Warehouse inspection system

Patent metadata

Field	Value
Publication number	US-11970378-B2
Application number	US-202117190568-A
Country	US
Kind code	B2
Filing date	Mar 3, 2021
Priority date	Mar 4, 2020
Publication date	Apr 30, 2024
Grant date	Apr 30, 2024

Abstract

Systems for inspecting a warehouse are disclosed. A system includes a laser scanner attachable to an industrial truck and adapted to scan in a plane substantially perpendicular to the industrial truck's main direction of travel to scan an environment of a warehouse on at least one side of the industrial truck and to generate scan data. The system includes a computing unit adapted to receive the scan data and data on the absolute position and/or relative position change of the industrial truck, or data from which one or more of these variables can be derived. The computing unit is further adapted to construct three-dimensional data of the environment on the basis of the scan data and data on the absolute position and/or relative position change of the industrial truck.

First claim

The invention claimed is:

1. A system for inspecting a warehouse comprising:
a laser scanner attached to an industrial truck and adapted to emit laser scanning pulses in directions substantially perpendicular to a main direction of travel of the industrial truck, such that a scanning plane of the laser scanner is substantially perpendicular to the main direction of travel of the industrial truck and encompasses an environment of a warehouse on at least one side of the industrial truck, wherein the laser scanner is further adapted to generate corresponding scan data; and
a computing unit that is adapted to:
receive the scan data and additional data comprising at least one of data on an absolute position change of the industrial truck or data on a relative position change of the industrial truck, wherein the additional data indicates movement of the laser scanner in the main direction of travel of the industrial truck; and
construct three-dimensional data of the environment based on the scan data and the additional data.

2. The system according to claim 1 , wherein the computing unit is adapted to receive odometry data of the industrial truck, and wherein the additional data is derived from the odometry data of the industrial truck.

3. The system according to claim 1 , wherein the laser scanner is adapted to emit the laser scanning pulses in two horizontal directions perpendicular to the main direction of travel of the industrial truck and a vertical upward direction perpendicular to the main direction of travel of the industrial truck.

4. The system according to claim 1 , wherein the computing unit is further adapted to detect individual storage elements from the constructed three-dimensional data of the environment.

5. The system according to claim 1 , wherein the computing unit is further adapted to receive data from a warehouse management system.

6. The system according to claim 4 , wherein the computing unit is further adapted to check a storage condition based on a comparison of the three-dimensional data of the detected storage elements with corresponding data from a warehouse management system.

7. The system according to claim 4 , wherein the computing unit is further adapted to check a storage condition based on a comparison of the three-dimensional data of the individual detected storage elements with predefined reference data.

8. The system according to claim 6 , wherein the computing unit is further adapted to document the storage condition or output instructions based on the storage condition.

9. An industrial truck comprising:
a laser scanner attached to the industrial truck and adapted to emit laser scanning pulses in directions substantially perpendicular to a main direction of travel of the industrial truck, such that a scanning plane of the laser scanner is substantially perpendicular to the main direction of travel of the industrial truck and encompasses an environment of a warehouse on at least one side of the industrial truck, wherein the laser scanner is further adapted to generate corresponding scan data; and
a computing unit that is adapted to:
receive the scan data and additional data comprising at least one of data on an absolute position change of the industrial truck or data on a relative position change of the industrial truck, wherein the additional data indicates movement of the laser scanner in the main direction of travel of the industrial truck; and
construct three-dimensional data of the environment based on the scan data and the additional data.

10. The industrial truck according to claim 9 , wherein the industrial truck is a track-guided industrial truck.

11. The industrial truck according to claim 9 , further comprising a mast, the laser scanner being fixed to an attachment of the industrial truck that is directly or indirectly movably connected to the mast, a height of the laser scanner being adjustable in relation to a driving surface with a work function of the industrial truck.

12. The industrial truck of claim 9 , wherein the industrial truck is a high-bay stacker comprising an operator's station with an overhead guard, and wherein the laser scanner is fixedly attached to the overhead guard.

13. A method for inspecting a warehouse, the method comprising:
using a laser scanner attached to an industrial truck to emit laser scanning pulses in directions substantially perpendicular to a main direction of travel of the industrial truck, such that a scanning plane of the laser scanner is substantially perpendicular to the main direction of travel of the industrial truck and encompasses an environment of a warehouse on at least one side of the industrial truck and generating scan data based on the scan;
capturing additional data comprising at least one of data on an absolute position change of the industrial truck or data on a relative position change of the industrial truck, wherein the additional data indicates movement of the laser scanner in the main direction of travel of the industrial truck; and
constructing three-dimensional data of the environment based on the scan data and the additional data.

14. The method of claim 13 , further comprising capturing odometry data of the industrial truck, wherein the additional data is derived from the odometry data of the industrial truck.

15. The method of claim 13 , further comprising automatically activating a system for inspecting a warehouse when a reference point is detected by the laser scanner.

16. The method of claim 13 , further comprising detecting a spatial position of the laser scanner, based on externally input data or reference points detected by the laser scanner, wherein the spatial position of the laser scanner is used in the construction of three-dimensional data of the environment.

17. The method of claim 13 , further comprising detecting individual storage elements from the constructed three-dimensional data of the environment.

18. The method of claim 17 , further comprising receiving data from a warehouse management system.

19. The method of claim 18 , further comprising inspecting a storage condition based on a comparison of the three-dimensional data of the detected storage elements with corresponding data from the warehouse management system.

20. The method of claim 17 , further comprising inspecting a storage condition based on a comparison of the three-dimensional data of the detected storage elements with predefined reference data.

21. The method of claim 19 , further comprising detecting damage or irregularities of the storage condition.

22. The method of claim 19 , further comprising outputting instructions based on the storage condition, wherein the instruction is for re-establishing a proper storage condition.

23. The method of claim 13 , wherein the method is carried out during a deposit or retrieval operation.

24. The industrial truck of claim 9 , wherein the industrial truck is a high-bay stacker comprising a load carrying apparatus that can be moved laterally back and forth and transverse to a straight-ahead direction of travel of the industrial truck, and wherein the laser scanner is fixedly attached to the load carrying apparatus.

Assignees

• Jungheinrich Ag

Inventors

• Bistry Hannes
• Wetegrove Ralf
• Richter Maximilian

Classifications

• B66F9/063 Primary

  Automatically guided · CPC title

• G01B11/002

  for measuring two or more coordinates · CPC title

• G05D1/0225

  involving docking at a fixed facility, e.g. base station or loading bay (parking aids B62D15/027) · CPC title

• G05D1/024

  in combination with a laser (lasers per se H01S) · CPC title

• B65G1/04 Primary

  mechanical · CPC title