Patent Grant
10710853
This application claims the priority benefit of EP 16179522.4 filed Jul. 14, 2016, the contents of which are hereby incorporated by reference as if set forth in its entirety.
The present disclosure relates to a method according to claim 1, a computer program according to claim 8, and a floor conveyor according to claim 9.
In general, order picking floor conveyors are commonly used for handling goods in warehouses and distribution centers. These floor conveyors typically include a load carrier, most commonly in the form of forks, and a power unit having a platform on which the operator may travel with the floor conveyor. A control handle may be used for steering by a connection to a steerable wheel. The control handle generally includes all the operational controls necessary for driving and operating the load carrier of the floor conveyor.
It is through EP2678748 that it is known that an order picker truck may maneuver by means of sensors and a controller. Several sensors may be used for detecting objects located in first and second zones outside the order picker truck. A steer correction maneuver may automatically be performed by steering the vehicle using the several sensors and the controller.
Provided is a floor conveyor that may be controlled by a remote control, such that the operator may operate the floor conveyor without using the operator controls on board. The remote control may thus be used for operation of the floor conveyor without the use of the control handle. A sensor device may be comprised on the floor conveyor for operation with the use of the remote control. For example, there may be a need for the detection of objects that are positioned in the travel path of the floor conveyor and to implement measures to the floor conveyor to avoid such objects. In some situations, it may be beneficial that the sensor device is operational at all moments.
According to a further aspect of the disclosure there is provided a method for operation of a floor conveyor. The method for operation of a floor conveyor, provided with a sensor device, comprises the steps of: providing a predetermined detection zone outside at least a section of the circumference of the floor conveyor for detection of objects positioned inside the predetermined detection zone by the sensor device, wherein the predetermined detection zone may be arranged to end at a first predetermined distance from a predetermined object, extending the predetermined detection zone with a second predetermined distance within which the predetermined object may be expected to be positioned, and implementing security measures on the floor conveyor, if the predetermined object is not detected within the extended predetermined detection zone, otherwise allow continued operation of the floor conveyor.
The method allows for a very convenient way of testing the function of the sensor device.
According to a further aspect of the disclosure there is proposed a method according to the above, wherein the predetermined object may be on the surface that the floor conveyor may be supported.
It may be beneficial in some situations to use the surface on which the floor conveyor may be operating to test the sensor device. This gives a precise and expected object to measure on.
According to a further aspect of the disclosure there is proposed a method according to the above, wherein the security measures comprise complete shutdown of the floor conveyor. For highest security, a complete shutdown of the floor conveyor may be beneficial.
According to a further aspect of the disclosure there is proposed a method according to the above, wherein the security measures involve a shutdown of all functions of the floor conveyor that require detection of foreign objects, inside a predetermined zone outside at least a section of the circumference of the floor conveyor, for their operation.
By applying security measures that still allow the manual operation of the floor conveyor without use of the sensor device, the operator may still perform his assignments even if the floor conveyor cannot detect foreign objects. For example, the operator can maneuver the floor conveyor on board with normal operator controls.
According to a further aspect of the disclosure there is proposed a method according to the above, wherein the second predetermined distance may be longer than the first predetermined distance, advantageously the second distance may be no longer than 1.5 times than the first predetermined distance.
By making the second predetermined distance longer than the first predetermined distance, there may be safeguarding that the predetermined object may be detected in the right spot.
According to a further aspect of the disclosure there is proposed a method of the above wherein the sensor device may be the sole sensor device on board the floor conveyor that may detect objects inside a predetermined zone outside at least a section of the circumference of the floor conveyor, and advantageously the sole sensor device may be able to detect objects outside the circumference of the floor conveyor. According to a further aspect there is proposed a method of the above wherein the zone may be provided as a plane.
A plane may be beneficial as it simplifies evaluation of detection data as it may be reduced in amount compared with a volume. It may also be easy to set up and provide for that only a sole sensor device may be easier to implement.
The present disclosure also relates to computer executable software that, when stored on a control unit of a floor conveyor, may be able to execute the method according to the above.
By implementing the method into a control unit of the floor conveyor, it may achieve automatic control of the method. The method may for example be performed at predetermined intervals without interaction of any operator.
The present disclosure also relates to a floor conveyor comprising a sensor device for detecting objects inside a predetermined zone outside at least a section of the circumference of the floor conveyor and a sensor control unit, wherein the sensor device may be arranged to be able to provide the sensor control unit with sensor data, wherein the sensor control unit may be arranged to test the sensor device by implementing the method according to the above, advantageously by means of a computer software according to the above.
The floor conveyor comprising the sensor device may be able to detect objects outside the floor conveyor. This allows for operation of the floor conveyor more or less autonomously with a high security. This security may be further augmented by the method of testing the sensor device.
The present disclosure according to a further aspect of the disclosure relates to a floor conveyor according to the above, wherein the sensor device may be mounted at an angle α with regard to the horizontal plane.
By mounting the sensor device at an angle to the horizontal plane, a convenient way of monitoring a larger volume and area may be achieved. The use of only one sole sensor may make it possible to monitor essentially the complete front of the floor conveyor opposite a load carrier of it.
The disclosure according to a further aspect of the disclosure relates to a floor conveyor according to the above, wherein the sensor device may be mounted at a predetermined distance from the surface on which the floor conveyor is supported, wherein this distance may be sufficient for the sensor device to detect objects on a first side, a section of a second side, and a section of a third side of the floor conveyor, wherein the first side may be positioned opposite a load carrier.
The predetermined distance may allow for the sensor to detect at a further range than if the detecting device were mounted adjacent the surface on which the floor conveyor is supported.
The disclosure according to a further aspect of the disclosure relates to a floor conveyor according to the above, wherein the sensor device may be able to detect objects projecting into a predetermined zone positioned outside at least a section of the circumference of the floor conveyor for detection of objects positioned inside the predetermined detection zone by the sensor device, advantageously the predetermined zone may be provided as a predetermined plane.
By having a sensor device that may detect in a zone, in particular a plane that may be extending from the sensor device, an additional area may be detected than with a beam detecting device that essentially detects objects on a line extending from the sensor. Further by detecting in a plane and not in a volume the sensor device can be installed for optimal operation.
The disclosure according to a further aspect of the disclosure relates to a floor conveyor according to the above, wherein the sensor device may be mounted in a central position on the longitudinal symmetry line of the floor conveyor.
With a central position it may be even easier to only implement a single sensor device for detecting more than one section of a side of the floor conveyor.
The disclosure according to a further aspect of the disclosure relates to a floor conveyor according to the above, wherein the sensor device may be a laser sensor.
A laser sensor may be particularly reliable and easy to configure. They are not as easily disturbed by, for example, the use of pressurized air as, for example, ultra sound detectors are prone to.
The present disclosure according to a further aspect of the disclosure relates to a floor conveyor according to the above, wherein the sensor device may be the sole sensor device on board the floor conveyor that can detect objects inside a predetermined zone outside at least a section of the circumference of the floor conveyor, advantageously the sole sensor device may be able to detect objects outside the circumference of the floor conveyor.
The present disclosure relates to a floor conveyor comprising a sensor device for detecting objects. The floor conveyor may be any type of floor conveyor that is operable with such a sensor device. Examples of such floor conveyors are order picker trucks, stacker trucks, pallet trucks, reach trucks, or tow tractors having a wagon or a space for material handling. The sensor device of the disclosure can detect objects that enter or are positioned within a certain distance of the floor conveyor. One exemplary usage of a floor conveyor with a sensor device according to the disclosure is an order picker truck that may be used with a remote control. In some embodiments, a sensor device may be required when using the remote control. However, the use of a remote control is not mandatory for the disclosure.
The present disclosure relates to a method as seen in
The detection zone may be provided by the sensor device. The aim for the detector may be to detect objects that are positioned outside the circumference of the floor conveyor. The circumference is best seen in
In some embodiments the expected object may be an object to which the distance is more or less constant over time. In some situations it may be beneficial for the predetermined object to be on the surface on which the floor conveyor is supported, e.g., the floor or the tarmac on which the floor conveyor is operating. This provides for a very repeatable and easy way of executing the method. It is of course thinkable to perform the method by using another object such as a wall or a pillar as the object. In this case the method may require that the position of the floor conveyor in relation to the object is known when the method is performed. The position may be known by positioning the floor conveyor in a marked test position, or by manually entering the position into a control unit of the floor conveyor, or by sending the position to the floor conveyor through an interface, or determining the position by a positioning system in the area where the floor conveyor is operating.
When the predetermined object is not detected by the extending step, security measures may be applied according to the method. One security measure possible may be to completely shut down the floor conveyor. However, it may also be possible to limit the functions of the floor conveyor. For example, it may be beneficial that the functions of the floor conveyor that are dependent on the function of the sensor device be shut down. Functions that are dependent on the sensor device may be, for example, allowable speeds of travel above a certain level, independent travel of the floor conveyor without the operator using the normal controls, e.g., using a remote control, of the floor conveyor, automatic travel of the floor conveyor following an object at one side, e.g., a storage shelf, etc.
The present disclosure also relates to a computer executable software that when executed on a floor conveyor, the disclosure performs the method as discussed above. By implementing the method as a software the method can be made more independent from interaction of an operator and thus the testing of the sensor device can be made more reliable. The method can be performed at predetermined intervals without interaction of any operator etc. For example, in some situations it may be beneficial that the method is executed at start-up of the floor conveyor. This may be implemented when executing the method by the control unit of the floor conveyor.
In
The angle α may be adjusted for the use of the floor conveyor. If a smaller angle is used the detection zone 4 will have a longer range on side 13a,
The sensor device 2 may be mounted at a predetermined distance 14, shown in
In some situations it may be beneficial to have a sensor device that can detect objects positioned or/projecting within a plane 4. The plane 4 allows for a good coverage of the zone to be detected. Existing detectors that essentially lock in a more restricted beam in one direction may be more limited and may not be as efficient as when applying a plane, such as plane 4. Further, by detecting in a plane, such as plane 4, and not in a volume, the sensor device can be installed for optimal operation, i.e., the angle of the plane 4 may be used for extension and reduction of the desired detection zone in longitudinal direction of the plane 4. The extended zone 4a may also be a plane.
In some embodiments the position of the sensor device 2 may be in a central position on the longitudinal symmetry line 15 of the floor conveyor 1. By mounting in this position, it may be simpler to achieve a predetermined detection zone 4 that can detect objects on sides 13a, 13b, and 13c of the floor conveyor 1,
A laser sensor 2 may be advantageously used as the sensor device 2. The laser sensor may be applied to monitor a plane. Any laser sensor applicable to this is usable. In some situations it may be beneficial that the laser sensor 2 can monitor more than 180 degrees in front of it, advantageously more than 240 degrees, or even more advantageously more than 300 degrees. This allows for detecting objects on at least sections of side 13a, 13b, and 13c. In particular when the sensor device 2 is mounted a bit retracted from the most protruding point of any side to be monitored, such as side 13a as seen in
The present disclosure describes embodiments with reference to the Figures, in which like numbers represent the same or similar elements. Reference throughout this specification to “one embodiment,” “an embodiment,” or similar language means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the present disclosure. Thus, appearances of the phrases “in one embodiment,” “in an embodiment,” and similar language throughout this specification may, but do not necessarily, all refer to the same embodiment.
The described features, structures, or characteristics of the embodiments may be combined in any suitable manner in one or more embodiments. In the description, numerous specific details are recited to provide a thorough understanding of the embodiments. One skilled in the relevant art will recognize, however, that the embodiments may be practiced without one or more of the specific details, or with other methods, components, materials, and so forth. In other instances, well-known structures, materials, or operations are not shown or described in detail to avoid obscuring aspects of the embodiments.
Although the above discussion discloses various exemplary embodiments, it should be apparent that those skilled in the art can make various modifications that will achieve some of the disclosed advantages without departing from the true scope of the disclosure.
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| Number | Date | Country | |
|---|---|---|---|
| 20180016127 A1 | Jan 2018 | US |
