US 11,970,378 B2
Warehouse inspection system
Hannes Bistry, Pinneberg (DE); Ralf Wetegrove, Norderstedt (DE); and Maximilian Richter, Hamburg (DE)
Assigned to Jungheinrich Aktiengesellschaft, Hamburg (DE)
Filed by Jungheinrich Aktiengesellschaft, Hamburg (DE)
Filed on Mar. 3, 2021, as Appl. No. 17/190,568.
Claims priority of application No. 10 2020 105 804.7 (DE), filed on Mar. 4, 2020.
Prior Publication US 2021/0276842 A1, Sep. 9, 2021
Int. Cl. B66F 9/06 (2006.01); G01B 11/00 (2006.01); G05D 1/00 (2006.01)
CPC B66F 9/063 (2013.01) [G01B 11/002 (2013.01); G05D 1/0225 (2013.01); G05D 1/024 (2013.01)] 24 Claims
OG exemplary drawing
 
1. A system for inspecting a warehouse comprising:
a laser scanner attached to an industrial truck and adapted to emit laser scanning pulses in directions substantially perpendicular to a main direction of travel of the industrial truck, such that a scanning plane of the laser scanner is substantially perpendicular to the main direction of travel of the industrial truck and encompasses an environment of a warehouse on at least one side of the industrial truck, wherein the laser scanner is further adapted to generate corresponding scan data; and
a computing unit that is adapted to:
receive the scan data and additional data comprising at least one of data on an absolute position change of the industrial truck or data on a relative position change of the industrial truck, wherein the additional data indicates movement of the laser scanner in the main direction of travel of the industrial truck; and
construct three-dimensional data of the environment based on the scan data and the additional data.