DE102006054083A1 - Transportation unit i.e. container ship, navigating method for e.g. large support, involves providing driving route of transportation units to predetermined target position based on determined positions of transportation units and goods - Google Patents

Abstract

For navigating a means of transport (TM1-TM3) for goods (W) to a predefinable target position (ZP) at least within a footprint (SF) provided for the goods (W), an environmental profile is measured by means of a measuring device (L). The environmental profile is used to identify the means of transport (TM1-TM3) and the goods (W) and to determine each position (PT, P1-P9) of the means of transport (TM1-TM3) and of the goods (W) in relation to the space ( SF) compared with previously stored comparison profiles. The predefinable target position (ZP) is mapped in the environment profile. A travel route (FR) of the transport means (TM1-TM3) is output to the destination position (ZP) on the basis of the respectively determined positions (PT, P1-P9) of the transport means (TM1-TM3) and the goods (W).

Description

The The invention relates to a method for navigating a means of transport for goods to a predefinable target position at least within one for the goods provided footprint.

The The invention further relates to a corresponding navigation system.

Furthermore The invention relates to applications and uses of the method in a warehouse as well as in warehouse logistics, especially for logistics Tracking of the transported goods.

Farther The invention relates to a computer program for carrying out the Method and a data storage medium with a machine-readable Form stored computer program to carry out the procedure.

at the goods are in particular goods or storage goods, such as. to sheets, plates, glass panes, boards, panels or like. Such goods are also called Tafelgut or tableware designated. You can for example, be stacked into a stack. Typically, though not necessarily, the goods have the same thickness per stack on. Depending on the stack height and thickness of an object, such a stack can up to several Have one hundred such objects.

in the Within the scope of the invention, especially semi-finished metal goods are considered. For such semi-finished goods, such as e.g. made of steel, aluminum or copper, it is preferably slabs, billets, plates or so-called Coils are. Slabs typically have a width that is a multiple their thickness is. The length a slab is typically in the meter range, the width in Range between 30 cm and 2 m, their thickness in the lower centimeter range, e.g. at 20 cm. stick typically have a square cross-section. you will be like the slabs by pouring produced. On a roll wound sheet such. Sheet steel, is referred to in technical language as a coil, that is as a role.

The goods described above can be found e.g. in a warehouse. you can alternatively in a factory, in a manufacturing or automation facility or in a facility. The bearing is preferably used for Interim storage of the goods. The warehouse can also be a large warehouse or to act as a transfer warehouse, which in turn goods, in particular the semi-finished products, from different plants. The camp can continue to serve other stores.

The Bearing can be e.g. in a hall, on an open-air ground or on a means of transport, such as on a container ship. It can be a variety of goods or wares directly on one footprint, such as. on a warehouse floor, or on any other, preferably flat surface be turned off. The goods can on a pallet, such as on a Euro pallet, parked or be stacked.

The Goods can by means of a means of transport, e.g. by means of a stacker, a crane or a crane. There can be several Means be provided for transporting the goods in the warehouse. It can also be transported only a portion of the stacked goods by means of a means of transport become.

These If the goods are stacked goods, goods are removed from the stack usually from the top. In the case of magnetizable goods, such as of magnetizable tableware made of iron or steel, these can lifted by an electromagnet and transported on. The electromagnet can, for example, on a truck, on a Crane or attached to a trolley. The goods can alternatively e.g. be lifted by means of a siphon. This is e.g. at Plates or glass panes with a smooth or polished surface of Advantage.

in the The framework of warehouse management is knowledge of the current number of goods as well as their respective position within the footprint of were essential. For warehouse management, a computerized logistics system with a suitable logistics software. By means of such Systems can be managed the current inventory. This is especially in modern, fully automated or at least partially automated warehouses the case.

at known warehouse management systems to a transport order a respective means of transport or to the driver of the means of transport forwarded. In the simplest case, the transport request is a Paper form handed over to a driver of the means of transport becomes. If it is a driverless means of transport, so can the transport order are transmitted to a navigation device, which is a Driving route for the means of transport from its current position to the target position calculated. The navigation device can be a stand-alone system be. It can alternatively be part of the logistics system.

The navigation device preferably outputs corresponding travel commands via a radio data connection to an automatic vehicle control of the means of transport. The vehicle control converts the travel commands into a driving movement. The drive commands may be, for example, a forward drive command, a reverse drive command, a halt command, or steering commands to the left or to the right. In addition, further commands can be transmitted via the radio data connection, such as commands for loading or unloading the goods. Via a return channel of the radio data connection, corresponding acknowledgments can be transmitted after execution of the transport request and possibly acknowledgments of the respective movement commands.

Without However, knowledge of the current position of the means of transport is no sufficiently precise navigation of the means of transport possible.

Out Navigation systems are known in the prior art, which are based on a mounted in a bearing positioning system are supported. Such a positioning system, such as e.g. a so-called LPR system (for Local Positioning Radar), has a base station as well as a variety of transponders mounted along a hall wall of the warehouse are. A base station is attached to the transport. By mutual transfer of radio signals between the base station and the transponders can the position of moving objects, that is the means of transport, be determined.

With Such a positioning system enables high spatial resolution. One Accurate approach of the target position, so that the transported Goods can be exactly turned off or taken up, that is however not possible.

to Fixing this problem is a combined navigation system known from the prior art. Such a navigation system points two measuring systems. The first measuring system is the one described above LPR system. The second measuring system is a measuring device. she determined next to the position of the goods to be approached at the same time Profile, in particular the dimensions of the goods. By vectorial Addition of the position measurement values of the first measuring system with the measured values of the second measuring system then determines the exact position of the goods and the profile or dimensions become.

A such measuring device is e.g. the 360 ° laser scanner type ELD L A of the company LASE. The environment is measured using an infrared laser beam sampled. The laser scanner emits extremely short light pulses, measures the duration of the pulses to the object and back and calculates from this the distance to the object. Furthermore, the laser scanner determines the respective angle at which the light pulses are emitted. By means of such a laser scanner can be 10 or 20 times per second a profile picture of the environment including all objects within a range of up to 100 m are generated.

at the rotating laser scanner from LASE is measured a surface to be measured by means of a one- or two-dimensional dot matrix. Each a point of the dot grid corresponds to a measuring point to which each a single distance measurement is performed. The distance of the respective Measuring points of the dot matrix to one another depends on the one Distance of the laser scanner to the surface to be measured as well dependent on the other from one angle value per measurement. With the laser scanner of the company LASE the angle value can be set to a value of 0.25 ° or 0.125 °.

adversely in the previously combined navigation system, the complex structure is due to the many transponders attached to the side walls of the To be mounted bearing. Does the stock in particular from metallic goods, so can Radio signal interference due to reflections on the metallic surfaces of the goods. In certain circumstances is a position determination of the means of transport faulty or temporarily not possible.

One Another disadvantage is that the overall accuracy of measurement reduces the addition of the respective position readings of the navigation system.

It It is an object of the invention to provide simplified methods for navigating indicate a means of transport.

It is another task, a corresponding navigation system specify.

A Another object of the invention is to provide suitable applications and Uses of the method or the navigation system in one Warehousing and warehouse logistics to track the transportable Specify goods.

Finally is It is an object of the invention to provide a computer program for performing the method and a data storage medium having a machine-readable form specify the computer program stored to perform the procedures.

The object is achieved by a method having the features of claim 1. Advantageous process variants are mentioned in the dependent claims 2 and 3. In claim 4 an alternative to claim 1 method is given. In claim 5 an advantageous method variant specified. In the dependent claims 6 to 20 advantageous variants are called to both basic methods. In claims 21 and 22 suitable applications of the methods are given. In claim 23 a corresponding to the inventive method navigation system is called. Advantageous device variants are mentioned in the dependent claims 24 to 32. Claims 33 and 34 specify suitable uses of the navigation system. In claim 35, a computer program for carrying out the method by means of a computing means of a navigation system is called. Claim 36 specifies a data storage medium with a computer program stored in machine-readable form for carrying out the method according to the invention by means of a computer of a navigation system.

According to the invention by means of a measuring device measured an environmental profile. The environment profile is used to identify the means of transport and the goods as well for determining a position of the means of transport and the goods in terms of footprint compared with previously saved comparison profiles. The predefinable Target position is mapped in the environment profile. It will be one Travel route of the means of transport to the destination on the basis of the respective determined positions of the means of transport and the goods issued.

Of the size The advantage is that the position of a respective product and the means of transport be automatically determined with only a single measuring device can. Based on the determined respective position, the means of transport be navigated to the specified target position.

Thereby can be beneficial to the elaborate and expensive local positioning system (LPR) with its variety of Transponders are dispensed with.

Preferably is the measuring system above the goods to be measured and to surveying means of transport. From this "high point of view" is an undisturbed metrological Collection of goods and means of transport possible.

The Environmental profile measured by the measuring system is in particular a surface profile or a height profile. The height the environmental profile is preferably on the surface normal of the footprint for the goods based. It can alternatively be specified to one of them Direction be related. The environment profile is of a variety composed of individual profiles, each one to one Goods, a category of goods, such as a stack, or the means of transport belong. As spatial Delimitation of a single profile within the environment profile can the contour line with the altitude value To be considered zero. This height zero line marks the transition a single profile to the footprint not occupied by goods.

A Identification of the respective goods within the environment profile can by means of a known pattern recognition method respectively. This can e.g. graphically, e.g. an envelope or a grid of a stored or measured before comparison profile with an interpolated envelope surface of a within a height zero line identified graphic object is compared. To graphic For example, comparison can be Cross-correlation methods are applied. Dodges a comparison profile only slightly, this means within predetermined limits, of which to be compared Object, this can be classified as identified.

The Determining a respective position in the environment profile in relation on the footprint can be determined by means of known trigonometric derivatives from previously defined Reference points occur within the footprint. The reference points can e.g. Corners or edges of a warehouse. Their geometric Position each other can be assumed to be known and, where appropriate be measured. To illustrate the footprint in the environment profile, various Coordinate systems are used. Preferably, this is a Cartesian Coordinate system. Alternatively, a spherical coordinate system or a cylindrical coordinate system can be used. The latter is for example in a multi-storey Bearings with concentric arrangement of goods on a circular footprint advantageous.

to Determination of a respective position of an identified product or the identified means of transport can be a geometric significant location of the product, e.g. a corner or edge, used become. In the case of an edge can for this the two associated Endpoints are determined. As a result, not only an exact position determination of Goods, but also a determination of their location or orientation the footprint possible. With "Location" is a rotational position the goods in relation to footprint designated. The associated The axis of rotation is in particular parallel to the surface normal of the footprint. Preferably The geometric center can determine the position of the goods be determined. This is e.g. beneficial in Tafelgut, each a length and width. additionally can be another significant to the determined geometric center Place, such as a corner, to determine the location of the goods the footprint be determined.

The comparative profile of the means of transport For example, a product can be exported from a CAD system. It can also be determined, for example, by means of a camera or, in the case of geometrically simple goods, such as eg tableware, measured manually.

It may alternatively or additionally determined a plurality of comparison profiles for a department become. For example, a department group consists of several side by side and at the same time one above the other arranged goods. The respective goods can be stacked in a row be stacked, such as at slabs. You can also click on a gap, like e.g. in coils or rolls, one above the other be stacked. The respective different stack combination options can for later possible Comparison be saved.

According to one embodiment be the respective comparative profile of the means of transport and the Goods determined as part of an initialization of the environment profile and saved. This can be done advantageously by means of the same Measuring device done. An initialization may e.g. at the beginning of a Working shift, with the start of operation of a warehouse, of time to time, by means of a user input or when a Error occurred.

To a preferred embodiment updated a position of the means of transport in the environment profile, if a position change of the means of transport was determined. This allows the current Tracked position of the means of transport in the sense of a vehicle regulation become. It may be advantageous to a separate drive control device be omitted in the transport.

According to one alternative embodiment of the Method is given an environment profile, which consists of comparison profiles in the area of the footprint parked goods is formed at a respectively associated position. The means of transport has a measuring device for determining each a profile and a derivable distance of the in one Detection area of the measuring equipment. The respective captured profile is used to identify the goods with the previously compared in the environment profile stored comparison profiles. It is from the respective position of an identified commodity and the respective distance to the measuring device a position of the transport means in Environment profile determined. It becomes the predefinable target position in mapped to the environment profile. It becomes a driving route of one current position of the means of transport to the target position on basis the respectively determined positions of the means of transport and the goods output.

Of the size The advantage is that the position of a respective product and the means of transport automatically determined even with only one measuring device can be. Based on the determined respective position the means of transport are navigated to the specified destination position. This is done by a particular continuous comparison of respective detected by the measuring device on the means of transport Profile or profile with previously in the environment profile stored comparison profiles.

Thereby can continue to be advantageous to the complex and expensive local positioning system its multitude of transponders are dispensed with.

With Profile is in particular a variety of vertical, to each other parallel cuts meant by an object or by a commodity. Such a profile can be calculated from a variety of recorded Measured values of the measuring device, in particular of distance measured values to a respective measuring point on an upper side of the goods, determined become.

The Measuring device is preferably at an upper end of the respective Attached transport. In particular, it is slanted toward aligned to the preferred direction of movement of the transport. As a result, a measurement of the profile of each product is possible as soon as this device falls within the scope of the measuring device. The Measurement can both at standstill of the means of transport and during the Movement of the means of transport take place.

According to one embodiment the position of the means of transport is determined by means of a distance at the measuring device based on the identified goods triangulation measurement determined. As a result, an exact position determination is possible. The Position measurement is carried out by the respective measuring device Angle to a commodity is determined. In particular, a distance measurement takes place to a predetermined significant point of the commodity, the one position coordinate with respect to a reference point of the footprint, e.g. an XY coordinate, has been assigned. This significant point may e.g. the geometric center a goods profile. From the measurement to at least two goods can then be determined by calculation the exact position of the means of transport become.

one another embodiment according to the comparative profile and, where appropriate, its associated position at a detected change in shape and / or position Updated the profile of the respective product. In particular, will a change in shape and / or position carried out continuously.

A Updating may e.g. updated by a recording of a new product become. It can then take place if, according to a transfer order a change in shape and / or position the goods or their profile is expected. This can be measured Profiles always be compared with current comparison profiles.

To a further embodiment appropriate driving commands to move the means of transport spent along the route. The route can, for example be displayed on a display within the means of transport. One Driver of the means of transport can use the route shown the Guide transport. It can also path-dependent Speech commands as movement commands or path-dependent graphic reprocessed Driving commands are issued to the driver, as e.g. at out the automotive field known navigation systems of the case is.

alternative can transmit the route directly to a transport-side control unit become. This is e.g. in a driverless means of transport of Case. The control unit may be based on the route data corresponding Travel commands, such as "Left", "right", "forward", "backward" or "stop", to a drive motor and output to a steering control of the transport.

in the Specials become according to one another embodiment the movement commands depending on the updated position of the means of transport and / or the goods output.

Thereby can be issued a driving route with a change in the position of a Goods to be adjusted. This is e.g. then the case, if a commodity is rearranged or moved to another storage location. Under circumstances would it be otherwise possible, that the goods are an original one calculated travel route "im Ways "stands.

A strain may for example be a removal of part of the goods from of a department. For example, may be an overhead part of a stack of goods according to a have been taken from the current transport order. This has changed also the stack height of the pile and to some extent whose shape changes. In this case, then the comparison profile is updated or one for this one Case saved comparison profile used.

Thereby can advantageously be a faulty removal by the logistics system be detected when e.g. after an alleged successful execution of the Transport order is the stack height and thus the shape of the goods not changed Has.

Farther can e.g. a theft of a commodity, such as due to a theft, determined by a change in shape and / or position of the goods become. This can then be the case if current to this commodity there should be no transport order to a means of transport. In In this case, a corresponding message can be automated to a control center or to an operator, such as to a dispatcher, of the warehouse.

one another embodiment according to the profile of each product is determined from a variety of individual product heights, which from distance measurements from the measuring device to a top derived from the respective product.

The Profile is preferably an interpolated envelope of the measured values or measuring points belonging, on the footprint related individual item heights. A single height is preferably the vertical distance from the footprint to a associated Measuring point on the top of the respective product. Measuring points, the no longer on the top are not part of the profile. such Measuring points are in particular on the top of the footprint. One Profile is thus by its zero height line limited. This line can be interpolated from a variety of measurement points be on the footprint lie and no longer on a top or on one side surface the goods are.

The Determining a single product level from the distance from the measuring device to the footprint minus the Distance from the measuring device to a measuring point on the top of the goods be determined. Usually the distance of the measuring device to the footprint can be assumed to be constant become. The determination described above then leads to the correct measurement result, if the distance measurement takes place vertically from above to the top of the stack. Usually the distance measurement takes place obliquely to the top of a product to be measured. In this case can the single goods height knowing the angle under which the distance measurement to the measuring point on the goods surface done, over a trigonometric function, such as via a cosine function, be determined by calculation.

Especially the profile of the respective product is a surface profile or a height profile.

According to a further embodiment, reference profiles of stationary objects are determined by means of the measuring device, which are located in the area of the footprint. The environment profile is supplemented by the reference profiles and their associated positions. This will increase the accuracy determining the position and location of profiles in the environment profile.

When Reference profiles can For example, pillars, corners or walls of a warehouse used become. It can also used objects with a significant geometric shape which allow an unambiguous determination of their coordinate. This can e.g. a cylinder, which is firmly attached to the footprint is. The axis of symmetry of the cylinder is preferably parallel to the surface normal the footprint aligned. The object can additionally be designed in this way be that in addition to a clear position and its location, the is called whose rotational position with respect to the footprint, can be determined. Such an object may be, for example, a corner profile.

one another embodiment According to the respective comparison and / or reference profiles Assigned identifiers. The identifiers may be in relation to a transporting goods are set. This allows a product to have multiple identifiers be assigned, which each possible Vergleichpro file the Describe goods. This simplifies data management. This is especially in a warehouse with a lot of the same Goods advantageous.

in the Specifically, the goods are stackable objects. You can e.g. Semi-finished metal, such. Slabs, blocks, billets, sheets, Heavy plates or coils.

According to one particular embodiment, several Means of transport for Goods are navigated with individual target positions. Thereby The goods throughput in a warehouse can be increased. Especially is the inventive method then designed that collisions of the means of transport with each other be avoided. This can be done in the simplest way, that each other's existing means of transport while navigating a means of transport classified as obstacles to be bypassed become.

According to one preferred embodiment the measuring device on a laser measuring procedure. The laser measurement procedure can be based on a runtime measurement. In such a Procedure is the term of one sent by the measuring device Light pulse to a measuring point and measured back. Alternatively, it can an interference laser measuring method can be used.

One emitted by the measuring device laser beam usually has a circular cross-section with a diameter in a range of 0.5 to 1 cm. such Diameter values are especially present when the measuring device to the goods to be measured and, where appropriate, to be measured Means of transport has a distance of about 10 m to about 15 m. This is particularly the case when the measuring device above the attached to goods to be measured. The laser of the measuring device emitted light can be in the optically visible range. Preferably the laser light is in the infrared range.

one another embodiment According to the measuring device is a laser scanner whose laser beam the respective upper side of the goods or the means of transport for distance and profile measurement passes. By using a laser scanner for distance measurement is a precise measurement to the respective measuring point possible. such Laser scanners typically have one or two mirror systems for deflecting the laser beam, so that a sweeping or a scanning an object to be measured or the goods is possible.

One such laser scanner can e.g. on the laser scanner of the company LASS are based on the state of the art. By the sweep each of the tops to be measured are simultaneously a variety of single height measurements as well as profile measurements of the goods can be determined. For example the profiling of a product or group of goods via measuring points, the latticed above the arranged to be measured top of the product or group of goods distributed are, so can the dimensions of the goods, e.g. the width and the length of a rectangular Tableware, be determined automatically.

Especially is the distance measurement at a during the sweeping of the respective top resulting measuring point performed. Of the Measuring point is one in the sweep resulting measuring spot. In particular, the measuring point corresponds with a short-term emitted by the distance measuring device Laser light pulse. It is then measured for distance measurement the transit time, the laser light pulse from the measuring device to the corresponding Measuring point or measuring spot and back needed for measuring equipment.

According to one to alternative embodiment the measuring device is a camera. The camera points at least an opto-electronic sensor with a row or a matrix from a multitude of pixels. The pixels are too referred to as pixels.

In one embodiment, the camera is a stereo camera. It usually has two ne arranged on each other lenses, which focus the incident light into the camera on the optoelectronic sensors. The optoelectronic sensor can be, for example, a CCD chip (charge coupled device). By overlaying the two captured images, depth information in a respective considered area within the image area can be derived. From the depth information, a distance measurement value can be derived for the area under consideration. The considered area is preferably the upper side of a product, in particular the geometric center of the goods upper side.

In a further embodiment the camera has only one lens with an optoelectronic behind it Sensor on. The camera has a focusing device. One correspondingly necessary for focusing a selected image area Focus value may be used to derive a distance measurement value to the selected image area be used.

According to one another embodiment the camera is a photonic mixer camera. It has a photonic mixer (PMD sensor). The PMD sensor is an optoelectronic sensor. He is a novel semiconductor device, which in addition to conventional brightness image can "see" distances directly. One of one Bulb emitted modulated light signal, such. Infrared light, illuminates the goods or goods to be measured. That of the goods reflected light hits the PMD sensor. This one is also for Referencing coupled to the modulation source. It will be the in electron-converted photons in response to the reference signal distance selective. This can be done pixel by pixel with the help of a so-called charge carrier swing take place in the photosensitive semiconductor region of the PMD detector. Through an automated Comparison process between the optical measuring signal and the reference signal already provides the resulting output signal of the sensor direct relation to the depth information.

at the previously described embodiments the camera can the determination of a distance measured value and a corresponding individual height, for example be performed by a microprocessor or microcontroller of the camera.

in the In particular, the measuring device is a distance measuring device.

The inventive method is particularly applicable in a warehouse. In such a warehouse Can a variety of goods in stacked and unstacked form be present, by means of one or more means of transport to get promoted should.

Farther is the inventive method in warehouse logistics, especially for logistical tracking of transported goods, applicable. The logistics goods tracking can e.g. by a computerized Computer system done. By using the navigation method according to the invention is advantageous automation of warehouse work or warehouse transport possible without the use of driver personnel. Human error sources can be largely excluded.

The The object of the invention is further by means of a method of the invention corresponding navigation system solved.

Therefore the navigation system at least one measuring device, a Computing means and output means for each one travel route of at least a transport means for carrying out the method according to the invention on. The means of calculation can For example, program processing means, such as e.g. a computer or a microcomputer.

In an embodiment According to the invention, the measuring device is a stationary device. In particular, it is arranged above the footprint and on the goods to be covered and, where appropriate, the stationary ones to be Aligned objects. Preferably, the measuring device is above the tops of the goods and the means of transport to be measured arranged as e.g. at a hall ceiling.

According to one another embodiment is ever a measuring device to each transport a means of transport the goods are attached. The goods can be within the coverage area the respective measuring device are detected. The measuring device is preferably at an upper end of the respective transport means attached and inclined to aligned preferred direction of movement of the vehicle. Thereby is a measurement of the product profiles possible as soon as the goods or the goods fall within the scope of the measuring device. The Measurement of the profiles is both at a standstill and during the Travel of the means of transport possible.

in the In particular, the means of transport is at least movable on the footprint Crane or forklift. Both vehicles can be controlled by a driver become. You can be designed as an alternative to driverless operation.

In another embodiment, this is Transport means a movable above the footprint arranged crane trolley. The crane trolley, for example, be mounted above the Stapelstellfläche such that at least a portion of the goods parked there can be achieved by a method of trolley. The trolley is preferably designed such that a two-dimensional movement parallel to the footprint is possible.

According to one preferred embodiment the respective measuring device at least for the transmission of measurement data, such as e.g. from distance measurement data, and / or profile data via ei ne Radio data interface with the computing means of the navigation system connected. The data can between a base station of the navigation system and a respective one Transmit transmitting / receiving station of the mobile transport become.

On the other hand is in the case of a bridge crane, a trolley or a trolley as a means of transport a wired Data connection, such as in the form of a trailing cable, more advantageous.

The Wireless data connection, for example, on a Wi-Fi standard (WLAN for wireless Local Area Network). It can alternatively be based on a DECT standard or on a GSM or Based on UMTS standard. It can for improved radio illumination several distributed arranged Base stations are used.

To a further embodiment the navigation system is data technology with a computer-aided logistics system for receiving transport requests and to return associated acknowledgments. This is a reliable automatic Booking of transported and thus available in the warehouse goods possible.

Preferably the transfer order has a number and a target position the goods to be transported by the means of transport. Usually are the respective storage position of the goods as well as their available number data-technically deposited in the logistics system.

Farther sends the calculation means according to a embodiment the corresponding acknowledgment back to the logistics system. This However, it is preferably only if the computing means a change belonging to the goods identified profile for each comparison profile, and in comparison before the transport of the goods to the target position and after the removal or removal of the transportable rende Goods at the destination. This can be a faulty removal or erroneous storage of transportable by the means of transport Goods detected and a corresponding message to a warehouse control center or sent to a dispatcher.

A erroneous removal can be done, for example, if instead a sheet two sheets are taken from a stack of goods. Cause for it can lift the magnetic force of the lifting or electromagnet the goods, so that in addition to the overhead sheet also the underlying sheet metal is lifted and transported away. In the case of plates or discs, it may happen that a underlying plate or disc by adhesive residue or dirt at the above lying plate adheres. This erroneous removal requires that the transported number of goods does not match that in the logistics system stored stock matches. This can disadvantageously require time-consuming verification if one or more several of the logistic system as still existing reported goods not are more findable.

The Navigation system according to the invention can be used advantageously in a warehouse in which a variety of goods in stacked and unstacked form is present.

The Navigation system according to the invention can furthermore advantageous in warehouse logistics, in particular for logistics Tracking the transported goods. By use of the navigation system according to the invention is advantageous automation of warehouse work or warehouse transport possible without the use of driver personnel. Human error sources can be largely excluded.

The The object of the invention is further with a computer program to carry out the inventive method solved by means of a computer of a navigation system.

Such a computer program is preferably stored in a main memory of a control unit of the navigation system. The computer program is executed in particular by the computing means of the navigation system. In particular, the computer program serves to computationally determine the environmental profile or the respective profiles of the goods and means of transport as well as the associated positions and their position in relation to the footprint. Furthermore, the computer program is used for the computational determination of a suitable route for the means of transport. The computer program may also have control and regulation routines as well as software routines for pattern recognition of measured profiles in the environment profile and means for comparing the measured ones Have profiles with comparison profiles.

The Invention is further provided with a data storage medium having a computer program stored in machine-readable form for carrying out the inventive method solved by means of a computer of a navigation system. The Data storage medium, for example, a floppy disk, a CD-ROM, a DVD-ROM, a USB data storage or a memory card, such as e.g. an SD memory card.

The Invention and embodiments of the invention are the example the following figures explained. Show

1 an example of a warehouse with goods in stacked and unstacked form and with a stacker for transporting the goods according to the prior art,

2 by way of example a further bearing with a measuring device mounted on a crane for measuring the profile of the goods according to the prior art,

3 by way of example a laser scanner as a measuring device for profiling a product according to the prior art,

4 by way of example the sequence of a navigation method according to the invention according to claim 1,

5 by way of example the sequence of a navigation method according to the invention according to claim 4,

6 by way of example a navigation system for navigating a forklift as transport means with a stationary laser scanner as measuring device according to a first embodiment of the invention,

7 an example of a navigation system for navigating a crane as a means of transport with a laser scanner attached thereto according to a second embodiment of the invention,

8th for example, a sectional view of a comparative profile for in 7 goods shown along the in 7 registered line of sight,

9 by way of example, an interpolated cutting profile of the product detected by the laser scanner 7 .

10 an example of the laser scanner compared to 9 vertically interpolated section profile of the goods along the in 7 registered line of sight,

11 an example of a navigation system for navigating a crane trolley with a laser scanner attached thereto as a measuring device according to a third embodiment of the invention,

12 For example, two comparison profiles in an environment profile and their possible changes and

13 an example for determining the position of a mobile transport means with a measuring device based on distance measurements.

1 shows an example of a warehouse with goods W in stacked and unstacked form and with a stacker as a transport TM1 for transporting the goods W according to the prior art.

at The exemplary goods W are stack S and Rolls or coils C. Rolls C can be rolled up magnetizable sheet act in the stacked goods W in the Stack S around magnetizable coarse sheet or slabs. It may be in the goods also non-magnetizable sheet trade.

The Means TM1 has a navigation device NS, which with a Base station BS is connected. The base station BS exchanges with a plurality from radio-based Transponders T radio signals for determining the position of the base station BS or the transport TM1. The navigation device NS determined the position of the base station BS or the transport TM1 Basis of a transit time measurement of the respective radio signals to the transponder T and back. The transponders T are exemplary on the side walls SW attached to a warehouse. The reference symbol BZ is a reference point denoted as the origin for a coordinate system of footprint SF is fixed. On him are the respective positions of the goods W based.

2 shows, by way of example, a further bearing with a measuring device L attached to a crane as a means of transport TM2 for profiling the goods W according to the prior art.

The example in 2 illustrated crane TM2 has a boom G with a lifting magnet MAG attached thereto. The solenoid MAG is preferably an electromagnet. By him magnetizable goods W, such as the metal rollers shown W, C and the stacked plates W of the stack S are raised and transported when energized. In the case of non-magnetizable sheets they can be lifted and transported by means of a siphon. The sheets can also be transported by means of several hinged chains. In the case of coils is a Transport by means of a so-called C-hook, which is mounted on the truck, advantageous.

The Measuring device L is an example of a laser scanner, which for Detection of goods W diagonally aligned in the direction of travel of the transport TM2. The The direction of travel is symbolized by an arrow in the area of the boom G. Furthermore, the measuring device L has a detection range, within which the respective individual heights of the goods W for profile measurement can be detected. Within the detection area is a variety of laser beams LS, which exemplarily scans an upper side of the stack S. The respective measured profiles can then be checked by a driver the transport TM2 on a display device AZ in the transport TM1 are shown. The result of a profile survey can e.g. a width, height or length to be a stacked commodity W. The information gives the driver one Note that the goods W just entered are the correct ones according to the current Transfer order TA is.

3 shows by way of example a laser scanner L as a measuring device for profiling a product W, S according to the prior art.

At the in 3 shown measuring device L is a 2D laser scanner for two-dimensional profile measurement of an object. Among other things, the laser scanner L directs laser beams LS onto an upper side OS of the stack S. In particular, the measuring device L emits a pulsed laser beam LS. In the 3 shown measuring points MP on the stack top OS arise during pulsation. For each of these measuring points MP a distance measurement takes place. The associated distance measurement values are designated by the reference symbols AX. The scanning or the scanning of the upper side OS of the stack shown W, S is preferably carried out in two mutually perpendicular measuring lines ML1, ML2, which have the respective measuring points MP. The linear scanning is typically carried out by means of rotating or pivoting mirrors, which are mounted in the measuring device L for deflecting the laser beam LS.

The determination of the goods or stack height SH and of the profile, that is to say of vertical sections VS1, VS2 through the illustrated stack W, S, takes place by means of an evaluation of the individual item heights EH belonging to the distance measured values AX. The individual heights EH can be calculated from the perpendicular distance from the measuring device L to the stacking footprint SF less the vertical projection of a respective distance measured value AX. In the example of 3 For better understanding, only two vertical sections VS1, VS2 are shown for profile measurement, which are not parallel to one another, in particular approximately perpendicular to one another.

The Measuring device L passes the acquired measured values MW by way of example to a measuring computer MR. The measuring computer MR can be calculated from the distance measured values AX or from the associated individual heights EH a mathematical measured value for a stack height SH ', a staple length SL' and a stack width SB 'spend. The Measured values SH ', SL', SB 'can be, for example from a logistic system LOG to track the stackable Goods W, S are used.

4 shows by way of example the sequence of a navigation method according to the invention according to claim 1.

With F1 is called a start or initialization step. This Step can, for example, the definition of a reference point BZ in the area of the footprint SF include.

in the Step F2 is an environmental profile according to the invention measured by means of a measuring device L. The environment profile can be represented graphically by a computer or computer. In the environment profile, in particular, the goods W, one or more Means of transport TM1-TM3 on the footprint SF as well as boundary lines or contours of sidewalls SW of the warehouse or warehouse, pillars or other objects visualized.

in the subsequent step F3, the environment profile for identification the means of transport TM1 TM3 and the goods W and for determination each a position PT, P1-P9 of the trans port TM1 TM3 and the Goods W in relation to the footprint SF compared with previously saved comparison profiles. The comparison takes place in particular by means of pattern recognition methods, the a computer or computer in the form of a software program. The respective comparative profile of the means of transport TM1-TM3 and that of the goods W can be part of an initialization of the environment profile be determined and stored.

in the subsequent step F4 is the predetermined target position ZP in mapped to the environment profile. The target position ZP becomes particular from the parent Logistics system LOG issued. Furthermore, the target position ZP referred to the previously jointly defined reference point BZ.

In the subsequent step F5, the output of a travel route FR of the transport means TM1-TM3 to the destination position ZP takes place on the basis of the respectively determined positions PT, P1-P9 of the transport means TM1-TM3 and the goods W. Preferably, the position PT of the transport means TM1-TM3 in the environment profile is in particular continually updated when a change in position of the transport means TM1-TM3 has been detected.

The For example, output can be in the form of a road map with the graphically displayed route FR take place. The navigation to the destination position ZP may alternatively or additionally analogous to known from the automotive field navigation systems respectively.

With F6 is the end of the method according to the invention.

5 shows by way of example the sequence of a navigation method according to the invention according to claim 4.

With F1 is called a start or initialization step. In this Step is initialized an environment profile, which consists of comparison profiles in the area of the footprint SF parked goods W is formed at a respectively associated position P1-P9. The comparative profiles of preferably all goods W can e.g. by means of the transport means TM1-TM3 during an initialization drive in the area of the footprint SF be measured. Furthermore, F1 is specified in this step, in that the transport means TM1-TM3 has a measuring device L for determining each of a profile and each one derived therefrom of the distance in a detection range of the measuring device L detected goods W has. Furthermore, this step F1, the determination of a Reference point BZ in the area of the footprint SF include.

In a second step F2 is the respective detected profile for Identification of the goods W with those previously stored in the environment profile Comparison profiles compared. The comparison is made in particular using pattern recognition techniques on a computer or computer in the form of a software program.

in the subsequent step F3 becomes from the respective position P1-P9 an identified product W and the distance to the measuring device L a position PT of the transport TM1 TM3 in the environmental profile determined.

in the subsequent step F4 is the predetermined target position ZP in mapped to the environment profile. The target position ZP becomes particular from the parent Logistics system LOG issued. Furthermore, the target position ZP referred to the previously jointly defined reference point BZ.

in the Subsequent step F5 is the output of a driving route FR of the transport means TM1-TM3 to the target position ZP on the basis of the respective determined positions PT, P1-P9 of the transport TM1 TM3 and of the goods W. The position PT of the transport means TM1-TM3 is preferably by means of one on the distances from the measuring device L to the identified goods W based Triangulation measurement determined.

The For example, output can be in the form of a road map with the graphically displayed route. The navigation to the target position can alternatively or additionally similar to the navigation systems known from the motor vehicle sector.

With F6 is the end of the method according to the invention.

The Both of the previously described methods according to the invention are preferred applicable in a warehouse and / or warehouse logistics, in particular for the logistical tracking of the transported goods W.

6 shows by way of example a navigation system NAV for navigating a stacker TM1 as a means of transport with a stationary laser scanner L as a measuring device according to a first embodiment of the invention.

The Navigation system NAV is based on a laser measurement method Laser scanner L, a computing means COM and output means AM for a travel route FR of the illustrated stacker TM1 for carrying out the method according to the invention on.

Depending on the extent of provided for parking the goods W footprint SF may also be two or more measuring devices L may be present. The measuring device L or the laser scanner is in the example of 6 above the goods W to be measured, such as on a hall ceiling. As a stationary device L it is on the goods to be detected W and, where appropriate, to be detected stationary objects OB, such as a side wall SW of the warehouse, aligned. A laser beam LS of the laser scanner L can then cover the respective upper side OS of the goods W for distance and profile measurement. The measuring device L is therefore in particular a distance measuring device. This is shown by way of example on a left lower stack W, S in detail.

The navigation system NAV can also be designed to navigate a plurality of transport means TM1-TM3 for transporting the goods W. In this case, the transport TM1 TM3 to each individual target positions ZP be navigated. The goods W shown are stackable objects. They are in particular semi-finished metal products such as slabs, blocks, billets, plates or coils.

The Transport TM1 can by means of a not shown Drivers are controlled or driven. It can be at least on the Footprint SF be moved, that is the transport TM1 can also be moved away from the footprint SF, by e.g. pick up new goods W from a truck. alternative can the means of transport TM1 for the automatic driverless transport of the goods W be trained.

This in 6 shown transport means TM1 has an ANT, via which corresponding travel and transport orders TA can be received via a data logically connected to the navigation system NAV logistics system LOG. The logistics system LOG is in particular a computer-aided warehouse management system. Acknowledgments QT of the respective transport orders TA can be transferred to the logistics system LOG in the opposite way. In order to forward the transport orders TA and the acknowledgments QT, the navigation system NAV or the computing means COM likewise has an antenna ANT. The acknowledgments QT can be initiated manually by the driver of the transport means TM1, such as by pressing a button in the transport TM1 after completion of the corresponding transfer order TA. In general, the transport order TA may each have a number and a respective destination position ZP of the goods W to be transported by the means of transport or the means of transport TM1-TM3.

The QT acknowledgments can alternatively by a control unit of a driverless means of transport TM1 are output. In this case, the transport TM1 corresponding sensors for determining a load acceptance angle to take the respective goods W or weight sensors for measurement the received goods W have.

alternative The load acceptance angle can be set by several points of the guideway and determined by software become. By means of the sensors is e.g. a plausibility check by the control unit of the driverless transport TM1 possible by For example, checking whether the weight of the picked goods W with that in the transport order TA specified goods weight matches. Only in case of a match can the acknowledgment QT by the control unit of the means of transport TM1 output, that is be sent to the navigation system NAV.

According to the invention by means of the measuring device L measured an environmental profile, which for Identification of the means of transport TM1-TM3 and goods W with previously stored comparison profiles is compared. In addition, will the environmental profile for determining each position PT, P1-P9 of Transport TM1 TM3 and the goods W with respect to the footprint SF with compared previously saved comparison profiles. For investigation the respective positions TP, P1-P9 must be the relative position of the measuring device L be known at a predetermined reference point BZ. These can e.g. be determined by a single measurement.

In the example of 6 the determined position PT of the transport means TM1 is related to its upper end. The associated distance from the measuring device L to the vehicle position PT is shown in dashed lines. The example upper end can be determined by a pattern comparison of the detected transport medium profile with a corresponding previously stored comparison profile. The location corresponding to the upper end in the comparison profile can then be set as a unique vehicle position PT with respect to the reference point BZ of the footprint SF.

According to the invention, the predefinable target position ZP - in the example of 6 this is the upper roll W, C - mapped in the environment profile. The target position ZP corresponds to the goods item P6 at the same time as an example. As each unique position P1-P9 of the goods W, C, S shown, the geometric center was selected by way of example. It is now possible by means of the computing means COM of the navigation system NAV the exemplary shown travel route FR of the transport TM1 to the target position ZP, P6 determined and output based on the respectively determined positions PT, P1-P9 of the transport TM and the goods. In the example of 6 the travel route FR is output on a display of the stacker TM1 as the output means AM.

The Measuring device L may alternatively or additionally arranged to be movable be such as on a trolley or a trolley. The measuring device L can parallel to the footprint SF to be moved. This is especially true of extensive warehouses a relatively large footprint SF advantageous. In this case, the changed relative position of the measuring device L to the reference point BZ mathematically or be corrected by measurement.

7 shows by way of example a navigation system NAV for navigating a crane as a transport TM2 with a mounted laser scanner L according to a second embodiment of the invention. If a plurality of transport means TM1-TM3 are present for transporting the goods W, a measuring device L or a laser scanner is preferably attached to each transport device TM1-TM3 introduced.

As 7 shows, seven rolls or coils are detected by way of example as goods W within a detection range of the laser scanner L. The laser scanner L transmits to detect fan-shaped pulsed laser beams LS, which hit the top of the respective goods W. The point of impact of the laser beam LS is at the same time a measuring point MP to which a distance measurement is carried out in each case. Taking into account the angle at which the laser beams LS are emitted, by means of a trigonometric cosine function, the individual product heights EH belonging to the respective measuring point MP can be determined by calculation. In the computational determination is preferably the vertical distance from the laser scanner L to the footprint SF. The profile of the respective product W can then be derived from the large number of individual product heights. The profile of the respective product W is in particular a surface profile or a height profile.

According to the invention given environmental profile from comparison profiles of the in the area the footprint SF parked goods W formed at a respective associated position P1-P9. The navigation system NAV determines by means of the measuring device L each have a profile and a distance in the coverage area goods detected. W. The respective recorded profile becomes an identification the goods W with the comparison profiles previously stored in the environment profile compared. From the respective position P1-P9 of an identified Goods W and the respective distance to the measuring device L becomes a position PT of the means of transport TM1-TM3 determined in the environmental profile. through the target position ZP mapped in the environment profile can be the Travel route FR from a current position of the means of transport TM1-TM3 to the target position ZP on the basis of the respectively determined positions PT, P1-P9 of the transport TM1-TM3 and the goods W issued become.

In the example of 7 the computing means COM of the navigation system NAV is integrated in the measuring device L. The navigation system NAV has an antenna ANT for receiving transport orders TA from the logistics system LOG and for sending corresponding acknowledgments QT to the logistics system LOG. Alternatively, the respective measuring device L can be connected to the computing means COM of the navigation system NAV, at least for the transmission of distance measurement data and / or profile data via a radio data interface. In this case, the computing means COM is in particular a stationary computer.

Furthermore, by means of the measuring device L or by means of the laser scanner reference profiles of stationary objects OB can be determined, which are located in the area of the footprint SF. The fixed objects OB are - as in the example of 7 represented - around hall pillar OB or around side walls. Through the reference profiles and the associated (immutable) positions P1-P9, the environment profile can be supplemented. The accuracy of the position determination of the goods W and the transport TM1 TM3 is increased.

Farther can Identifiers are assigned to the respective comparison and / or reference profiles. The identifiers can in relation to a commodity W to be transported. So can a goods W several identifiers are assigned, which each possible Describe comparative profiles of goods W. This is the data management especially in a warehouse with a large number of the same goods W simplified.

In the example of the 7 shown TM2 is designed in particular for driverless operation. The navigation system NAV, which is attached to the boom G of the crane TM2, outputs corresponding travel commands for moving the transport TM2 along the travel route FR. The travel commands are in particular transmitted to a control unit or vehicle control of the transport TM2. In particular, the travel commands are issued in response to the updated position PT of the transport TM2 and / or the goods W.

8th shows by way of example a sectional view of a comparison profile VP for in 7 goods shown W, C along in 7 registered viewing direction.

The Comparative profile VP shown is an idealized example Height profile. It may have been exported from a CAD drawing.

9 shows an example of a laser scanner L detected interpolated section profile IP of the goods W or product group according to 7 ,

For interpolation, the respective individual product heights EH determined in the measuring points MP on the upper sides of the goods W, C according to FIG. As 8th shows, even with a small number of measuring points MP, the similarity of the section through the comparison profile VP with the interpolated section profile IP recognizable. With increasing number of measuring points MP, both cutting profiles are similar to one another, so that a product profile in a detected environmental profile can be identified without major difficulties by means of a pattern recognition method. Be a variety of such vertical sections to a surface or envelope of the goods W too sammengesetzt, so the reliability of the identification of a product W can be further increased.

10 shows an example of the laser scanner L in comparison to 9 vertically intersected intersection profile IPQ of the goods W along the in 7 registered viewing direction.

As 10 shows, the height profile of the sectional view IPQ is almost constant. The section runs by way of example along the symmetry axis of the shown left stacked product W, C in FIG 7 , The mathematical and graphical evaluation of this further interpolated profile IPQ increases the reliability in the identification of the goods or goods shown.

11 shows by way of example a navigation system NAV for navigating a crane trolley TM3 with an attached laser scanner L as a measuring device according to a third embodiment of the invention.

The shown crane trolley TM3 can be moved along a bridge BR. The bridge BR can turn transverse to the direction of movement of the crane trolley TM3 along rails SCH to be moved. In this way, the entire footprint SF with the goods W from above to transport the goods W can be achieved. PT shows the current position of the transport TM3. This position PT is referred to the reference point BZ as the origin for a coordinate system the footprint set. Since the trolley TM3 move relative to the reference point BZ can, the position PT is on a movement of the trolley TM3 too To update. The current position PT of the trolley TM3 may be e.g. about a summation of encoder pulses for the drive in two mutually orthogonal directions competent drive motors be determined.

alternative For example, the position PT of the trolley TM3 may be detected from the respective ones Profiles of the goods W are calculated, the below the measuring device L and in the detection range of the measuring device L lie. You can do this in particular reference profiles of stationary objects OB used become.

The The measuring device L attached to the crane trolley TM3 is preferably oriented vertically downwards, so that a variety of goods W can be detected. Since the position PT of the transport TM3 is known, can the respective positions P1-P9 of the detected goods profiles W via distance measurements be determined by the measuring device L. By comparing the recorded goods profiles with comparison profiles stored in the navigation system NAV can the associated Goods W are identified.

In the example of 11 the measuring device L or the laser scanner is integrated in the navigation system NAV. The navigation system NAV furthermore has an antenna for receiving transport orders TA from a computer-aided logistics system LOG. Appropriate acknowledgments QT can be sent to this after completion of a goods transport. The crane trolley TM3 shown has, for example, a lifting magnet MAG for transporting magnetizable goods W. The navigation system NAV according to the invention can advantageously be used in a warehouse. It can alternatively or additionally be used in warehouse logistics, in particular for logistical tracking of the goods W being transported.

In the example of 11 the navigation system NAV has computing means COM which are not further described for carrying out the methods according to the invention. The calculating means COM can be, for example, a measuring computer with a processor or a microcontroller. A computer program SW for carrying out the methods according to the invention can be executed on them. The computer program SW can be stored on a data storage medium in machine-readable form. For example, the data storage medium may be a memory card, such as an SD memory card, which is inserted into a corresponding slot of the navigation system NAV or of the measuring computer COM.

alternative can the distance measurements by means of a camera L as a measuring device, in particular as a distance measuring device, be carried out in an analogous manner. The camera L can be a stereo camera, which two side by side arranged lenses, each with an arranged behind optical Sensor has. By overlay The two captured images can have depth information and thus a distance measurement in a respective considered area be derived within the image area. The camera L can alternatively only one lens with an optoelectronic behind it Have sensor and a focusing device. A corresponding to Focusing on a selected one Image range required focus value can then be used to derive a Distance measurement value for the selected image area be used. Furthermore, alternatively, the camera L a Photomixdetector camera with a Photomischde detector (PMD sensor) be. By means of such an optoelectronic sensor can distances and thus distance measurement values for the object under consideration directly in the PMD sensor be determined.

12 shows by way of example two comparative pro file VP1, VP2 in an environment profile and their possible changes.

In the left part of the 12 By way of example, two comparative profiles VP1, VP2 of a stack S with stackable goods W in the form of a grid are shown. For unambiguous assignment of the position P1, P2, the geometric center has been defined on the upper side of the comparison profiles VP1, VP2. The two positions P1, P2 are related to a previously defined reference point BZ. The reference point BZ 'is the origin in the virtual environment profile. The reference point BZ 'is an illustration of the reference point BZ of the footprint SF. SH1, SH2 denotes a respective stack height, SL1, SL2 a respective stack length, and SB1, SB2 a respective stack width.

In the upper right part of the 12 By way of example, two currently detected profiles PR1, PR2 are shown which have changed in comparison to the comparison profiles VP1, VP2 due to a goods transfer or goods removal. In the example of 12 For the sake of clarity, it has been assumed that the comparative profiles VP1, VP2 in the environmental profile have substantially the same external shape as profiles PR1, PR2 detected by a measuring device L at the same position P1, P2. Typically, a comparison profile VP1, VP2 has a geometrically simplified envelope surface, so that a faster pattern comparison with detected product profiles is possible. If the environmental profile is continuously determined, a position change P1 'of the upper profile PR1 of the product W shown is quickly determined. In the case of the lower detected profile PR2, a change in shape PR2 'was found in otherwise the same position P2, P2', in which case the projection of the two positions P2, P2 'on the footprint SF is identical. After determining a change in shape and / or position, the respective comparison profile VP1, VP2 can be updated.

in the Connection with a position and / or shape change, for example only then a corresponding acknowledgment QT for a transport request TA returned to a logistics system LOG be if a change belonging to the product W identified profile for the respective comparative profile, and in comparison before the transport of the goods W to the target position ZP and after removal or removal of the transported Goods W at the destination ZP.

13 shows an example for determining the position PT of a mobile transport TM1 with a measuring device L based on distance measurements.

By way of example, there are three stacks S1-S3 with goods W on a footprint SF of a warehouse, which can be transported by means of a transport means TM1 shown. The transport TM1 is in the example of 13 a forklift. The stacks S1-S3 and the transport TM1 are shown in a plan view. With BZ a reference point for a coordinate system of the footprint SF is designated. The registered arrows from the reference point BZ to the respective positions PT, P1-P3 of the transport means TM1 and the stacks S1-S3 can be considered as associated position vectors. In the case of the stacks S1-S3, the geometric top side shown in each case has been selected as the position P1-P3 by way of example. In the case of the means of transport TM1, the upper end of the forklift fork of the stacker TM1, which is not recognizable in this illustration, was chosen as the position PT by way of example.

For determining the own position PT of the transport means TM1 and for measuring the profiles of the stacks S1-S3, the transport means TM1 has a measuring device L, preferably a laser scanner. The laser scanner L is in the example of 13 integrated into a navigation system NAV. It is assumed that an environmental profile is already predetermined, which is formed from comparison profiles of the stacks S1-S3 or goods W parked in the area of the footprint SF at the respectively associated position P1-P3 and stored in the navigation system NAV. A profile and a spacing of the stacks S1-S3 and goods W detected in a detection area of the measuring device L can each be determined by means of the measuring device L. The recorded profiles of the goods W are then compared with the comparison profiles previously stored in the environment profile.

It could the case occur that the stack S1-S3 or the goods W though are identified, but their position P1-P3 not yet determinable is. This is the case when in particular the same or similar W goods on the floor space SF are present at different positions P1-P9. It will now starting from the relevant comparison profiles in the environment profile Circles with the known distances pulled around the respective virtual positions P1'-P9 '. Intersections of these circles form possible positions PT for the means of transport TM1. At least two possible positions vote PT roughly agree so this can be set as the position PT of the transport TM1 become. The comparison and assignment processes described above can by appropriate software routines automated on a computer COM of the navigation system NAV.

Alternatively, the determination of the position PT via a mathematical evaluation of a by the measuring device L detected angle α between the positions P1, P2 of the stack S1, S2 and optionally a further angle β between the positions P2, P3 of the stack S2, S3 done.

Furthermore can a rotational position of the transport TM1 with respect to footprint SF by means of a measurable by the measuring device L rotation angle ξ in particular be determined continuously. The rotation angle ξ can, for example, to a Edge of the means of transport TM1 or on one of the means of transport related reference edge be related. This is the navigation the means of transport TM1 and a loading and unloading of goods W perform more accurately.

Claims (36)

Method for navigating a means of transport (TM1-TM3) for goods (W) to a predefinable destination position (ZP) at least within a footprint (SF) provided for the goods (W), characterized in that by means of a measuring device (L) an environmental profile is measured, - that the environmental profile for the identification of the means of transport (TM1 TM3) and the goods (W) and to determine each position (PT, P1-P9) of the means of transport (TM1 TM3) and the goods (W) with respect is compared to the footprint (SF) with previously stored comparison profiles, - that the predetermined target position (ZP) is mapped in the environmental profile and that a driving route (FR) of the means of transport (TM1 TM3) to the target position (ZP) based on the respective determined positions (PT, P1-P9) of the transport (TM1 TM3) and the goods (W) is output. Method according to claim 1, characterized in that that the respective comparative profile of the means of transport (TM1-TM3) and the goods (W) determined during an initialization of the environment profile and saved. Method according to claim 1 or 2, characterized a position (PT) of the transport means (TM1-TM3) in the environmental profile is updated when a change in position of the means of transport (TM1-TM3) was detected. Method for navigating a means of transport (TM1-TM3) for goods (W) to a predefinable target position (ZP) at least within one for the goods (W) provided footprint (SF), characterized - that an environment profile is given, which from comparison profiles in the field of Footprint (SF) abge set goods (W) at a respective associated position (P1-P9) formed becomes, - that the means of transport (TM1-TM3) comprises a measuring device (L) for determining one profile each and a distance derived therefrom (A1-A3) the goods covered in a coverage area of the measuring device (L) (W), - that the respective recorded profile for the identification of the goods (W) with the comparison profiles previously stored in the environment profile compared, - that from the respective position (P1-P9) of an identified product (W) and the respective distance (A1-A3) to the measuring device (L) a Position (PT) of the means of transport (TM1-TM3) determined in the environment profile becomes, - that the predetermined target position (ZP) imaged in the environment profile will and - that a driving route (FR) from a current position (SP) of the means of transport (TM1-TM3) to the target position (ZP) based on the respectively determined Positions (PT, P1-P9) of the means of transport (TM1-TM3) and the goods (W) is output. Method according to claim 4, characterized in that that the position (PT) of the means of transport (TM1-TM3) by means of a on the distances from the measuring device (L) to the identified goods (W) Triangulation measurement is determined. Method according to one of the preceding claims, characterized in that the comparative profile and, if appropriate, its associated position (P1 ', P2') at a detected Change of shape and / or position the profile of each product (W). Method according to one of the preceding claims, characterized characterized in that corresponding movement commands for moving the means of transport (TM1-TM3) are output along the travel route (FR). Method according to claims 6 and 7, characterized that the movement commands depend on the updated position of the means of transport (TM1-TM3) and / or Goods (W) are issued. Method according to one of the preceding claims, characterized characterized in that the profile of the respective goods (W) from a Variety of individual item heights (EH) is determined, which from distance measurements of the measuring device (L) is derived to a top (OS) of the respective product (W). Method according to one of the preceding claims, characterized in that the profile of the respective goods (W) has a surface profile or a height profile is. Method according to one of the preceding Claims, characterized in that - by means of the measuring device (L) reference profiles of stationary objects (OB) are determined, which are located in the area of the footprint (SF), and - that the environmental profile is supplemented by the reference profiles and by the associated positions. Method according to one of the preceding claims, characterized characterized in that the respective comparison and / or reference profiles identifiers be assigned. Method according to one of the preceding claims, characterized characterized in that the goods (W) are stackable objects. Method according to claim 13, characterized in that that the stackable objects (W) are metal semi-finished products such as slabs, Blocks, Stick, Plates or coils are. Method according to one of the preceding claims, characterized characterized in that several means of transport (TM1-TM3) for goods (W) are navigated with individual target positions (ZP). Method according to one of the preceding claims, characterized in that the measuring device (L) is based on a laser measuring method based. Method according to claim 16, characterized in that that the measuring device (L) is a laser scanner whose laser beam (LS) the respective top (OS) of the product (W) for distance and Profile measurement passes. Method according to one of claims 1 to 15, characterized that the measuring device (L) is a camera. Method according to claim 18, characterized the camera (L) is a photonic mixer camera. Method according to one of the preceding claims, characterized characterized in that the measuring device (L) is a distance measuring device is. Application of the method according to one of claims 1 to 20 in a warehouse. Application of the method according to one of claims 1 to 20 in warehouse logistics, especially for logistical tracking of transported goods (W). Navigation system for navigating a means of transport (TM1-TM3) for Goods (W) to a predetermined target position (ZP) at least within one for the Goods (W) provided footprint (SF), thereby in that the navigation system has at least one measuring device (L), a computing means (COM) and output means (AM) for each one Driving route (FR) of the at least one transport means (TM1-TM3) for execution the method according to any one of claims 1 to 20. Navigation system according to Claim 23, characterized that the measuring device (L) is a stationary device, which above the footprint (SF) is arranged and on the goods to be recorded (W) and, where appropriate is aligned with the stationary objects (OB) to be detected. Navigation system according to Claim 23, characterized one measuring device (L) on each one transport device (TM1-TM3) for transporting the goods (W), the goods (W) within the detection range of the respective measuring device (L) are detectable. Navigation system according to Claim 25, characterized that the means of transport (TM1-TM3) at least on the footprint (SF) is movable crane or forklift. Navigation system according to Claim 25, characterized that the means of transport (TM1-TM3) one above the footprint (SF) movably arranged trolley is. Navigation system according to one of claims 23 to 27, characterized in that the respective measuring device (L) at least for transmission distance measurement data and / or profile data via a radio data interface connected to the computing means (COM) of the navigation system (NAV) is. Navigation system according to one of claims 23 to 28, characterized in that the navigation system data technology with a computerized Logistics system (LOG) for receiving transfer orders (TA) and to return the corresponding Acknowledgments (QT) is connected. Navigation system according to claim 29, characterized that the transfer order (TA) has one number and one target position (ZP) to be transported by the transport means (TM1-TM3) Goods (W) has. Navigation system according to claim 29 or 30, characterized in that the computing means (COM) only returns the corresponding acknowledgment (QT) if the computing means (COM) determines a change in the product (W) belonging to th profile compared to the respective comparison profile and in comparison before the transport of the goods (W) to the target position (ZP) and after the removal or storage of the goods to be transported (W) at the target position (ZP). Navigation system according to one of claims 23 to 31, characterized in that the measuring device (L) is a distance measuring device. Use of the navigation system (NAV) after one the claims 23 to 32 in a warehouse. Use of the navigation system (NAV) after one the claims 23 to 32 in warehouse logistics, especially for logistical tracking of transported goods (W). Computer program for carrying out the method according to one the claims 1 to 20 by means of a computing means (COM) of a navigation system (NAV). Data storage medium with a machine-readable Form stored computer program (SW) to carry out the Method according to one of the claims 1 to 20 by means of a computing means (COM) of a navigation system (NAV).