding claims, wherein the industrial truck (100) is equipped to initiate a predetermined countermeasure in the event of a violation of the first or second collision protection field (F1, F2), for example braking, in particular to a standstill.

6. Narrow aisle industrial truck (100) according to one of the preceding claims, wherein the industrial truck (100) is configured to automatically switch from the first to the second collision protection field (F1, F2) based on at least one predetermined condition.

7. Narrow aisle industrial truck (100) according to one of the preceding claims, further comprising a position detection device (114) which is configured to detect a position of the industrial truck (100) within its operating environment.

8. Narrow aisle racking system (10), comprising at least one narrow aisle industrial truck (100) according to one of the preceding claims and further a narrow aisle rack, comprising: at least one pair of rack rows (12) arranged parallel to each other at a row spacing (X12), each of which comprises a plurality of rack uprights (14) which each have a upright spacing (X14) to each other and form a narrow aisle (16) between them, wherein the second collision protection field (F2) of the industrial truck (100) is at least as wide in the width direction (B) as the row spacing (X12) and at least as long in the length direction (L) as the largest of the upright spacings (X14).

9. Narrow aisle rack storage system (10) according to the preceding claim, wherein the row spacing (X12) is formed by a distance between pairs of rack uprights (14) opposite each other across the narrow aisle (16).

10. Narrow aisle rack storage system (10) according to one of claims 8 to 9, further comprising at least one aisle exit provided at one end of the regular rows (12), which runs substantially orthogonally to the narrow aisle (16) and has a front width (G) in this direction.

11. Narrow aisle rack storage system (10) according to the preceding claim, wherein the operating environment is limited by an obstacle (20) opposite the rack rows (12), in particular a wall, wherein the distance between the rack rows (12) and the obstacle (20) is greater than the largest upright spacing (X14).

12. Narrow aisle storage system (10) according to one of claims 8 to 11, wherein the industrial truck (100) is configured to switch from the first to the second collision protection field (F1, F2) when exiting the narrow aisle (16) and in particular when transitioning to the aisle exit.

13. Narrow aisle storage system (10) according to one of claims 8 to 12, wherein the length (L2) of the second collision protection field (F2) is less than the apron width (G).

14. Narrow aisle storage system (10) according to one of claims 8 to 13, further comprising a central warehouse management system which is in wireless data connection with the at least one industrial truck (100).

15. Method for operating a narrow-aisle industrial truck (100) according to one of claims 1 to 7, in particular within the framework of a narrow-aisle rack storage system (10) according to one of claims 8 to 14, comprising the steps: during movement within a narrow aisle (16), setting up the first collision protection field (F1); and when leaving the narrow aisle (16), switching to the second collision protection field (F2).

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