Method for automatically aligning an industrial truck in a warehouse, and system comprising an industrial truck and a warehouse

• US 10,289,118 B2
• Filed: 12/06/2017
• Issued: 05/14/2019
• Est. Priority Date: 12/06/2016
• Status: Active Grant

• Current Assignee: Jungheinrich AG
• Original Assignee: Jungheinrich AG
• Inventors: Gopner, Oliver
• Primary Examiner(s): Frejd, Russell
• Application Number:
  US15/833,473
• Publication Number:
  US 20180157263A1
• Time in Patent Office: 524 Days
• CPC Class Codes: B66F 9/063 Automatically guided
• CPC Class Codes: B66F 9/0755 Position control; Position detectors
• CPC Class Codes: B66F 9/07581 Remote controls
• CPC Class Codes: G05D 1/0011 associated with a remote control arrangement
• CPC Class Codes: G05D 1/0212 with means for defining a desired trajectory involving a plurality of land vehicles G05D1/0287
• CPC Class Codes: G05D 1/0251 extracting 3D information from a plurality of images taken from different locations, e.g. stereo vision stereoscopic image analysis H04N13/00; depth recovery from images G06T7/593

Abstract

A method and system for automatically aligning an industrial truck in a warehouse, comprising the steps of determining a relative position of an operator with respect to an industrial truck by a positioning unit of the industrial truck, aligning the industrial truck in first predetermined side orientation with respect to a first object located on the left side of the industrial truck in the drive direction of the industrial truck when the relative position of the operator lies on the left side of the industrial truck, and aligning the industrial truck in a second predetermined side orientation with respect to a second object located on the right side of the industrial truck in the drive direction of the industrial truck when the relative position of the operator lies on the right side of the industrial truck.

Claims

1. A method for aligning an industrial truck, comprising the steps of:

determining a relative position of an operator with respect to the industrial truck by a positioning unit;

configuring a control unit to automatically align the industrial truck in a first predetermined side orientation with respect to a first object located on a left side of the industrial truck, the left side being defined as a drive direction of the industrial truck when the relative position of the operator is on the left side of the industrial truck; and

configuring the control unit to automatically align the industrial truck in a second predetermined side orientation with respect to a second object located on a right side of the industrial truck, the right side being defined as the drive direction of the industrial truck when the relative position of the operator is on the right side of the industrial truck.

2. The method according to claim 1, wherein the first and second objects are sides of a shelf in a warehouse.

3. The method according to claim 2, wherein the industrial truck is aligned with the first predetermined side orientation with respect to the left side of the shelf and wherein the industrial truck is positioned at a first distance relative to the left side of the shelf.

4. The method according to claim 2, wherein the industrial truck is aligned with the second predetermined side orientation with respect to the right side of the shelf and wherein the industrial truck is positioned at a second distance to the right side of the shelf.

5. The method according to claim 1, further comprising the step of:

configuring the control unit to automatically align the industrial truck with the first object located on the left side of the industrial truck when a distance between the relative position of the operator to a fixed vehicle reference axis exceeds a first predetermined threshold distance, and aligning the industrial truck with the second object located on the right side of the industrial truck when the distance between the relative position of the operator to the fixed vehicle reference axis exceeds a second predetermined threshold distance.

6. The method according to claim 5, wherein the industrial truck moves in the drive direction without assuming the first or the second predetermined side orientations when the distance of the relative position of the operator to the fixed vehicle reference axis lies between the first predetermined threshold distance and the second predetermined threshold distance.

7. The method according to claim 1, wherein the relative position of the operator with respect to the industrial truck is determined by at least one laser scanner, and at least one 3-dimensional camera.

8. The method according to claim 1, wherein the relative position of the operator with respect to the industrial truck is determined by radiolocation.

9. The method according to one of claim 1, further comprising the steps of:

transmitting and receiving search signals by at least three transmitting and receiving units of the industrial truck;

processing the search signals by a remote control unit;

transmitting response signals corresponding to the search signals; and

determining a signal propagation time of each of the transmitted search signals and the transmitted response signals by an evaluation unit of the industrial truck;

wherein the relative position of an operator having the remote control unit is determined by the relative position of the remote control unit with respect to the industrial truck.

10. A system for aligning an industrial truck in a warehouse, comprising:

a positioning unit of the industrial truck configured to determine a relative position of an operator with respect to the industrial truck,

a control unit configured to align the industrial truck in first predetermined side orientation with respect to a first object on a left side of the industrial truck in a drive direction when the relative position of the operator lies on the left side of the industrial truck, and configured align the industrial truck in a second predetermined side orientation with respect to a second object located on a right side of the industrial truck in the drive direction when the relative position of the operator lies on the right side of the industrial.

11. he system according to claim 10, wherein the first and second objects are sides of a shelf in a warehouse.

12. The system according to claim 10, wherein the control unit is configured to align the industrial truck in the first predetermined side orientation with respect to the left side of a shelf in that the control unit positions the industrial truck at a first distance relative to the left side of the shelf, and wherein the control unit is configured to align the industrial truck in the second predetermined side orientation with respect to the right side of a shelf in that the control unit positions the industrial truck at a second distance relative to the right side of the shelf.

13. The system according to claim 10, wherein the control unit is configured to align the industrial truck with the first object located on the left side of the industrial truck in the drive direction when a distance between the determined relative position of the operator to a fixed vehicle reference axis exceeds a first predetermined threshold distance, and configured to align the industrial truck with the second object located on the right side of the industrial truck in the drive direction when the distance between the relative position of the operator to the fixed vehicle reference axis exceeds a second predetermined threshold distance.

14. The system according to claim 13, wherein the control unit is configured to move the industrial truck in the drive direction without assuming a first or second predetermined side orientation when the distance of the relative position of the operator to the fixed vehicle reference axis lies between the first predetermined threshold distance and the second predetermined threshold distance.

15. The system according to claim 10, wherein the positioning unit comprises at least one laser scanner, at least one 3-D camera, and at least one remote positioning unit.

16. The system according claim 10, further comprising a remote control unit, including at least three transmitting and receiving units arranged in a predetermined spatial arrangement relative to each other in the industrial truck and are configured to transmit search signals and receive response signals, the remote control unit configured to receive and process the search signals transmitted by the transmitting and receiving units and to transmit corresponding response signals.

17. The system according to claim 16, wherein the control unit is configured to align the industrial truck in the first predetermined side orientation with respect to the left side of a shelf in that the control unit positions the industrial truck at a first distance relative to the left side of the shelf, and wherein the control unit is configured to align the industrial truck in the second predetermined side orientation with respect to the right side of a shelf in that the control unit positions the industrial truck at a second distance relative to the right side of the shelf.

18. The system according to claim 16, wherein the control unit is configured to align the industrial truck with the first object located on the left side of the industrial truck in the drive direction when a distance between the determined relative position of the operator to a fixed vehicle reference axis exceeds a first predetermined threshold distance, and configured to align the industrial truck with the second object located on the right side of the industrial truck in the drive direction when the distance between the relative position of the operator to the fixed vehicle reference axis exceeds a second predetermined threshold distance.

19. The system according claim 10, wherein the positioning unit includes, an evaluation unit configured to determine signal propagation times of transmitted search signals and received response signals, configured to determine a position of a remote control unit, and configured to determine the position of an operator relative to the industrial truck from at least three of the signal propagation times between the evaluation unit and the remote control unit.

20. A system for aligning an industrial truck in a warehouse, comprising:

a positioning unit of the industrial truck configured to determine a relative position of an operator with respect to the industrial truck,

a control unit configured to;

(i) align the industrial truck in first predetermined side orientation with respect to a first object on a left side of the industrial truck in a drive direction when the relative position of the operator lies on the left side of the industrial truck, (ii) align the industrial truck in a second predetermined side orientation with respect to a second object located on a right side of the industrial truck in the drive direction when the relative position of the operator lies on the right side of the industrial truck; and

(iii) align the industrial truck, in response to the relative position of the operator, such that the operator is interposed between the lifting forks and one of the first and second objects.