• 专利附录
  • 专利说明
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    • 专利摘要:
    A method and an assistance system for assisting a worker (1) in a facility (2) for manipulating goods (3) are specified. In this case, the movements of the worker (1) and optionally of the product (3), which is manipulated by the worker (1), are detected and compared with at least one camera (9) mounted on the plant, whether the detected movements of the worker (1) and optionally the goods (3) lie in a desired range of a movement sequence (12). If this is the case, the execution of a further movement sequence (12) is subsequently checked. If this is not the case, a correction signal is output to effect the execution of the required motion sequence (12). The detection range of the at least one camera (9) is subdivided into segments (100..146), wherein a motion sequence (12) contains an occupancy of the segments (100..146) by the worker (1). Generally, a movement sequence (12) comprises the detection and removal of at least one product (3).
    公开号:AT513130A4
    申请号:T921/2012
    申请日:2012-08-24
    公开日:2014-02-15
    发明作者:Markus Dipl Ing Winkler
    申请人:Tgw Logistics Group Gmbh；
    IPC主号:
    专利说明:

    25 13:30:45 24-08-2012 5/44
    1
    The invention relates to a method and an assistance system for assisting a worker in a facility for manipulating goods. In addition, the invention relates to a use of said method and / or said
    Methods and assistance systems of the type mentioned are known in principle. For example, EP 1 487 616 B1 discloses an augmented reality system for a warehouse. In this case, actual movements of a warehouse worker using a camera with target movements are compared and logged accordingly. The necessary camera is mounted on the helmet of a worker. Optionally, additional information, such as the location of a part to be detected, may be displayed in data glasses.
    EP 2161219 B1 discloses another augmented reality system for a warehouse worker in which the camera is also mounted on the home of a worker. In particular, a type of navigation system can be realized with a data bridge in which a target movement of the worker is displayed with the aid of displayed direction arrows,
    Finally, WO 03/034397 A1 discloses an augmented reality system which can be used inter alia in a warehouse. The camera is in turn mounted on the helmet of a worker.
    Although the presented systems represent a working direction for a warehouse worker, these systems are nevertheless limited. For example, the movements of a worker can not be supervised independently of his line of sight. The monitoring of a work routine is N2012 / 08B00
    No .: R141 24/08/2012 13:34 P.005 / 044 25 13:31:21 24-08-2012 6/44 * · · * · ♦ · ··· # · · · · · ♦♦ · 4 · 4 · * · t # «4« 4 · 4 · 4 «4 · · · · · · · · 4 2 depending on whether the worker and his helmet camera are looking at his or her hands , However, this can not be assumed in any case, because in particular experienced workers do the operations "blind", that is without necessarily looking at their hands. Often, workers are observed, who perform their work despite lively conversations with colleagues. Her gaze often wanders to the other party and is rarely focused on the actual job.
    Another disadvantage of helmet cameras is their weight, which sometimes seriously affects the productivity of the worker. Especially with aggravating working conditions such as high temperature and high humidity wearing such a helmet is perceived as very uncomfortable. In any case, this increases the formation of sweat on the head. If the worker wipes the sweat from his forehead, the camera is "blinded" for a few moments and can not continuously monitor the workflow. Important workbooks can thus be "overlooked" by the camera. become. If the work is done in a cold environment, the worker's breathing air often causes the camera lens to fog up, which also makes monitoring of a workflow impossible. Finally, the weight of the camera and data glasses limits the maximum head complaints, such as when turning the head quickly. Therefore, the worker can not work as fast as his bodily physiology may allow.
    Determining the position of the worker with the help of a helmet caravan is difficult, especially because of the sometimes violent movements and the "blind " Moments of the camera. If the system goes "out of line", ie it loses its position, it will take some time for the position and orientation of the helmet camera to be detected, and the system will again be able to perform meaningful monitoring of a workflow. All in all, depending on the computing power and behavior of the worker, such a system can slow down rather than accelerate the work to be done. N2012 / 08800 24/08/2012 13:35
    No .: R141 P.006 / 044 25 13:32:04 24-08-2012 7/44 Μ * · · »·» · · · · * * * · · * * ♦ «* * * · * * * * t | · «• • ........... 3
    The monitoring of various activities occurring in a warehouse is hardly possible to impossible with the known devices, for example the manipulation of objects which are difficult to distinguish. As a striking example, the re-sorting of screws from one red container into another red container, which also contains the same screws, is mentioned. As can be seen from the limitations already mentioned, the meaningful monitoring of such a process is practically impossible. Assuming that the camera vertices the view of the containers for a single moment, the assignment of the source and target containers when the view is restored and thus the monitoring of the work process is extremely difficult with the utmost security. For example, it is not possible to determine if the worker is in a "blind" manner. Phase of the camera has not swapped the source and target containers to improve his work situation. If the image area of the camera only covers one of the containers (elwa when using a lens with a comparatively long focal length in relation to the size of the container), then the unambiguous determination of which container is being captured is likewise virtually impossible.
    The known systems are primarily set up for the operations to be performed by a worker. If several people work together, a meaningful monitoring of the workflow is very difficult and only possible with a very high level of calculation. For example, if three people work together, the work area will be covered by three different cameras, the coverage of which will be affected by the person's head movements. The ability of people to look a conversation partner in the eye is also extremely hindering the monitoring of such a work process. If one of the three persons gives instructions to the other two, they (and thus their hetm cameras) inevitably look at the instructor. Although in principle there are three cameras for observation in this work situation, not a single one detects the object that is actually manipulated (e.g., shared or handed over).
    Restrictions of a worker, which are given due to his physique, can not be considered with the known systems. Therefore, N2012 / 08800 24/08/2012 13:35
    No .: R141 P.007 / 044 25 13:32:48 24-08-2012 6/44 ♦ ··· ·· ♦ * ♦ »· · ♦ · ♦♦ ·» «* · • · · For example, there are instances where a worker is instructed to take goods out of a rack that is actually too high for him / her. As a result, the worker in question must laboriously obtain an ascent aid or ask a colleague to do the work for him. Both are inefficient, but the latter also leads with high probability to disturbances in the monitoring of the work process, since a person other than the one provided by the system does the work.
    The object of the present invention is now to specify an improved method and an improved assistance system for assisting a worker in a facility for manipulating goods. In particular, the abovementioned disadvantages should be overcome.
    The object is achieved by a method for assisting a worker in an apparatus for manipulating goods, comprising the steps of: a) detecting movements of the worker with at least one camera mounted on the installation, b) comparing whether the detected movements of the worker in a setpoint C) outputting a correction signal and foretelling in step a) with the first motion sequence if the comparison is negative or foretelling in step a) with a second motion sequence if the comparison is positive, a motion sequence detecting and dropping at least one product, wherein the detection range of the at least one camera is subdivided into segments, and wherein a motion sequence contains occupancy of the segments by the worker
    The invention is further solved by an assistance system for assisting a worker in a device for manipulating goods, comprising: at least one camera mounted on the installation side for detecting movements of the worker,
    Means for comparing whether the detected movements of the worker are within a desired range of a movement sequence, and for outputting a corpus 24/08/2012 13:36
    No .: R141 N2012A8M »P.008 / 044 25 13:33:29 24-08-2012 S / 44 * · · ···« ··· • · · · · «· · · ·« · · · » «A λ. 5 a rectifier signal if this is not the case, wherein a motion sequence comprises the detection and removal of at least one product, wherein the detection range of the at least one camera is divided into segments and wherein a motion sequence occupying an occupancy of the segments by the worker.
    By detecting both the movement of a worker from a remote observer site, the system is very flexible replaceable under changing conditions and detects the monitored workflow with high security. This considerably improves the monitoring of an arfaeity process. In particular, the following advantages result in particular:
    The movements of a worker can be monitored independently of his line of sight. Thus, the system can also be used for "routine" workers who have not kept their eyes on their hands.
    The worker is efficient "'because he is not affected by the weight of a helmet camera and can move freely. For example, fast head turns are also unproblematic for the presented system in terms of image processing. The fogging of the camera by the breathing air of the worker is unlikely, since the camera can not necessarily be mounted directly above the head of the worker, but attached to a more advantageous location, for example, slightly away from him.
    The position of the observing camera is always known and does not have to be laboriously calculated. Therefore, the system can not fall "out of step". A specification of working steps can therefore be made fluid even with a comparatively low computing gap.
    Monitoring the manpilatron of hard-to-distinguish items is facilitated. For example, re-sorting screws from one red container into another red container, which also contains the same screws, can be consistently detected. This is the case even if the worker exchanges source and destination containers, for example. In particular, the said method or the said assistance system can therefore be used for monitoring a movement sequence which relates to the picking and / or re-sorting of goods.
    The supervision of several workers, the collaborations and belspiels- Ν2012ΛΗ000 24/08/2012 13:37
    No .: R141 P.009 / 044 25 13:34:13 24-08-2012 10/44 • · e · * · ♦ * · · · «I 4 4 * 4 4 4 ·· · ♦ ♦ * * ·· * «* • · * ♦ · ♦ ·· 44 4 handing objects over each other or carrying an object together is made easier, as the observing camera can always capture the entire scene.
    Restrictions or benefits of a worker due to his physique may be taken into account, as features such as height, arm length and stature of the worker may be captured by the camera. As a result, work can be assigned to the most appropriate person, for example working on high shelves to tall people and manipulating heavy objects on people with strong physique. Of course, work can also be assigned gender-specific.
    Advantageously, said method or said assistance system are used in a warehouse. A warehouse is used for receiving, storing and usually distribution of goods. A warehouse can be designed, for example, as a high-bay warehouse, small parts warehouse, floor storage, high-level storage or as a paternoster and for example shelves of various types (such as shelf shelves, pallet racking, continuous shelves and high shelves} and funding of various types (such as roller conveyors, belt conveyors, forklifts, and automated guided vehicles) include.
    Due to the segmentation of the detection range of the at least one camera, the calculation level for the said method is advantageously kept low. For example, a grid can be laid over a work surface (worktable) and preferably also displayed by a laser projector. Of course, fixed markings on this work surface are also conceivable. Movements are evaluated as a sequence of occupied segments.
    Under a "camera" In the context of the invention, a device or system is to be understood which images a captured scene two-dimensionally or three-dimensionally. A "camera" can depict a scene by capturing the light generated in the scene and / or reflected by it - both in the visible and in the invisible wavelength range. A "camera" within the meaning of the N2012 / O8BO0 24/08/2012 13:37
    No .: R141 P.010 / 044 25 13:34:55 24-08-2012 11/44 • ι Φ • · · · ·
    However, I do not necessarily use light as an information carrier. Additionally or alternatively, the capture of a scene can also be done in other ways. By way of example, a "camera" can also be understood as meaning a space depth sensor which generates a spatial (three-dimensional) image of a scene on the basis of the duration of emitted rays and worlds reflected by the scene. For example, this can be done with the help of Inffarotstrah-len, Ulstraschall and / or laser beams.
    Further advantageous embodiments and modifications of the invention will become apparent from the UnteransprOchen and from the description in conjunction with the figures.
    It is advantageous if the movements of the goods, which is manipulated by the worker, are detected with the at least one camera before step b) and it is compared in step b) whether the detected movements of the worker and of the goods are in a setpoint. Area of a first movement sequence are. The fact that not only the worker is detected by the camera, but also the goods manipulated by him, the monitoring of movement is particularly safe. In this embodiment, it is not sufficient, for example, to move only the hand in a predetermined manner. Instead, the goods must be moved in a predetermined manner.
    It should be noted at this point that the detection of the goods by the camera can of course not be ruled out even if it is merely compared whether the detected movements of the worker lie within a desired range of a first movement sequence. In this case, however, the goods may be detected "casually" and without further consequences. In the case of the preceding embodiment, however, the goods are recorded as planned and their movement is evaluated.
    It is particularly advantageous if a product is classified as being "detected" by the worker, if it is detected between the detection and depositing, in particular during the entire sequence of movements, at least partially by a hand of the worker or a tool held by him (eg pliers, gripper, N2012 / QB800 24/08/2012 13:38
    No .: R141 P.011 / 044 25 13:35:38 24-08-2012 12/44 • ·· * · »· * 8 8 · * ·» · * «8 ·» 8 »• * *« 8 V 8 8 I 8 »« »· * ·· · > 8 · 8 8 etc.) is covered. In the rain! a commodity is at least partially obscured when held by a worker. This circumstance is exploited in the present embodiment variant, a product as "detected". to classify. If it is not completely recognized between the detection (start point of the movement sequence) and the departure (end point of the movement sequence), then it can be assumed with high probability that it will be moved by the worker in the given way and not, for example, only between start and end point lying on a worktable. If it is checked whether a product is at least partially hidden by a hand of the worker or a tool held by him during the entire sequence of movements, then it can also be avoided that a product is classified as being taken by the worker, for example if a worker's hand merely is moved across a lying on the work table product. To determine whether a product is at least partially obscured, for example, data from a database in which 3D models of the goods are stored can be used. If a view of the relevant 3D model does not completely correspond to the view of the goods detected by the camera and, in particular, corresponds to the hidden portion (at least in part) of a worker's hand or a tool held by it, then the goods can be classified as captured.
    It should be noted at this point that the aforementioned variant of the method (detection of at least partially concealed goods) can form the basis for an invention independent of the features of patent claim 1. In particular, in these cases, a segmentation of the detection range of the camera can be dispensed with. Analogously, this also applies to a corresponding device or the use of such a method and / or a corresponding device in a warehouse, in particular when picking and / or resorting of goods. It is advantageous if, prior to step a), at least the starting point and / or the end point of a movement sequence are displayed. In this way the worker is shown what to do. For example, the starting point and the N20120B800
    No .: R141 24/08/2012 13:39 P.012 / 044 25 13:36:22 24-08-2012 13/44 «» t · «· ♦« t t · I «· ·
    Θ
    End point with different optical markings to indicate to the worker what to do. For example, the start and end points can be marked with different colors. It is particularly advantageous if the camera identifies persons and the display at least of the start and end points of a motion sequence on the basis of a personal setting (profile) approims. Here, preferences but also restrictions of certain users can be considered. For example, by default, the starting point and the end point may be marked red and green, but purple and orange, for example, if the worker has poor eyesight in distinguishing red and green. For color-blind people, the starting point and the end point can also be marked with different shapes, for example with a circle and a cross. In general, for example, indicator lamps or laser projectors are available for the optical marking of the start and end points, which can be used in a particularly flexible way for producing different markings by means of the beam deflection. In addition, start and end point can also be done with the help of a screen or a corresponding overlay in a Datenbrifle. Especially with screens and data glasses, the display of complex movements is possible. For example, a worker may be instructed to rotate a detected item before it is discarded. In addition to visual markings or in addition, of course, acoustic instructions are also possible, for example, "T-shirt from the left stack, turn 90 ° to the left and put in shipping box number 1". It is also possible to mark the starting point and / or end point of a movement sequence with a number and / or type (if a container contains different types of goods) of the goods to be detected / deposited. For example, this can be done with corresponding LED displays, LCD displays, screens or even projectors. Finally, it is also conceivable that the starting point and end point of a movement sequence are not displayed simultaneously, but with a time delay. The time offset may be fixed (e.g., one second) or calculated / estimated individually based on the motion sequence. One possibility is N2012 / 08800 24/08/2012 13:40
    No .: R141 P.013 / 044 25 13:37:07 24-08-2012 14/44 • · · ·· φ • · φ φ φ
    10 also, for the time being only to indicate the starting point and the end point only when it is recognized that the goods were taken from the starting point.
    It is advantageous if, prior to step a), a product is automatically delivered and / or removed after step c), if said comparison fails positively. In this variant, goods to be manipulated are thus automatically delivered and / or transported away. For this purpose, the output of the comparison, whether a movement of the worker and the goods are in a desired range of a first movement sequence evaluated, the result is positive, the current sequence of movements can be considered complete, and processed goods removed and / or new processing goods are delivered. Advantageously, this process does not need to be explicitly requested by the worker, for example by pressing a corresponding key, but is done automatically. Also the execution of a certain gesture is not necessary. The worker can thus work more efficiently. Of course, it can also be provided to consciously control a delivery of goods and their removal, just by pressing a button or by making a gesture.
    It is particularly advantageous if the output of a correction signal or the delivery and the removal of goods are suppressed, if it is determined that the worker has moved away from his workplace / workspace. In this variant, therefore, the workflow is stopped when it is detected that the worker has moved away from his workplace / work area, for example, to visit the toilet. Also, the worker need not make an explicit statement to stop or restart the workflow. The stopping or starting is automatic as a consequence of the fact that the worker is present at the workplace / work area or not Setostverständlich can also be provided here to consciously control delivery of goods and their removal, as mentioned for example by pressing a button or by running a gesture. N2012 / 08800 24/08/2012 13:40
    No .: R141 P.014 / 044 25 13:37:49 24-08-2012 15/44 • · · · ··· * * * * * * * «* ♦ φ • · φ» ♦ φ φ φ » · · · Φ φ · φ φ # · # 11
    It is furthermore advantageous if a motion sequence contains only the starting point and end point of a movement. This makes it possible to keep the calculation effort for the said method low. For the successful execution of a movement sequence, it is sufficient that the starting point and then the end point is reached by the worker (or his hand) and / or a product.
    It is particularly advantageous if the detection of movements takes place in addition to a two-dimensionally imaging camera by a spatial depth sensor. This makes it possible to easily detect movements that are performed normal to the image plane of the camera. This is for example advantageous if the camera is positioned frontally to the worker and goods are rearranged between successive loading aids. To record the depth of space, it is possible, for example, to use ultrasonic sensors or laser scanners. A comparatively new development are so-called "TOF cameras" ("Time of Flight"), which can measure distances with the aid of the transit time method. For this purpose, the observed area is illuminated by means of a light pulse, and the camera measures for each pixel the time that the light takes up to mm object and back again. The time required is directly proportional to the distance, in which case the function of the (conventional 2D ) Camera and the room depth sensor in one device, namely the TOF camera, united. In addition, it is noted that a spatial image of a workspace / Aibeitsbereichs can of course also be obtained with the help of several 2D cameras. In general, this requires at least three 2D cameras.
    Furthermore, it is noted that a "segment * is not necessarily two-dimensional in the context of the invention, but may also be three-dimensional. This three-dimensional segment can be understood as an arbitrarily shaped part of the three-dimensional "detection space" observed by the As-resistance system. While a two-dimensional segment is bounded by an envelope, a three-dimensional segment is surrounded by an envelope surface. It is noted that these terms are used synonymously in the context of the application. That is, a gauge that responds to an envelope N2012 / 08800 24/08/2012 13:41
    No .: RI41 P.015 / 044 25 13:38:34 24-08-2012 16/44 12 draws, can be applied analogously to HQliflächen and vice versa. Similarly, a doctrine disclosed for 2D segments can be applied analogously to 3D segments and vice versa. For example, a segment may be classified as "occupied" if the envelope or envelope of a segment is breached by a worker, particularly his or her hand or a tool held by it. For completeness, it is noted that a three-dimensional segment can of course also be defined over the edges of its envelopes (wireframe model). Finally, it is also mentioned that the occupancy of a three-dimensional segment can be determined both by calculations in three-dimensional space and by calculations in several two-dimensional views. For example, a three-dimensional segment may then be considered "occupied". classified when the envelopes of multiple projections are broken at different levels. In particular, the projection planes or the axes of the observing cameras are orthogonal to one another. With lower demands on the detection reliability, observation from two different directions may be sufficient. It is also particularly advantageous if only part of the detection range of the at least one camera or of the space depth sensor is subdivided into the mentioned segments. In this way, the calculation effort for the said method can be further reduced by concentrating the segmentation on an area in which the predetermined motion sequences are executed. It is conceivable, in particular, that the said part of the detection area is adapted to the respective movement sequence to be executed, that is to say that a different part of the detection area is segmented per movement sequence.
    It is also particularly advantageous if the height of the worker is detected and a movement sequence is adjusted according to the detected height. This makes it possible to design the movement with respect to ergonomic aspects and thus to increase the performance of the worker and / or to avoid long-term health damage due to poor ergonomics. For example, an arm length of the worker can be taken into account. Is it, for example, the task of the worker to supply goods between goods 14201208800 24/08/2012 13:42 * · · * ··· ♦ · * * · • ♦ * ♦ * * * * * * * * * ♦ * • t • »« • • • • • • • «e» • *
    No .: R141 P.016 / 044 25 13:39:20 24-08-2012 17/44 4 «•» »• • • • • * ♦« «» »φ« «•» * * ·· • · · · · · · · * * * * * * * * * * * * * * If you are looking for different loading aids then you can order a worker with a short arm length, who will be able to Loading agent narrower aufeustelien than a worker with a long office length. By means of this active specification movements of the worker can be avoided whose harmfulness the worker himself is not aware of, for example because the individual movement causes no pain and damage occurs only after a long time and frequent execution of the harmful movement. An adaptation of a movement sequence corresponding to the detected height can also be understood to mean a distribution of the work within a group of workers. For example, activities requiring large arm length and / or high body height, such as operating a relatively tall rack, are given to workers who meet these criteria. Accordingly, small workers are entrusted with activities that are suitable for them. It is advantageous if a group of workers has different characteristics (diversification).
    It is also particularly advantageous if the body size of the worker is detected and / or an area from which goods are removed and / or an area in which goods are stored is / are adjusted in accordance with the detected body size. In this way, it is also possible to automatically design the workstation / work area for the worker with regard to ergonomic aspects, thus increasing the worker's productivity and / or avoiding long-term health damage due to poor ergonomics, in particular, adjusting the height under said adjustment to understand the areas mentioned. For example, a work surface (a work table) or conveyor for the delivery and / or removal of goods can be adjusted in height. Of course, other drives can also be replaced without restriction, whereby the height of a stack of goods and / or a loading means can be taken into account, for example, the area from which stacked goods are removed can be successively raised In addition, the area in which goods are stored can be successively moved down so that the goods are always in Ν2012ΛΜ800 24/08/2012 13:43
    No .: R141 P.017 / 044 25 13:40:06 24-08-2012 18/44 * • • • • • • • • • • • • • * * • * * • * * ···· ♦ • φ 14 • ················································································································································································································· If goods are to be removed from or deposited in a high loading aid, this can be moved further downwards than a low loading aid, so that the upper edge of the loading aid is always at optimum height. Of course, the optimum working height can also be related to the bottom of the loading aid or to the upper edge of a stack therein. In particular, in the latter case, it may be that the height of the stack located in a loading aid is not visible depending on the position of the observing camera. In this case it can be provided that the height of the stack is calculated on the basis of the height of the manipulated objects.
    The adaptation of the removal area and / or the depositing area to the height of the worker is by no means limited to its height. For example, an arm length of the worker can also be used to move the removal area and / or the deposition area laterally toward the worker or away from the same. The considerations used for height adjustment are to be applied mutatis mutandis. For example, the removal area and / or the deposit area can be successively moved laterally when goods are lined up side by side, so as it were a "horizontal stack" is formed. It is also favorable if the at least one camera is positioned in front of and / or above a workstation / workspace intended for the worker. In this way, the movements of the worker and the manipulation of the goods can be tracked particularly well.
    It is also advantageous if the camera is movable. As a result, a camera is more flexibly replaceable, since it can observe an Aibeitsplatz / ATbeitsbereich if necessary from different angles or can also be used to monitor multiple workstations. It is also conceivable, for example, for several cameras to be arranged at a workstation / workspace or to be pulled together there when a particularly difficult process is to be observed. In general, the cameras can be connected by any means N2012 / 08600 24/08/2012 13:43
    No .: R141 P.018 / 044 25 13:40:46 24-08-2012 19/44 • · · · • t · * «« • · * * 4 | •. *. * * * * ♦ * * * * * ♦ * * * * * 8 8. For example, they may be mounted on articulated and motorized arms ("robotic arms") or may be moved along a rail system.
    For a better understanding of the invention, this will be explained in more detail with reference to the following figures.
    Figure 1 is a first schematically illustrated example of a system for manipulating goods in an oblique view.
    Figure 2 is a second schematically illustrated example of a system for manipulating goods in an oblique view.
    FIG. 3 shows an example of an image captured by a camera with an indicated movement sequence; FIG.
    Fig. 4 is an example of an image captured by a camera which is segmented;
    5 shows an example of an image captured by a camera with the start and end points of a motion sequence drawn in;
    6 shows an example of an image captured by a camera which is segmented only in regions and
    Fig. 7 as Fig. 2, only with marked segments / HüUkurven.
    By way of introduction, it should be noted that the parts described differently are provided with the same reference numerals or the same component designations, the disclosures contained throughout the description being able to be applied mutatis mutandis to identical parts with the same reference numerals or identical component designations. Also, the location information chosen in the description, such as top, bottom, side, etc. related to the immediately described and illustrated figure and are to be transferred to the new situation mutatis mutandis when a change in position. Furthermore, individual monuments or combinations of features can also be identified from the shown and described N2012 / 08600 24/08/2012 13:44
    No .: R141 P.019 / 044 25 13:41:25 24-08-2012 20/44 · ♦ · »Μ • # · · · · ♦ a · · g4 * * · < unterschiedlichen darstellen darstellen darstellen darstellen darstellen e unterschiedlichen unterschiedlichen unterschiedlichen unterschiedlichen unterschiedlichen unterschiedlichen unterschiedlichen unterschiedlichen unterschiedlichen unterschiedlichen unterschiedlichen unterschiedlichen unterschiedlichen unterschiedlichen unterschiedlichen unterschiedlichen unterschiedlichen unterschiedlichen unterschiedlichen unterschiedlichen unterschiedlichen unterschiedlichen unterschiedlichen unterschiedlichen unterschiedlichen unterschiedlichen unterschiedlichen unterschiedlichen unterschiedlichen unterschiedlichen unterschiedlichen unterschiedlichen unterschiedlichen unterschiedlichen unterschiedlichen unterschiedlichen unterschiedlichen unterschiedlichen unterschiedlichen unterschiedlichen unterschiedlichen unterschiedlichen unterschiedlichen unterschiedlichen unterschiedlichen unterschiedlichen unterschiedlichen unterschiedlichen unterschiedlichen unterschiedlichen unterschiedlichen Ausführungsbeispiel Ausführungsbeispiel Ausführungsbeispiel Ausführungsbeispiel Ausführungsbeispiel Ausführungsbeispiel Ausführungsbeispiel.
    Fig. 1 shows a worker 1 in a plant 2 for manipulating goods 3. The plant 2 comprises a table 4, troughs in which loading aids 5 (eg boxes or boxes) are set, display devices 6 (eg lamps or LEDs), input keys 7, a screen 8 and a camera 9. The camera 9 serves for detecting movements of the worker 1 and optionally of movements of the goods 3, which is manipulated by the worker 1. In addition, a transverse to the table 4 extending conveyor 10 is provided. Finally, the system 2 also comprises means for comparing whether the detected movements of the worker 1 and, where appropriate, the product 3 are in a desired range of a movement sequence, and for outputting a correction signal, if this is not the case, wherein a motion sequence detecting and storing at least one product 3 includes. By way of example, the said means can be formed by a computer integrated in the screen 8, in which appropriate software runs.
    In this way, a method for assisting a worker 1 in a plant 2 for manipulating goods 3 can be realized, comprising the steps: a) detecting movements of the worker 1 with at least one camera 9 mounted on the installation, b) comparing whether the detected movements of the worker 1 are in a target range of a first motion sequence and c) output a correction signal and continue at step a) with the first motion sequence if the comparison is negative, or continue at step a) with a second motion sequence if the comparison is positive fails, wherein a motion sequence includes the detection and removal of at least one product 3.
    For example, the task of the worker 1 may be to pick goods 3 for an outgoing order. In this case, for example, goods 3 are to be taken from the left and middle boxes according to the specification of a picking system and placed in the right box 5. For example, on Ν2012ΛΜ800 24/08/2012 13:45
    No .: R141 P. 020/044
    25 13:42:07 24-08-2012 21/44 * * I * · I 17 on the screen 8: "Please put two items from the left box in the right box, then three items from the middle box in put the right box ". Of course, the output can also be made acoustically. Additionally or alternatively, the display devices 6 can be used for this purpose. For example, the instruction may read "Please put two items from the box marked in green into the red box". Synchronously with the output, the corresponding display devices 6 are activated. Before step a) bet this variant so the starting point and the end point of a motion sequence are displayed.
    It would also be conceivable, for example, for the green display device 6 to flash twice to signal that two objects are to be removed. A separate text statement can then be omitted.
    In addition to color markings, the starting point and the end point of the movement sequence can also be marked with different shapes, for example with a circle and a cross, or also with the number / type of goods 3 to be picked up / deposited. In general, laser projectors and data glasses are also available for optical marking of start and end points.
    Only when this process has been carried out will the next instruction be sent to the worker 1, in our case "Put three items from the box marked in green into the box marked in red". In the prior art, the worker 1 must confirm the first operation to obtain the next instruction. On the one hand, this requires an additional work step and, moreover, it is error-prone. The worker 1 can in principle confirm the operation even if he has not carried out it or incorrectly.
    On the one hand, the presented method avoids the mentioned confirmation, on the other hand, errors of the worker 1 are recognized. In particular, the system can avoid a threatening error in the approach. For example, if the first instruction "Please put two items from the box marked in green into the box marked in red" will recognize that the worker 1 is placing an item out of the red. N2012 / 08800 24/08/2012 13:45
    No .: R141 P. 021/044 25 13:42:49 24-08-2012 22/44 • ¥ * • * t ·· • Φ • c * • • * M • t • • * • ^ - * ♦ t • 18 removes marked box 5, a warning can be issued to the worker 1 before he has actually sorted the goods 3 incorrectly. Likewise, a warning may be issued if he removes the goods 3 from the correct box 5, but then moves them in the wrong direction. On the other hand, if he executes the process correctly, the system jumps to the next instruction.
    Of course, the active confirmation of a completed Arbeiti by the worker 1 is not excluded in principle. In addition to pressing appropriate keys and the execution of a designated gesture may be provided. For example, placing both hands at the top and right of the edge of the table can "finish the operation - expect the next step to be taken.
    The system can also be used to sort goods 3 in the boxes 5. For example, 5 stores in the right container 5 mixed goods 3 sorted into the middle box 5 and the left box 5 are to be sorted (for example, because several storage containers have fallen from the clumsy to the ground and to keep the streets running in the camp hastily filled into a single container were). The observation of the camera 0 can provide valuable services here, since the system recognizes which product 3 is being pulled by which source box 5 into which destination box 5 and checks whether this is also a matter of control
    In addition to the simple instructions given to the worker 1, the system can also provide more complex instructions. For example, a worker 1 may be instructed to rotate a detected item to a particular location before it is discarded. In an advantageous variant of the method, a product 3 is automatically delivered before step a) and / or transported away after step c), if said comparison, whether the detected movements of the worker 1 and optionally the product 3 in a desired range of a first movement sequence lie, positively fails. For example, goods 3 to be manipulated can be delivered and / or removed via the conveyor 10. For example, goods 3 from boxes 5 may be placed in shipping cartons (not shown) on the conveyor N2012 / 08800 24/08/2012 13:46
    No .: R141 P.022 / 044 25 13:43:32 24-08-2012 23/44 9 ·· · * • Φ • »• • • • • • • • • • • • • • 1 * · * • • .... • * • · • · 19 tion 10 into it. When the job is completed, the system will automatically detect this and the full shipping carton will be shipped to the shipping department and a new empty shipping carton will be delivered to the next job. But the reverse case is also conceivable, namely that goods are 3 transported above the conveyor 10 from a warehouse and picked in the waiting boxes 5. If the corresponding number of goods 3 is removed from the storage container (not shown), it is transported back to the warehouse via the conveyor 10.
    Of course, instead of automatic delivery and automatic removal, provision may also be made for consciously controlling a delivery of goods 3 and their removal, for example by pressing a button 7 or by making a gesture. For example, pivoting the door to the right may mean that the conveyor 10 is transporting the next container.
    In a preferred variant of the method explained with reference to FIG. 1, the output of a correction signal or the delivery and removal of goods 3 is suppressed if it is determined that the worker 1 has moved away from his / her workspace / work area it is recognized that the worker 1 has moved away from his workplace / work area, for example, to search the toilet. The worker 1 does not need to make an explicit statement in order to stop or restart the workflow. Stopping or starting up occurs automatically as a consequence of worker 1 being or not present at the workplace / work area. Of course, it can also be deviatingly provided to deliberately control a delivery of goods 3 and their removal, for example, again by pressing a button 7 or by making a gesture.
    Advantageously, the camera 9 or an image processing software for the image captured by the camera 9 can detect the structure of the worker 1, that is, Ν2012Λ8800 24/08/2012 13:47
    No .: R141 P. 023/044 25 13:44:15 24-0B-2012 24/44
    For example, the torso, limbs, head and especially hands capture it. It is formed as it were a skeleton of the worker 1, whereby its movements can be detected particularly accurate or differentiated. This makes it possible to detect whether a product 3 has actually been registered. If, for example, a product 3 is only covered by the head or hull, it can be assumed that it has not been recorded. If, on the other hand, it is covered by one hand or both hands of the worker 1, then the probability is very high that the goods 3 were actually recorded. The "skeleton" in addition, the worker 1 can be extended by tools held by him (e.g., pliers, grippers, etc.) and a commodity 3 classified as being detected when the commodity 3 is concealed by the tool. Even then, the probability is very high that the goods 3 was actually recorded.
    FIG. 2 now shows a plant 2 for manipulating goods 3, which is very similar to the arrangement shown in FIG. In contrast, the camera 9 but not on a column, but mounted on a ceiling. In particular, it can also be provided that it is movably mounted, for example, in a rail and driven by a motor. In this way, cameras 9 can be used more flexibly. Since these move along defined paths, their location is much easier than, for example, the location of helmet cameras, which are worn by workers 1.
    In addition, the system 2 shown in FIG. 2 also comprises a room depth sensor 11. This makes it possible to easily detect movements which are performed normal to the image plane of the (two-dimensionally imaging) camera 9. This is advantageous, for example, if the camera 9 is positioned frontally to the worker 1 and goods 3 are rearranged between successive loading aids. Infrared sensors, ultrasound sensors or even laser scanners can be used, for example, to record the spatial depth. Of course, the camera 9 and the depth sensor 11 may also be arranged in a common housing. Alternatively or additionally, so-called "TOF cameras" can also be used. ("Time of Flighf) are used. 24/08/2012 13:48
    No .: R141 P.024 / 044 25 13:44:58 24-08-2012 25/44 21
    Fig. 3 shows an exemplary image captured by a camera 9 (Note: the image does not show the arrangements shown in Figures 1 and 2 but another exemplary arrangement.) In particular, the boxes 5 are not arranged in special troughs, but simple placed on the table 4). In Fig. 3, an expected motion sequence 12 is shown. The worker 1 is to put the goods / object 3 from the upper left box 5 into the lower left box 5. With the help of the camera 9 and a corresponding image processing is now checked whether the hand of the worker 1 and the object 3 are moved along the path shown. If so, this is considered successful in exporting the promoted action. If this is not true, then an error signal is output and attempts to cause the requested action.
    It is advantageous if in addition to the movement of the worker 1, the movements of the goods 3, which is manipulated by the worker 1, are detected before the step b) with the at least one camera 9 and the space depth sensor 11 and compared in step b), Whether the detected movements of the worker 1 and the goods 3 are in a soli area of a first movement sequence 12. The fact that not only the worker 1 is detected, but also manipulated by him goods 3, the monitoring of movement is particularly safe. In this embodiment, it is not sufficient, for example, to move only the hand in a predetermined manner. Instead, the goods 3 must be moved in a predetermined manner.
    It is particularly advantageous if a product 3 is classified as being captured by the worker 1, if it is at least partly held by the hand of the worker 1 or a tool held by him / her between the detection and depositing, in particular during the entire movement sequence 12 (z Pliers, grippers, etc.) is covered. As a rule, a product 3-unlike that shown in FIG. 3-is at least partially hidden when it is held by the worker 1. If it is not completely recognized between the detection (starting point of the movement sequence 12) and the deposition (end point of the movement sequence 12) or during the entire movement sequence 12, then it can be assumed with high probability that it is received by the worker 12 in the N2012 / 08800 24 / 08/2012 13:48
    No .: R141 P.025 / 044 25 13:45:43 24-08-2012 26/44 • «* *« · • · «« · · · * * «* * * ·« »· · * * Is moved in a predetermined manner and not, for example, lies only between the start and end point on a work table 4.
    In order to determine whether a product 3 is at least partially hidden, for example, data from a database in which 3D models of the goods 3 are stored can be used. If a view of the relevant 3D model does not completely correspond to the view of the goods 3 detected by the camera 9 and / or the depth sensor 11, and in particular corresponds to the hidden portion (at least partially) of a hand of the worker 1 or of a tool held by him the goods 3 can be classified as recorded.
    Possibly it can also be provided that the article 1 has to turn the article 3 into a defined position relative to the camera 9 after being picked up, so that it can be recognized, for example, on the basis of its contour, coloring, etc.
    Fig. 4 shows the same scene as Fig. 3. Now, however, the image captured by the camera 9 is subdivided with a raster 13 into a plurality of arrays 100..146 arranged like a matrix. The detection range of the at least one camera 9 or the space depth sensor 11 is thus subdivided into segments 100..146, and a motion sequence 12 contains an occupancy of the segments 100..146 by the worker 1 and / or the goods 3. According to the motion sequence 12 the worker 1 put the object 3 from the upper left box 5 into the upper right box 5. The calculation wall is kept low in this variant of the method, since it only has to be checked whether the hand of the worker 1 and the goods 3 occupy the segments 132, 133 and 134 in the stated sequence. In particular, if the boxes 5 can be set up randomly on a work table 4 (that is, for example, if predetermined troughs are missing), it may be advantageous to divide the table 4 into a predetermined grid in which the boxes 5 are to be placed. For this purpose, for example, lines can be painted on the table 4 or projected onto it. In this way it is avoided that boxes 5 are placed in an unfavorable position, for example on Ν2012 / 08800 24/08/2012 13:49
    No .: Ri41 P.026 / 044 25 13:46:25 24-08-2012 27/44 23 the crossing points of several grid lines. For example, in the illustration of FIG. 4, the rear boxes 5 from the perspective of the worker 1 are relatively unfavorable because they occupy comparatively many segments.
    It is also conceivable that a movement sequence 12 contains only the starting point 132 and end point 134 of a movement, as shown in Fig. 5 In this case, it is only checked whether the hand of the worker 1 and the goods 3, the segments 132, and 134 in the stated order. This makes it possible to keep the calculation effort for the said method even lower. For the successful execution of a movement sequence, it is sufficient that starting point and then the end point by the worker 1 (or his hand) and / or a product 3 is achieved. FIG. 6 shows a further variant of the method, in which only part of the detection range of the at least one camera 9 or of the space sensor 11 is subdivided into the mentioned segments 100... 103 by concentrating the segmentation on an area in which the predetermined movement sequences are executed, the calculation effort for the said method can be further reduced. In the application illustrated in FIG. 6, segments 100..103 assigned to the boxes 5 are used as an example. Thus, the check may be limited to whether the expected motion sequence 12 is occupied by occupying the current motion sequence 12, that is, "active". Segments 100 and 103, or optionally also by non-occupancy of not required for the current motion sequence 12, that is .inactive " Segments 101 and 102 has been performed. It is also conceivable, of course, that several segments are provided in the action area of the worker 1.
    It is also conceivable, in particular, for the segmented part of the detection range to be adapted to the movement sequence 12 to be executed in each case, that is to say for each movement sequence 12 a different part of the coverage area to be segmented. For the concretely presented motion sequence 12, this would mean that the detection area only in the segments 100 N2012 / 08800 24/08/2012 13:50
    No .: R141 P. 027/044 25 13:47:08 24-08-2012 28/44
    24 and 103 (or in other required in the radius of action of the worker 1 segments) is divided.
    In the case of the presented embodiment, an envelope is laid around a box 5, as it were. A segment 100 and 103 can then be classified as occupied if this envelope is broken by the worker 1, in particular his hand. In order to report a wrong classification with only accidental penetration of the envelope, it may also be provided that a segment 100 and 103 must be occupied for a certain time (for example one second) so that it is also classified as occupied.
    FIG. 7 now shows the workplace already shown in FIG. 2, but now with segments or envelopes / enveloping surfaces 100... 102 above the boxes 5. This is intended to visualize that the segments / envelopes 100... 102 are not necessarily planar or two-dimensional, but also spatially or three-dimensionally. This is particularly advantageous if the workstation / workspace can be detected three-dimensionally with a room depth sensor 11 or an arrangement of several 2D cameras. [The teaching on two-dimensional segments / envelopes 100..146 disclosed above is, of course, also applicable without restriction to three-dimensional segments / envelopes 100... 102. In addition, it is mentioned that the segments / envelopes 100... 102 in FIG. 7 can of course also have a different shape, for example the shape of a hemisphere or even irregular shapes.
    In a further preferred embodiment, the body size of the worker 1 is detected and a movement sequence 12 adapted according to the detected body size
    This makes it possible to design the movement sequence in terms of ergonomic aspects and thus to increase the performance of the worker 1 and / or to avoid long-term health damage due to poor ergonomics. For example, an arm length of the worker 1 can be taken into account. Is it as shown in Fig. 6 beispielswese the task of Ar N2012 / 08800 24/08/2012 13:50
    No .: R141 P.028 / 044 2S 13:47:49 24-09-2012 29/44 > · * ≪ ············································································································································································································································ This specification can be made, for example, via the screen 8 or implicitly also by virtue of the fact that a grid projected onto the table 4 is narrower or wider. In this way, an area from which goods 3 are removed and / or an area in which goods 3 are adjusted according to the detected the height of the worker 1 adjusted. In particular, the said adaptation also means an adjustment of the height of said areas. For example, a work table 4 or the conveyor 10 can be made height adjustable. For example, for adjusting the height linear motors (such as spindle drives) or other drives can be used. If the presence of a large worker 1 detected by the camera 9, then the work table 4 and / or the conveyor 10 are moved upwards. If a small worker 1 detected, then down accordingly.
    Preferably, the height of a stack of goods and / or a loading aid 5 can be considered. For example, the floor surface «! the troughs shown in Figs. 1 and 2 be adjustable in height. If goods 3 can be removed from or deposited in a high loading aid 5, this can be moved further downwards than a low loading aid 5, so that the upper edge or the bottom of the loading aid 5 is always at optimum height.
    In particular, when goods 3 are to be stacked, for example, garments, the area from which stacked goods 3 are removed may be successively shifted upward, so that the goods 3 are always taken out at the same height. Likewise, the area in which goods 3 are stored, successively moved down, so that the goods 3 are always stored at the same height. 24/08/2012 13:51
    No .: R141 P.029 / 044 25 13:48:30 24-08-2012 30/44 26
    This procedure is also applicable if goods 3 in a loading auxiliary center! 5 are to be stacked. If the height of the stack in a loading aid 5 can not be seen by the camera 9, the height of the stack can also be calculated from the height of the manipulated objects.
    The adaptation of the removal area and / or the storage area to the height of the worker 1 is by no means limited to the height. For example, an arm length of the worker 1 can be used to move the removal area and / or the deposit area accordingly laterally to the worker 1 or away from it. The considerations raised for height adjustment are to be applied mutatis mutandis. For example, the removal area and / or the deposit area can be successively moved laterally when goods 3 are lined up laterally, so as it were a "horizontal stack" is formed.
    By these active defaults movements of the worker 1 can be avoided, the harmfulness of which the worker 1 himself is unaware, for example because the individual movement causes no pain and damage occurs only after a long time and frequent execution of the harmful movement.
    An adaptation of a movement sequence 12 corresponding to the detected body size can also be understood as a distribution of the work within a group of workers 1. For example, activities requiring large arm length and / or high body height, such as operating a relatively tall rack, are awarded to workers 1 who meet these criteria. Accordingly, small workers 1 are entrusted with activities that are suitable for them. It is advantageous if a group of workers 1 has different characteristics (diversification).
    Of course, in this context, it should be noted that the method presented is, of course, not limited to use on a worktable 4 but can also be applied to other devices in a warehouse, such as working on a shelf. For example, such shelves can be used not only to store goods 3, but also to store goods.
    N2O12 / Q8B0Q 24/08/2012 13:52
    No .: R141 P.030 / 044 25 13:49:12 24-08-2012 25 31/44
    Serve 27 missionaries. Notwithstanding the arrangements in FIGS. 1 and 2, it is of course also possible to use a plurality of cameras 9 and / or room depth sensors 11 whose detection ranges can also overlap. In particular, a camera 9 and / or a room depth sensor 11 can also be moved in an eccentric manner.
    By detecting both the movement of a worker 1 and the goods 3 moved by him from a remote observer site, the system is very flexible replaceable under changing conditions and detects the monitored workflow with high security Thus, the monitoring of a workflow is significantly improved. Specifically, the following in particular result in the following:
    The movements of a worker 1 can be monitored regardless of the direction of his gaze.
    The worker 1 is more efficient because he is not affected by a helmet camera. • The system can not "kick" " fall, since the position of the observing camera 9 is always known
    Monitoring the manipulation of hard-to-distinguish items is facilitated
    It will be easier to supervise several workers 1, who will hand over co-operation and, for example, objects to each other or share an object together
    Restrictions or even advantages of a work ice 1, which are given due to its physique, can be considered.
    The exemplary embodiments show possible Ausfühmngsvarianten an assistance system according to the invention, it being noted at this point that the invention is not limited to the specifically illustrated Ausführungsvarianten dessel-ben / same, but also various combinations of the individual embodiments are mutually possible and this Variati onsmöglichkeit due the teaching of technical action by objective invention in the knowledge of the expert working in this technical field N2012 / 06800 24/08/2012 13:52
    No .: R141 P.031 / 044 25 13:49:53 24-08-2012 32/44 * · i · »· *
    28 lies. So are all conceivable embodiments, which are possible by combinations of individual details of the illustrated and described embodiment variant, includes the scope of protection.
    In particular, it has been wildly noted that in reality the display devices may also comprise more or fewer components than are present and are sometimes shown in a simplified form in the figures.
    For the sake of order, it should finally be pointed out that the illustrated devices as well as their components have also been partially offset and / or enlarged and / or reduced in size for a better understanding of their design.
    The task underlying the independent inventive solutions can be taken from the description. N2012 / 08800 24/08/2012 13:53
    No .: R141 P. 032/044 25 13:52:32 24-06-2012 37/44 • ·· I «* ··· · ** ··· · · * * ·· > ··· * · * · * ···
    Reference symbol 1 Worker 2 Equipment for manipulating goods 3 Object (goods) 4 Table 5 Loading aid (box, box) 6 Indicating light 7 Button 8 Screen Θ Camera 10 Conveyor 11 Room depth sensor 12 Sequence of movement 13 Grid 100..146 Field N2D12 / 06800 24/08 / 2012 13:55
    No .: R141 P. 037/044
    权利要求:
    Claims (18)
    [1]
    25 15:50:20 24-08-2012 33/44 1. A method for assisting a worker {1) in a plant (2) for manipulation of goods (3) comprising the steps of: a) detecting movements of the worker (1) with at least one camera (9) mounted on the installation, b) comparing whether the detected movements of the worker (1) in a desired area of a first movement sequence ( 12), c) outputting a correction signal and continuing at step a) with the first motion sequence (12) if the comparison is negative or continuing at step a) with a second motion sequence (12) if the comparison is positive, one Movement sequence (12) comprises the detection and removal of at least one product (3), wherein the detection range of the at least one camera (9) is divided into segments (100..146) and wherein a motion sequence (12) occupancy of the segments (100. .146) by the worker (1) lt.
    [2]
    2. The method according to claim 1, characterized in that the movements of the product (3), which is manipulated by the worker (1), are detected before the step b) with the at least one camera (9) and compared in step b) is whether the detected movements of the worker (1) and the goods (3) are in a desired range of a first movement sequence (12).
    [3]
    3. The method according to claim 2, characterized in that a product (3) is classified as detected by the worker (1) if it covers at least partially between the detection and depositing by a hand of the worker (1) or a tool held by him is N2012 / 08800 24/08/2012 13:54 No .: R141 P.033 / 044 35 13:50:56 24-08-2012 * · «1 • · • ** •%» · • * * ft * • • # # * * * * * * * * * * * 34 34 34 34 34 34 34 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2
    [4]
    4. The method according to any one of claims 1 to 3, characterized in that before step a) at least the starting point (132) and / or the end point (134) of a movement sequence (12) are displayed.
    [5]
    5. The method according to any one of claims 1 to 4, characterized in that prior to step a) a product (3) automatically delivered and / or removed after step c), if said comparison fails positive.
    [6]
    6. The method according to any one of claims 1 to 5, characterized in that the output of a correction signal or the delivery and removal of goods (3) is suppressed when it is determined that the worker (1) has moved away from his workplace
    [7]
    7. The method according to any one of claims 1 to 6, characterized in that a movement sequence (12) contains only the starting point (132) and end point (134) of a movement.
    [8]
    8. The method according to any one of claims 1 to 7, characterized in that the detection of movements in addition to a two-dimensional imaging camera (9) by a space depth sensor (11)
    [9]
    9. The method according to any one of claims 1 to 8, characterized in that only part of the detection range of the at least one camera (9) and the Raumtiefansensors (11) is divided into said segments (100..146)
    [10]
    10. The method according to any one of claims 1 to 9, characterized in that the Kürpergröße of the worker (1) detected and a movement sequence (12) is adjusted according to the detected body size. N2012 / 08800 24/08/2012 13:54 No .: R141 P. 034/044 25 13:51:30 24-06-2012 35/44 · * * · · # • · * • m • »• · · · ♦ ·········································································································································································································
    [11]
    11. The method according to any one of claims 1 to 10, characterized in that the body size of the worker (1) detected and an area from which goods (3) are removed, and / or an area in which goods (3) are stored , is adjusted according to the recorded height.
    [12]
    12. The method according to any one of claims 1 to 11, characterized in that the at least one camera (Θ) before and / or above a for the worker (1) provided workplace is positioned.
    [13]
    13. Assistance system for assisting a worker (1) in a plant (2) for manipulating goods (3), comprising: at least one installation mounted camera (9) for detecting movements of the worker (1), means for comparing whether said Movements of the worker (1) in a desired range a motion sequence (12) lie, and for outputting a correction signal, if this is not the case, wherein a movement sequence (12) comprises the detection and storage of at least one product (3) in that the detection area of the at least one camera (9) is subdivided into segments (100..146) and wherein a motion sequence (12) contains occupancy of the segments (100..146) by the worker (1)
    [14]
    14. An assistance system according to claim 13, characterized in that the camera (9) for detecting movements of the goods (3), which is manipulated by the worker (1) is formed, and the comparison means for comparing whether the movements of the worker ( 1) and the goods (3) in a desired range of a movement sequence (12) are formed.
    [15]
    An assistance system according to claim 13 or 14, characterized in that the camera (9) is positioned in front of and / or above a workstation provided for the worker (1) N2012 / 08800 24/08/2012 13:55 No .: RI41 P .035 / 044 25 13:52:08 24 * 08-2012 36/44 * • • • • • • • * * * * * · · · · · • «*« * * * »« «*» «* • ♦ ·» # «Μ ·· Μ 4
    [16]
    16. Assistance system according to one of claims 13 to 15, characterized in that the camera (9) is movable.
    [17]
    17. Use of a method according to one of claims 1 to 12 and / or an assistance system according to one of claims 13 to 16 in a warehouse.
    [18]
    18. Use according to claim 17, characterized in that a movement sequence (12) relates to the picking and / or resorting of goods (3). TGW Logistics Group GmbH by Attorneys Burger & Partner Rechtsanwalt GmbH USA «AMAMH 24/08/2012 13:55 Nr .: Ri41 P.036 / 044
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    同族专利:
    公开号 | 公开日
    EP2888185A1|2015-07-01|
    AT513130B1|2014-02-15|
    WO2014028959A1|2014-02-27|
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    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    ATA921/2012A|AT513130B1|2012-08-24|2012-08-24|Method and system for assisting a worker in a facility for manipulating goods|ATA921/2012A| AT513130B1|2012-08-24|2012-08-24|Method and system for assisting a worker in a facility for manipulating goods|
    EP13780049.6A| EP2888185A1|2012-08-24|2013-08-23|Method and system for assisting a worker in a system for manipulating goods items|
    PCT/AT2013/050166| WO2014028959A1|2012-08-24|2013-08-23|Method and system for assisting a worker in a system for manipulating goods items|
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