DE102008059365A1 - Position and/or alignment-determining device for fork lift, has evaluation device to determine position and/or alignment of component of device, and antennas aligned relative to each other in different spatial directions of surrounding area - Google Patents

Abstract

The device (2) has an evaluation device (5) for determining position and/or alignment of a component of the device in a surrounding area by position determination signals (s1-s3) of two radio or satellite-based transmitters (S1-S3). Antennas (A3, A4) i.e. semi-space radiator, receive the position determination signals and are aligned relative to each other in different spatial directions of the surrounding area. The antennas are adjustably arranged at an outer end of an inclination-adjustable arm (10), where the outer end faces a transport device (11) arranged at the arm.

Description

The The invention relates to a position and / or orientation determination device supported by radio or satellite Transmitter with the above-mentioned features according to claim 1.

Usually Such position and / or orientation determination devices have a receiving device with an antenna, which signals to position multiple transmitters a position determination system receives and to an evaluation the receiving device forwards. The position determination system is z. B. set up as the for known Galileo or GPS systems (GPS: Global Positioning System) or as a local transmitter system. The evaluation device calculates coordinates of a current location the antenna and outputs the coordinates thus determined or passes the coordinates for further processing. requirement for the Receiving such signals for position determination is an intermediate the transmitters and the antenna in their line of sight unsecured reception.

adversely At the systems used so far is that problems with a Position or orientation determination when they are on a handling device for goods with a tilt-adjustable and often telescopically extendable and rotatable arms are arranged.

Generally is known, two antennas with at least one evaluation adjacent to a holding and transporting means of such a boom to arrange. The antennas receive the signals for position determination and pass the received signals for position determination to the evaluation device which then determines the position and orientation of the position and / or orientation determining means calculates, outputs or forwards to downstream devices.

disadvantageous remains with an orientation determination tilt adjustable boom with a position and / or orientation determination device however, that the antennas have a limited reception range. Usual antennas capture signals for determining the position of transmitters, which themselves preferably in the room with a solid angle of particular 180 ° above the antenna or to their main receiving direction component. In this case, signals for determining the position of transmitters from the direction the main receive direction component receive the most while signals for determining the position of transmitters from the direction of the side, in particular with 180 ° sideways the main receive direction component is barely received. This has the consequence that at an inclination of the boom, at which the antennas are arranged, of the antennas only signals for determining the position of transmitters from a reduced spatial area of the space located above the boom. In unfavorable cases range the signals received at inclination of the boom for position determination not even to determine the position, in particular no longer to determine the orientation of the boom or a directional coordinate out.

The The object of the invention is a position and orientation determination device providing improved position and / or orientation determination the position and orientation determining device or a Component of this also allows in the inclined state.

Especially is an improved use with tiltable, telescopically extendable and / or rotatable arms allows become.

These Task is performed by a position and orientation determining device solved with the features of claim 1. Advantageous embodiments are subject of dependent Claims.

The Position and / or orientation determination device has accordingly at least a first antenna and a second antenna, wherein the antennas for receiving signals for position determination are aligned. A prerequisite for determining a position determination and additionally An orientation determination is a determination of at least two Position information or position coordinates of the at least two antennas, which in a fixed local relation to stand by each other. The position and / or orientation determining device also points at least one evaluation device which is set up for Determining a position and / or an orientation. It is determined while the position and / or the orientation of the position and / or Guidance determiner itself or at least one component of this in the surrounding Space by means of signals for determining the position of at least two radio or satellite-based Transmitter. A component whose position or orientation is so is determined in particular forms the arrangement of the antennas. Advantageous is that the at least two antennas relative to each other in different spatial directions of the surrounding space are aligned.

This arrangement allows that even with tilt-adjustable, telescopic and drehba ren holding and transport facilities with attached antennas reception of signals and thus a position determination and orientation determination is also possible with an inclined position of one of the antennas.

The Antennas are preferably on a tilt-adjustable boom uniform arranged adjustable with a tilt adjustment of the boom. As a result, at the same time as the position of the antennas and the position of the jib always clearly determinable. Here is the term of the jib far to interpret. In addition to a boom, on which a separate transport device for transporting or holding attached to a property, can also be the boom itself as a Transport device designed to transport or hold a Guts or be set up.

The Antennas are in particular adjacent to a arranged on the boom Transport device facing side of the boom arranged, especially at an outer end arranged the boom. As a result, the position is determined near a load to be transported or otherwise to move, whose Recording and filing can be detected. The assembly at the end or on the load-facing side of the tilt-adjustable Jib is also preferred to assist in erecting the jib the antennas attached to it at the highest point, which is a optimal reception of the signals for position determination allows.

One Reception coverage area of the antennas preferably covers independently of the inclination adjustment and / or a rotation of the boom a laterally and above surrounding space or solid angle of at least 110 °, preferably at least 150 °, in particular of at least 180 °. The antennas used preferably have a fixed opening angle from 180 ° or less up.

One Reception coverage area of the antennas preferably covers independently of the inclination adjustment and / or a rotation of the boom a laterally and above surrounding space or solid angle with in space distributed such transmitters from.

Of the Boom is in particular pivotable on a handling device stored for moving a good.

The at least two antennas are preferably under relative to each other aligned with an angle, with a virtual axis of alignment the at least two antennas with a deviation of less than 10 ° parallel to a pitch axis of the boom, in particular parallel extends to a tilt axis of the boom. The tilting takes place thus advantageous along the tilt axis of the boom.

Prefers the at least two antennas are transverse to a holding device mounted to the boom or parallel to the inclination axis of the boom, as a result tilting the arm has no effect on the transit time differences Has. Under transverse is not necessarily understood perpendicularly across but an orientation of such a holding device under a Angle with a transverse component to the length of the boom. Preferably, the orientation of the holding device is under an angle of more than 70 °, in particular more than 85 ° to the extension of the jib.

The at least two antennas are preferably under relative to each other aligned with an angle, the angle with a deviation less than 10 ° one maximum tilt angle of rotation the boom corresponds, in particular a maximum inclination rotation angle of the boom corresponds.

The at least two antennas are in particular relative to each other below an angle of at least 45 °, in particular more than 70 °, preferably oriented 90 °. In particular, two antennas are preferred at an angle, in particular at right angles the reference system of the position and / or Alignment determination device or relative to a coordinate system a subsurface arranged. The rectangular arrangement in has the advantage that in a picking up and turning of goods preferably at least one antenna has optimum reception, with which at least one position determination quite possible is.

In a first basic position is at least one of the antennas with their Main receiving component from an upper direction in the direction of Horizons inclined, in particular horizontally aligned and the at least one other antenna is with its main receiving component oriented upwards, so that an antenna even when turning or Tilting the load is level.

The at least two mounted antennas point to each other in particular a spatial minimum distance on, the bigger or equal to a maximum determination accuracy of the orientation determination is. Depending on the position system used, the spatial Distance of the antennas chosen so that for the orientation determination at least two different coordinates be calculated.

Autonomously advantageous is a handling device with a pivotable thereto stored boom and such a position and / or orientation determining device.

One embodiment will be explained in more detail with reference to the drawing. Show it:

1 a handling device with a position and / or orientation determination device with two antennas on a horizontal cantilever and

2 the handling device with inclined aligned boom.

How out 1 can be seen, is on a handling device 1 that are movable z. B. is designed as a forklift, on one side a tilt-adjustable boom 10 , which may also be telescopically extendable arranged. On one of the handling device 1 opposite end of the boom 10 is an example of a tiltable holding and transport device 11 arranged. This can vary depending on the use and type of goods to be transported 12 be replaced or designed. The good 12 lies in the basis 1 Case shown on the holding and transport device 11 on the horizontally oriented boom 10 ,

At the the estate 12 facing the end of the boom 10 , ie at the handling device 1 opposite end of the boom 10 , is on the top of the jib 10 a position and / or orientation determining device 2 arranged. The mounting of the position and orientation determining device 2 on the tilt-adjustable boom near the load is preferred to be at the highest radio point and as close to the Guts 12 to detect the position and orientation during its recording and filing.

The position and orientation determining device 2 has a first receiving device 3 with a first antenna A3. A main receiving component of the first antenna A3 is in the illustrated horizontal orientation of the cantilever 10 relative to the boom 10 directed at right angles vertically upwards. As a result, the first antenna A3 receives in the case of the illustrated horizontal alignment of the boom 10 Signals from the whole to the handling device 1 around upper half space.

The position and orientation determining device 2 also has at least one second receiving device 4 with a second antenna A4. The second receiving device 4 with the second antenna A4 is preferred on the estate 12 opposite side of the position and orientation determination device 2 appropriate. A main receiving component of the second antenna A4 is in the illustrated horizontal orientation of the cantilever 10 relative to the boom 10 aligned parallel to this. As a result, the second antenna A4 receives in the case of the illustrated horizontal alignment of the boom 10 especially signals from the lower area of the handling device 1 around the upper half-space, ie signals coming from a transmitter on the horizon or just above the horizon.

The Location information horizontally and vertically refers to a relative by a background corresponding coordinates x, y of space coordinates x, y, z plane spanned.

In the room, especially in the half space laterally and above the handling device 1 are exemplary three transmitters S1- S3 of a positioning system according to z. GPS or Galileo or a local positioning system. The first transmitter S1 is for example a satellite and is located obliquely above in front of the handling device 1 , The second transmitter S2, for example, is also a satellite and is located directly above the handling device 1 , The third transmitter S1 is for example a local transmitter on a mast with a low height above the ground and is located behind the handling device 1 ,

Of the three transmitters S1-S3, in each case a signal for position determination s1, s2, or s3 is transmitted. The signals for determining the position s1, s2 of the first and the second transmitter S1, S2, which as a satellite relatively high above the handling device 1 are positioned are due to the receiving characteristic of the antennas A3, A4 of the two receiving devices 3 and 4 or from their antennas A3, A4 received. However, a reception intensity by the horizontal second antenna A4 is significantly worse than a reception intensity by the first antenna A3. The signal for position determination s3 of the third transmitter S3, which is positioned relatively low above the horizon, becomes due to the receiving characteristic and depending on the spatial orientation of the antennas A3, A4 of the two receiving devices 3 and 4 or from their antennas A3, A4 received. However, the reception by the vertical first antenna A3 is significantly worse than the reception by the horizontal second antenna A4.

From the first receiving device 3 received signals for determining position s1 to s3 is a vectorial first position coordinate x3, y3, z3 of the first receiving device 3 or calculated from the first antenna A3 net or determined. From the second receiving device 4 received signals for position determination s1 to s3 is a vectorial second position coordinate x4, y4, z4 of the second receiving device 4 or calculated or determined by the second antenna A4. The position coordinates x3, y3, z3, x4, y4, z4 relate to the coordinate system of the handling device 1 surrounding space coordinates x, y, z with a first direction coordinate x, a second direction coordinate y and a third direction coordinate z.

alternative can also from the received signals from the respective antennas to determine a position directly determines a common position become.

From the position coordinates x3, y3, z3 and x4, y4, z4 is determined by means of an evaluation 5 a position or direction component r or its vectorial alignment coordinate r (x3, x4, y3, y4, z3, z4) is calculated or calculated. The direction component r thus defines the orientation, in particular, of the position and / or orientation determination device 2 or the antennas A3, A4 relative to each other. This is ultimately the orientation of the handling device 1 , the jib 10 and / or the holding and transport device 11 and thus the orientation of the goods 12 in the surrounding space in addition to the known position coordinates x3, x4, y3 and y4, z3, z4 determinable.

The evaluation device 5 For example, it is designed as a processor or realized by a processor. The evaluation device 5 can as a stand-alone component in the position and / or orientation determination device 2 can be arranged in one of the receiving facilities 3 . 4 be arranged or in one of the position and orientation determining device 2 be arranged external device.

Optionally the evaluation device leads 5 both determining the position coordinates x3, y3, z3 and x4, y4, z4 and the alignment coordinate r (x3, y3, z3, x4, y4, z4), e.g. B. if no receiving devices 3 . 4 are provided.

at the antennas A3, A4 used are preferably, but not necessarily antennas with a fixed opening angle of 180 °. These antennas A3, A4 are so-called half-space radiators. The antennas A3, A4 allow optimum reception when its main receiving component in the direction a transmitter is addressed.

The antennas A3, A4 are so tilted against each other so arranged that in the two extreme positions of the tilt-adjustable boom 10 preferably one of the antennas A3, A4 in each case one horizontally and the other is aligned perpendicular thereto. In 1 is the first antenna A3 with its main receiving component upwards and thus aligned approximately in the direction of the first and second transmitter S1, S2. The second antenna A4 has in the vertical position relative to only a small receiving surface with respect to the first and second transmitter S1, S2. The main receiving component of the second antenna A4 is directed in the direction of the third transmitter S3 on the horizon and thereby receives the signal for determining the position s3 of the third transmitter S3 with a particularly high intensity.

2 represents another extreme position of the location of the property 12 Is the good 12 by means of the tilt-adjustable boom 10 Raised, the attitude angles of the first and second antennas A3, A4 with respect to attitude to the transmitters S1-S3 change. In the second extreme position shown with the raised good 12 the position of the antennas A3, A4 with respect to the position transmitters has changed. Now, the position of the second antenna A4 is horizontal or its main receiving component directed upward and the main receiving component of the first antenna A3 is perpendicular to seen in the direction of the horizon or the plane, which is spanned by the first and the second direction coordinates x, y. Now, the second antenna A4 has the best reception of the signals for determining the position s1, s2 from a plurality of the transmitters S1, S2 or satellites located above. This arrangement of the antennas A3, A4, which is rotated relative to one another, ensures that in the two extreme positions of the jib 10 one of the antennas A3, A4 horizontally and the other is aligned horizontally. Also in intermediate positions of inclinations of the jib 10 and the position and orientation determining device disposed thereon 2 between the extreme positions is always a receipt of the signals for position s1-s3 and thus a position and usually also an orientation determination possible.

As a result of the changed propagation times of the signals s1 to s3 from the transmitters S1-S3, the first position coordinates x3 *, y3 *, z3 * of the first receiving device are changed according to the changed inclination 3 and changed second position coordinates x4 *, y4 *, z4 * of the second receiving device 4 calculated. From this the evaluation device calculates 5 an altered vectorial direction coordinate r (x3 *, y3 *, z3 *, x4 *, y4 *, z4 *). Due to the vertical erection of the tilt-adjustable boom 10 In the other extreme position, the position of the antennas A3 and A4 has changed with respect to the position transmitting devices S1 to S3. Preferably, the antennas are mounted on a holding device transversely to the boom 10 or parallel to the Nei axis of the jib 10 mounted, since thereby the tilting of the arm has no effect on the transit time differences. The mutually rotated antennas are aligned so that in each of the two extreme positions, an antenna is aligned with the first and second transmitters S1 to S3 and thus has an optimum reception. In this case, the second antenna A4 has the best reception since it is approximately aligned with the position of the first and second transmitters S1, S2. Although the first antenna A3 has an unfavorable position to the satellites or the first and the second transmitter S1, S2, but a very good alignment with the third transmitter S3.

feasible is a variety of alternative arrangements. In particular, must the arrangement of the antennas A3, A4 should not be perpendicular to each other. Also larger or smaller angles α between the Antennas A3, A4 to each other are possible. Such is for example a smaller angle of only 60 ° between that of the antennas A3, A4 useful if the boom, for example only tiltable by about 60 ° is.

In particular, the position and / or orientation determining device 2 have more than two such antennas A3, A4, in particular two or more antennas A3, which in a basic position with horizontal boom 10 covering a horizontal plane relative to an antenna A3 arranged perpendicular to them. This ensures that with only a few transmitters S3 near the horizon nevertheless preferably at least one such antenna A3 detects such a near-horizon transmitter. Additionally or alternatively, in addition to satellites as the transmitters S1, S2, preferably several ground-based radio transmitters A3 are provided around a working area of the handling device 1 arranged around.

In particular, an arrangement of the antennas A3, A4 relative to each other is preferred such that it is independent of various adjustable inclinations and orientations of the cantilever 10 always the reception areas of the antennas A3, A4 combined always cover the above and laterally surrounding space or solid angle β as completely as possible.

Instead of a uniform position and orientation determining device 2 For example, the position and orientation determination may also be performed in spatially remote components or devices. It is essential only the orientation of the antennas A3, A4 in mutually different spatial directions of the surrounding space.

1

handling device

2

Positions and / or alignment determining device

3

first receiver

4

second receiver

5

evaluation

10

tilt-adjustable boom

11

holding and transport device

12

Well

A3

first antenna

A4

second antenna

S

Positioning System

S1

first transmitter

S2

second transmitter

S3

third transmitter

s1

first Signal for position determination

s2

second Signal for position determination

s3

third Signal for position determination

x

first Directional coordinate of spatial coordinates

y

second Directional coordinate of the spatial coordinates

z

third Directional coordinate of the spatial coordinates

r

Directional component of Position and orientation determination device

x3, y3, z3

first Position coordinates of the first receiver

x4, y4, z4

second Position coordinates of the second receiver

x3 * y3 *, z3 *

changed first position coordinates

x4 * y4 *, z4 *

changed second position coordinates

r (x3, x4, y3, y4, z3, z4)

Ausrichtungskoordinate

r (x3 *, x4 *, y3 *, y4 *, z3 *, z4 *)

changed alignment co-ordinate

α

angle between the antennas

β

solid angle all antenna reception areas

Claims (14)

Position and / or orientation determination device ( 2 ), which has - at least one evaluation device ( 5 ) arranged to determine a position and / or an orientation of the position and / or orientation determining device (FIG. 2 ) or at least one component thereof in the surrounding space by means of signals for determining the position (s1-s3) of at least two radio or satellite-based transmitters (S1, S2, S3), and - at least one first antenna (A3) and one second antenna ( A4), wherein the antennas (A3, A4) for receiving the signals for position determination (s1-s3) are aligned, characterized in that - the at least two antennas (A3, A4) are aligned relative to each other in different spatial directions of the surrounding space. Device according to any preceding claim, in which the antennas (A3, A4) are mounted on a tilt-adjustable cantilever ( 10 ) are arranged uniformly adjustable with a tilt adjustment of the boom. Apparatus according to claim 2, wherein the antennas (A3, A4) adjacent to one on the boom ( 10 ) arranged transport device ( 11 ) facing side of the boom ( 10 ) are arranged, in particular at an outer end of the boom ( 10 ) are arranged. Apparatus according to claim 2 or 3, wherein a reception coverage area of the antennas (A3, A4) is independent of the inclination adjustment and / or rotation of the cantilever (FIG. 10 ) covers a laterally and above surrounding spatial area or solid angle (β) of at least 110 °, preferably at least 150 °, in particular of at least 180 °. Device according to one of Claims 2 to 4, in which a reception coverage area of the antennas (A3, A4) is independent of the inclination adjustment and / or rotation of the cantilever (FIG. 10 ) covers a laterally and above surrounding spatial area or solid angle (β) with spatially distributed such transmitters (S1-S3). Device according to one of claims 2 to 5, wherein the boom ( 10 ) pivotable on a handling device ( 1 ) for moving a good ( 12 ) is stored. Device according to one of claims 2 to 6, wherein the at least two antennas (A3, A4) are aligned relative to each other at an angle (α), wherein a virtual axis of alignment of the at least two antennas (A3, A4) with a deviation of less than 10 ° parallel to a cant axis of the cantilever ( 10 ), in particular parallel to a tilt axis of the cantilever ( 10 ) runs. Device according to one of claims 2 to 7, wherein the at least two antennas (A3, A4) on a holding device transverse to the boom ( 10 ) or parallel to the axis of inclination of the cantilever ( 10 ) are mounted. A device according to any one of claims 2 to 8, wherein the at least two antennas (A3, A4) are oriented at an angle (α) relative to one another, the angle (α) having a deviation of less than 10 ° from a maximum inclination Angle of rotation of the boom ( 10 ), in particular a maximum inclination angle of rotation of the cantilever ( 10 ) corresponds. Device according to any preceding claim, wherein the at least two antennas (A3, A4) relative to each other under an angle (α) of at least 45 °, in particular more than 70 °, preferably oriented 90 ° are. Device according to any preceding claim, wherein in a first basic position at least one of the antennas (A4) with its main receiving component from an upper direction in the direction the horizon inclined, in particular horizontally aligned and the at least one other antenna (A3) with its main receiving component after is aligned above, so that an antenna even when turning or Tilting the load is level. Device according to any preceding claim, wherein the antennas (A3, A4) are half space radiators. Device according to any preceding claim, wherein the at least two antennas (A3, A4) to each other a spatial Minimum distance, the greater or equal to a maximum determination accuracy of the orientation determination is. Handling device ( 1 ) with a cantilever mounted thereon ( 10 ) and a position and / or orientation determining device ( 2 ) according to any preceding claim.