METHOD AND SYSTEM FOR DETERMINING THE POSITION OF AT LEAST ONE INDUSTRIAL TRUCK IN RELATION TO OTHER INDUSTRIAL TRUCKS

Abstract

A method is provided for determining a current position of at least one industrial truck having a mobile radio station and positioned in an area having a plurality of stationary radio stations. The method comprises determining vehicle data pertaining to at least one of a vehicle speed and a steering angle of the at least one industrial truck. A position-determining signal is transmitted from the mobile radio station and received by the plurality of stationary radio stations. A position signal is then transmitted from each of the plurality of the stationary radio stations to the mobile radio station. Additional data is appended to at least one of the position-determining signal and the position signal and the current position of the at least one industrial truck is determined from at least three position signals received by the mobile radio station.

Claims

1. A method for determining a current position of at least one industrial truck having a mobile radio station and positioned in an area having a plurality of stationary radio stations, the method comprising: determining vehicle data pertaining to at least one of a vehicle speed and a steering angle of the at least one industrial truck; transmitting a position-determining signal from the mobile radio station to the plurality of stationary radio stations, the plurality of stationary radio stations receiving the position-determining signal from the mobile radio station; transmitting a position signal from each of the plurality of the stationary radio stations to the mobile radio station in response to the received position-determining signal; appending additional data to at least one of the position-determining signal and the position signal; and determining the current position of the at least one industrial truck from at least three position signals received by the mobile radio station.

2. The method according to claim 1, wherein the additional data is vehicle data that is appended to the position-determining signal.

3. The method of claim 1, wherein the additional data is position data that is appended to the position signal.

4. The method according to claim 1, wherein the current position of the at least one industrial truck is determined using a Kalman filter.

5. The method according to claim 2, wherein the vehicle data also comprise the current position of the at least one industrial truck.

6. The method according to claim 1, wherein the mobile radio station is configured to determine a current position of other industrial trucks from position signals received by the mobile radio station.

7. The method according to claim 6, wherein information regarding the current position of other industrial trucks is received by mobile radio stations of each of the other industrial trucks.

8. The method according to claim 1, wherein the plurality of stationary radio stations are configured to determine current positions of other industrial trucks from position-determining signals received from mobile radio stations of each of the other industrial trucks.

9. The method according to claim 8, wherein the at least one industrial truck changes at least one of the vehicle speed and the steering angle in response to the determined current positions of the other industrial trucks when a collision hazard is indicated.

10. The method according to claim 1, further comprising a plurality of mobile radio stations configured to respond to a position-determining signal with a position signal so that an industrial truck transmitting the position-determining signal from its mobile radio station can determine its distance from other industrial trucks each transmitting a separate position signal from their respective mobile radio stations.

11. The method according to claim 1, wherein a control command from the at least one industrial truck can trigger one of a vehicle function and an external actuator.

12. A system for determining a position of at least one industrial truck in an area having a plurality of stationary radio stations, the system comprising: a mobile radio station positioned on the at least one industrial truck that is configured to transmit a position-determining signal to the plurality of stationary radio stations and receive position signals from the plurality of stationary radio stations; and an evaluation unit configured to append vehicle data to the position-determining signal transmitted to the plurality of stationary radio stations, and further configured to separate position data from other industrial trucks from position signals received from the plurality of stationary radio stations, wherein the evaluation unit determines a current position of the at least one industrial truck using at least three received position signals.

13. The system according to claim 12, wherein the vehicle data comprise at least one of a vehicle speed and a steering angle of the at least one industrial truck.

14. The system according to claim 12, wherein the vehicle data comprise a current vehicle position.

15. The system according to claim 12, wherein the evaluation unit is configured to determine a current position of other industrial trucks from a position signal received from each of the plurality of stationary radio stations.

16. The system according to claim 12, wherein the mobile radio station is further configured to receive signals pertaining to a current position of another industrial truck from other mobile radio stations.

17. The system according to claim 12, wherein the plurality of stationary radio stations are configured to determine current positions of multiple industrial trucks from position-determining signals received from the mobile radio stations of each of the multiple industrial trucks.

18. A system for determining a position of at least one industrial truck in relation to other industrial trucks in an area, the system comprising: a plurality of mobile radio stations that are each positioned on an industrial truck, the plurality of mobile radio stations each configured to transmit a position-determining signal; and a plurality of stationary radio stations configured to receive the position-determining signal from each of the plurality of mobile radio stations and transmit a position signal to each of the plurality of mobile radio stations, wherein the at least one industrial truck receiving the position signal can determine its distance relative to the other industrial trucks and evaluate whether a collision hazard exists.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Preferred embodiments of the invention are explained in greater detail below. In the following:

[0022] FIG. 1 illustrates a schematic view of two embodiments of an industrial truck, each with a different link to their mobile radio units, as well as three embodiments of stationary radio stations; and

[0023] FIG. 2 illustrates a top plan view of a warehouse with three embodiments of the stationary radio stations.

DETAILED DESCRIPTION OF THE INVENTION

[0024] FIG. 1 shows a schematic view of an industrial truck 10 that comprises a mobile radio unit 12. The mobile radio unit 12 comprises an antenna 14. The mobile radio unit 12 and antenna 14 together form a mobile radio station. The industrial truck 10 comprises a vehicle control 16 that is connected to the mobile radio unit 12 via internal cabling.

[0025] Still referring to FIG. 1, another embodiment of the industrial truck 20 comprises a mobile radio unit 22 with an antenna 24. The vehicle control 26 is connected via a CAN bus 28 to the mobile radio unit 22.

[0026] The stationary radio stations 30, 32, 34 are also termed anchors. As shown in FIG. 1, the anchors 30, 32, 34 are arranged in a warehouse area fixed in space. Each of the anchors 30, 32, 34 comprises an antenna by which the radio signals can be transmitted and received. Referring to FIG. 1, the stationary radio station 30 is connected via a local network (LAN) to the other data processing in the warehouse, and can accordingly for example access the data of a warehouse management system.

[0027] As shown in FIG. 1, the stationary radio station 32 communicates with an actuator 36. The actuator 36 can be actuated by a corresponding control command from the vehicle via the stationary radio station 32. Accordingly, for example, an approaching industrial truck can trigger an opening of the warehouse door.

[0028] Still referring to FIG. 1, the stationary radio station 34 is connected to a sensor, which makes it possible to forward sensor values detected in the warehouse, such as brightness and temperature, to the industrial truck(s) in the warehouse.

[0029] FIG. 2 shows a schematic view of radiolocating for the two industrial trucks 10 and 20. The industrial truck 20 has transmitted position-determining signals sequentially to the stationary radio stations 30, 32, 34 via its mobile radio station. The stationary radio stations 30, 32, 34 respond with a position signal after a predetermined time span. The distance to the stationary radio station can be determined from the time span that must be waited for the response, wherein the time span results from twice the propagation time and a predetermined processing time span for the stationary radio station 30, 32, 34. The position of the industrial truck 20 can be determined from the distance to at least three stationary radio stations 30, 32, 34. The position of the three stationary radio stations 30, 32, 34 in this case is known to the industrial truck 20.

[0030] Moreover, the vehicle speed and the steering angle position of the industrial truck are transmitted to the mobile radio station. The transmission is carried out either by the vehicle's own CAN bus 28 (FIG. 1), or via lines 18 (FIG. 1) provided therefor. These data are transmitted by the mobile radio station together with the current vehicle position to the stationary radio stations 30, 32, 34 so that they can be sent by them to all other mobile radio stations. Accordingly, the current position data and possibly the current vehicle data on the vehicle speed and steering angle as well can be provided to all industrial trucks so that they can always perform an effective collision control.

[0031] In the industrial truck, the determination of the position by radio is supplemented with the current data on the vehicle speed and steering angle by using the Kalman filter and processed into precise position information. In this context, not only the position of the individual vehicle is determined, but the position of the other vehicles can be determined as well. The other industrial trucks can also use a Kalman filter when the vehicle speed and/or the steering angle of the respective industrial truck are available.

[0032] The system for precise determination of position also has the advantage that signals can be generated for the behavior of the industrial truck in a position-dependent manner. For example, the vehicle speed can be reduced in areas in which many other industrial trucks are located and are moving. The position of the industrial truck can also be exchanged between each other or via the stationary radio stations 30, 32, 34, where movements are recognized, and the vehicle speed can be reduced if the density of vehicles is excessive.

[0033] It is also possible to perform a determination of the distance relative to other vehicles by measuring propagation time in this instance as with the stationary radio stations.

REFERENCE NUMBER LIST

[0034] 10 Industrial truck [0035] 12 Mobile radio unit [0036] 14 Antenna [0037] 16 Vehicle control [0038] 18 Wired connection [0039] 20 Industrial truck [0040] 22 Radio unit [0041] 24 Antenna [0042] 26 Vehicle control [0043] 28 CAN bus [0044] 30 Stationary radio station [0045] 32 Stationary radio station [0046] 34 Stationary radio station [0047] 35 LAN [0048] 36 Actuator