Method for operating a system, and system

Patent metadata

Field	Value
Publication number	US-11845642-B2
Application number	US-201816963496-A
Country	US
Kind code	B2
Filing date	Dec 13, 2018
Priority date	Jan 18, 2018
Publication date	Dec 19, 2023
Grant date	Dec 19, 2023

Abstract

In a method for operating a system, and a system, the system includes a mobile part drivable on a driving surface, and a load carrier. The mobile part includes a radar sensor connected to a control of the mobile part. The frequency spectrum of an intermediate frequency signal is determined, and, using pattern recognition, the frequency spectrum is compared with stored pattern samples, and the result of the comparison is conveyed to the control. The control actuates actuators such as a drive and/or steering unit of the mobile part as a function of the result of the comparison.

First claim

The invention claimed is:

1. A method for operating a system that includes a mobile part drivable on a driving surface of the system and a load carrier of the system, the mobile part including a radar sensor connected to a control device of the mobile part, comprising:
determining a distance from the radar sensor to the load carrier;
driving the mobile part to a position at which the distance between the radar sensor and the load carrier reaches a predefined setpoint distance;
determining a frequency spectrum of an intermediate frequency signal that is generated by mixing radar radiation emitted by the radar sensor and received radar radiation;
comparing the frequency spectrum to stored pattern symbols;
conveying, to the control device, a result of the comparison; and
actuating, by the control device, at least one actuator of the mobile part as a function of the result of the comparison.

2. The method according to claim 1 , wherein the load carrier is arranged as a stationary load carrier.

3. The method according to claim 1 , wherein the radar radiation emitted by the radar sensor is emitted in a direction of the load carrier, and the received radar radiation is received from the direction of the load carrier.

4. The method according to claim 1 , wherein the comparing includes pattern recognition.

5. The method according to claim 1 , wherein the comparing includes comparing a pattern formed by the frequency spectrum to the stored pattern samples.

6. The method according to claim 1 , wherein the actuator includes a drive and/or steering unit of the mobile part.

7. The method according to claim 1 , wherein the control device performs a control sequence as a function of the result of the comparison.

8. The method according to claim 1 , wherein the result of the comparison includes a type of load carrier.

9. The method according to claim 1 , wherein a first pattern sample is generated from the frequency spectrum of the intermediate frequency signal of the radar sensor during detection of a wire-mesh crate.

10. The method according to claim 9 , wherein the wire-mesh crate includes a side wall provided with steel mesh.

11. The method according to claim 10 , wherein the steel mesh includes openings having a maximum inner diameter of less than 5 cm.

12. The method according to claim 9 , wherein a top of the wire-mesh crate is open.

13. The method according to claim 1 , wherein a second pattern sample is generated from the frequency spectrum of the intermediate frequency signal of the radar sensor during detection of a steel-walled box.

14. The method according to claim 13 , wherein the steel-walled box includes a side wall of solid steel.

15. The method according to claim 13 , wherein a top of the steel-walled box is open.

16. The method according to claim 1 , wherein a third pattern sample is generated from the frequency spectrum of the intermediate frequency signal of the radar sensor during detection of a Euro pallet carrying a load.

17. The method according to claim 16 , wherein the Euro pallet is made of wood and the load includes a cardboard box.

18. The method according to claim 1 , wherein a fourth pattern sample is generated from the frequency spectrum of the intermediate frequency signal of the radar sensor during detection of a Euro pallet without a load.

19. The method according to claim 18 , wherein the Euro pallet is made of wood.

20. The method according to claim 1 , wherein:
(a) a first pattern sample is generated from the frequency spectrum of the intermediate frequency signal of the radar sensor during detection of a wire-mesh crate;
(b) a second pattern sample is generated from the frequency spectrum of the intermediate frequency signal of the radar sensor during detection of a steel-walled box;
(c) a third pattern sample is generated from the frequency spectrum of the intermediate frequency signal of the radar sensor during detection of a Euro pallet carrying a load; and
(d) a fourth pattern sample is generated from the frequency spectrum of the intermediate frequency signal of the radar sensor during detection of a Euro pallet without a load.

21. A system, comprising:
a mobile part adapted to be driven on a driving surface of the system and including a control device, an electric drive controllable by the control device, and a controllable steering unit;
a load carrier adapted to be arranged on the driving surface;
a radar sensor provided on the mobile part, connected to the control device, and adapted for signal transmission;
wherein the control device is adapted to control the drive and the steering unit as a function of signals from the radar sensor; and
wherein the system is adapted to perform the method recited in claim 9 .

22. The system according to claim 21 , wherein the mobile part includes a track guidance device connected to the control device.

23. The system according to claim 22 , wherein the track guidance device includes a metal wire and/or a metallic cable adapted to be installed on the driving surface.

Assignees

• Sew Eurodrive Gmbh & Co Kg

Inventors

• Ayhan Serdal
• Wanjek Andreas
• Hua Zhidong
• SCHäFER THOMAS
• Schmidt Josef

Classifications

• B65G2203/042

  Sensors · CPC title

• B66F9/0755

  Position control; Position detectors · CPC title

• B66F9/063 Primary

  Automatically guided · CPC title

• B65G1/0421

  with control for stacker crane operations · CPC title

• B65G1/1373

  for fulfilling orders in warehouses · CPC title