EP0052088A1 - Collision guard - Google Patents
Collision guard Download PDFInfo
- Publication number
- EP0052088A1 EP0052088A1 EP81850197A EP81850197A EP0052088A1 EP 0052088 A1 EP0052088 A1 EP 0052088A1 EP 81850197 A EP81850197 A EP 81850197A EP 81850197 A EP81850197 A EP 81850197A EP 0052088 A1 EP0052088 A1 EP 0052088A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- vehicle
- arms
- radiation
- elements
- devices
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F17/00—Safety devices, e.g. for limiting or indicating lifting force
- B66F17/003—Safety devices, e.g. for limiting or indicating lifting force for fork-lift trucks
Definitions
- the present invention relates to an improved collision guard primarily for driverless industrial trucks designed to carry pallets, etc.
- the vehicle When the vehicle reverses to fetch a pallet or other load it must not run into a human being or other obstacle. It is therefore necessary to "teach" the vehicle to distinguish between obstacles like people, when it must stop, and other objects like pallets which it is to fetch.
- this problem is solved by providing the vehicle with two rearward-protruding arms located on either side of the load and accordingly straddling it.
- the arms can themselves cause injury if they strike anyone while the truck is reversing and they are therefore spring-loaded and fitted with switches or corresponding elements which cause the vehicle to stop or at least reduce its speed when the arms come into contact with anything.
- the arms are fitted with at least two devices which transmit and receive suitable continuous or intermittent acoustic or electromagnetic waves such as infrared light, radar or ultrasonics passing between the arms.
- the devices control the drive unit of the vehicle in such a manner that an interruption in the beam of the first device causes the vehicle to reduce speed and an interruption in the beam of the second device causes the vehicle to stop unless two sensing elements on each arm between the first and the second device have both indicated that a pallet-like object has been introduced between the arms. For example, if a person is standing in the way between the arms only one or none of these sensing elements will be actuated. The vehicle 6ill accordingly stop.
- the chassis of the vehicle is designated with the numeral 1 and the load-carrying elements, which consist of forks, for example, with the numeral 2.
- the vehicle 1 is equipped with rearward-protruding arms 3 which extend beyond the load-carrying elements 2.
- Each arm consists of an inner portion 3 situated nearest the vehicle 1 and an outer portion 4.
- the outer portion 4 slides telescopically into the inner portion 3 against spring pressure.
- One of the aforementioned arms 3 is fitted on the side facing the other arm with at least two radiation-emitting devices (transmitters) 5, 7.
- transmitters transmitters
- Opposite the aforementioned radiation-emitting devices 5,7 are radiation-receiving devices 6,8.
- the latter devices may also consist of reflectors which reflect the beam back to the respective transmitter 5, 7, which is then combined with a receiver.
- transmitters 5,7 and receivers 6, 8 on each arm are devices 9, 10 which sense objects in their immediate vicinity.
- devices 9, 10 may consist of switches fitted with actuating "feelers" but may also consist of more complicated apparatus such as radar equipment.
- the vehicle described above works in the following manner.
- the pallet is introduced between the arms 3, 4.
- the beam between the outermost radiation-emitting and receiving devices 5, 6 is then interrupted and the speed of the vehicle 1 is reduced.
- the pallet is brought into contact with both the sensing elements which then indicate that the intended object is situated between the arms 3, 4 with the result that the vehicle is not qaused to stop when the beam between the inner radiation-emitting and receiving devices 7,8 is interrupted.
- the outermost ray is interrupted in the same manner as described above and the speed of the vehicle is reduced.
- the two sensing devices 9, 10 are not actuated simultaneously since the distance between the arms is too great with the result that when the inner beam is interrupted the vehicle 1 is caused to stop.
- a collision guard has accordingly been achieved which effectively prevents injuries to persons and damage to objects.
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Geology (AREA)
- Mechanical Engineering (AREA)
- Structural Engineering (AREA)
- Forklifts And Lifting Vehicles (AREA)
- Steroid Compounds (AREA)
- Ultra Sonic Daignosis Equipment (AREA)
- Oscillators With Electromechanical Resonators (AREA)
Abstract
A vehicle (1) is equipped with two rearward-protruding arms (3,4) preferably spring-loaded which on reversing into an obstacle are telescopically pressed in and so actuate elements which cause the vehicle to stop or reduce its speed. The arms (3, 4) are provided with at least two devices (5, 8) for emitting and receiving radiation which passes between the arms (3, 4) the said devices (5,8) controlling the drive unit of the vehicle in such a manner that an interruption in the beam of the second device (7, 8) causes the vehicle to stop unless two sensing elements (9, 10) mounted on each arm (3, 4) between the first device (5, 6) and the second device (7, 8) have both indicated that a pallet-like object has been introduced between the arms (3, 4), causing the vehicle to stop if a person, for example, is standing in its path but allowing it to continue if a pallet, for example, is there.
Description
- The present invention relates to an improved collision guard primarily for driverless industrial trucks designed to carry pallets, etc. When the vehicle reverses to fetch a pallet or other load it must not run into a human being or other obstacle. It is therefore necessary to "teach" the vehicle to distinguish between obstacles like people, when it must stop, and other objects like pallets which it is to fetch.
- According to the invention this problem is solved by providing the vehicle with two rearward-protruding arms located on either side of the load and accordingly straddling it. The arms can themselves cause injury if they strike anyone while the truck is reversing and they are therefore spring-loaded and fitted with switches or corresponding elements which cause the vehicle to stop or at least reduce its speed when the arms come into contact with anything.
- The arms are fitted with at least two devices which transmit and receive suitable continuous or intermittent acoustic or electromagnetic waves such as infrared light, radar or ultrasonics passing between the arms.
- The devices control the drive unit of the vehicle in such a manner that an interruption in the beam of the first device causes the vehicle to reduce speed and an interruption in the beam of the second device causes the vehicle to stop unless two sensing elements on each arm between the first and the second device have both indicated that a pallet-like object has been introduced between the arms. For example, if a person is standing in the way between the arms only one or none of these sensing elements will be actuated. The vehicle 6ill accordingly stop.
- A version of the invention is described below with reference to the appended drawing, where
- Fig. 1 shows a vehicle viewed from above, and where
- Fig. 2 shows a detail enlargement of the broken-line frame in Fig. 1.
- The chassis of the vehicle is designated with the numeral 1 and the load-carrying elements, which consist of forks, for example, with the
numeral 2. The vehicle 1 is equipped with rearward-protrudingarms 3 which extend beyond the load-carryingelements 2. Each arm consists of aninner portion 3 situated nearest the vehicle 1 and anouter portion 4. Theouter portion 4 slides telescopically into theinner portion 3 against spring pressure. The purpose of this arrangement will be evident from the following description of the method of operation of the apparatus. - One of the
aforementioned arms 3 is fitted on the side facing the other arm with at least two radiation-emitting devices (transmitters) 5, 7. Opposite the aforementioned radiation-emittingdevices receiving devices respective transmitter - Between
transmitters receivers - The vehicle described above works in the following manner. When the vehicle 1 reverses towards a pallet (not shown) the pallet is introduced between the
arms receiving devices arms devices arms - Should either of the
arms outer arm 4 is pressed against spring pressure intoarm 3 with the result that switches or similar devices cause the vehicle 1 to stop. - By means of the invention a collision guard has accordingly been achieved which effectively prevents injuries to persons and damage to objects.
Claims (6)
1. Collision guard primarily for pallet-handling vehicles (1) with load-carrying elements (2), characterized in that the vehicle (1) is equipped with two rearward-protruding arms (3, 4) on either side of the vehicle, the said arms (3, 4) being fitted with detecting elements (5, 6, 7, 8, 9, 10) for sensing objects situated between the arms (3, 4) and regulating the drive unit of the vehicle (1) so that its motion is retarded and interrupted if the presence of a non- intended object beside or between the arms (3, 4) is detected.
2. A collision guard as in Claim 1, characterized in that at least two of the detecting elements consist of devices (5-8) emitting and receiving radiation, in which connection the radiation-emitting devices (5, 7) are mounted on one of the aforementioned arms (3, 4) while the radiation-receiving devices (6, 8) are mounted on the other arm (3, 4) so that a beam from one of the radiation-emitting devices (5, 7) passes between the arms (3, 4) and is received by one of the radiation-receiving devices (6, 8), the said devices controlling the movement of the vehicle (1) in wuch a manner that an interruption in the beam of the device (5, 6) situated at the outer end of the nearest arm (3, 4) causes a reduction in the speed of the vehicle and an interruption in the beam of the other device (7, 8) causes the vehicle to stop.
3. A collision guard as in Claim 2, characterized in that the detecting elements embrace a sensing element (9, 10) mounted on each arm (3, 4) and so arranged that both the elements (9, 10) are actuated if a pallet-like object is introduced between the arms (3, 4) in which case the movement of the vehicle is not affected while if only one or none of the elements (9, 10) is actuated by an object between the arms (3, 4) the movement of the vehicle is stopped.
4. A collision guard as in Claim 3, characterized in that the sensing elements (9, 10) are arranged between the radiation-emitting (5, 7) and radiation-receiving (6, 8) devices on the arms (3, 4).
- 5. A collision guard as in any of the foregoing claims, characterized in that each of the arms consists of two parts (3, 4), namely an inner part (3) situated nearest the vehicle (1) and an outer part (4) of which the outer part (4) is arranged to slide telescopically inside the inner part (3) against spring pressure, when on reversing into an obstacle the outer part (4) is pressed into the inner part (3) and in so doing actuates elements which cause the vehicle (1) to stop or reduce its speed.
6. A collision guard as in any of the foregoing claims, characterized in that the radiation-emitting elements (5, 7) are arranged to emit continuous or intermittent acoustic or electromagnetic waves.
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
SE8007824A SE436184B (en) | 1980-11-06 | 1980-11-06 | PABACKNINGSSKYDD |
SE8007824 | 1980-11-06 |
Publications (1)
Publication Number | Publication Date |
---|---|
EP0052088A1 true EP0052088A1 (en) | 1982-05-19 |
Family
ID=20342188
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP81850197A Withdrawn EP0052088A1 (en) | 1980-11-06 | 1981-10-23 | Collision guard |
Country Status (5)
Country | Link |
---|---|
EP (1) | EP0052088A1 (en) |
DK (1) | DK490581A (en) |
FI (1) | FI813345L (en) |
NO (1) | NO813545L (en) |
SE (1) | SE436184B (en) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP0309796A2 (en) * | 1987-09-29 | 1989-04-05 | Jungheinrich Aktiengesellschaft | Security device for fork-lift trucks |
WO1996022939A1 (en) * | 1995-01-27 | 1996-08-01 | Andersson Hakan | Collision protection |
Citations (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US2282201A (en) * | 1940-10-18 | 1942-05-05 | Us Patent Dev And Royalty Comp | Lift truck |
US3034675A (en) * | 1959-10-02 | 1962-05-15 | Yale & Towne Mfg Co | Carriage control for lift trucks |
DE1944786A1 (en) * | 1968-08-29 | 1970-03-05 | Simon Handling Eng Ltd | Transport and stacking device |
US3672470A (en) * | 1969-11-26 | 1972-06-27 | Eaton Yale & Towne | Photoelectric control for load handling device |
DE2254012A1 (en) * | 1972-11-04 | 1974-05-16 | Clark Equipment Co | LIGHT REFERENCE SYSTEM TO HELP THE OPERATING STAFF IN THE POSITIONING OF LOAD LIFTING DEVICES AND THE LIKE |
US4109233A (en) * | 1974-12-20 | 1978-08-22 | Honeywell Inc. | Proximity sensor |
DE7833012U1 (en) * | 1978-11-07 | 1979-03-29 | Wirus-Werke W. Ruhenstroth Gmbh, 4830 Guetersloh | Protective device on conveyors |
DE2904123A1 (en) * | 1978-02-15 | 1979-08-16 | Bygg Och Transportekonomie Ab | SAFETY DEVICE FOR TRUCKS, IN PARTICULAR FOR PALLET TRUCKS AND FORKLIFT TRUCKS |
-
1980
- 1980-11-06 SE SE8007824A patent/SE436184B/en not_active IP Right Cessation
-
1981
- 1981-10-21 NO NO813545A patent/NO813545L/en unknown
- 1981-10-23 EP EP81850197A patent/EP0052088A1/en not_active Withdrawn
- 1981-10-26 FI FI813345A patent/FI813345L/en not_active Application Discontinuation
- 1981-11-05 DK DK490581A patent/DK490581A/en not_active Application Discontinuation
Patent Citations (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US2282201A (en) * | 1940-10-18 | 1942-05-05 | Us Patent Dev And Royalty Comp | Lift truck |
US3034675A (en) * | 1959-10-02 | 1962-05-15 | Yale & Towne Mfg Co | Carriage control for lift trucks |
DE1944786A1 (en) * | 1968-08-29 | 1970-03-05 | Simon Handling Eng Ltd | Transport and stacking device |
AT300652B (en) * | 1968-08-29 | 1972-08-10 | Simon Handling Eng Ltd | Transport and stacking device |
US3672470A (en) * | 1969-11-26 | 1972-06-27 | Eaton Yale & Towne | Photoelectric control for load handling device |
DE2254012A1 (en) * | 1972-11-04 | 1974-05-16 | Clark Equipment Co | LIGHT REFERENCE SYSTEM TO HELP THE OPERATING STAFF IN THE POSITIONING OF LOAD LIFTING DEVICES AND THE LIKE |
US4109233A (en) * | 1974-12-20 | 1978-08-22 | Honeywell Inc. | Proximity sensor |
DE2904123A1 (en) * | 1978-02-15 | 1979-08-16 | Bygg Och Transportekonomie Ab | SAFETY DEVICE FOR TRUCKS, IN PARTICULAR FOR PALLET TRUCKS AND FORKLIFT TRUCKS |
DE7833012U1 (en) * | 1978-11-07 | 1979-03-29 | Wirus-Werke W. Ruhenstroth Gmbh, 4830 Guetersloh | Protective device on conveyors |
Non-Patent Citations (1)
Title |
---|
Materials Handling News, March 1977 London "Now Driverless Lift Too" * page 57, column 3, line 32 to 40 * * |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP0309796A2 (en) * | 1987-09-29 | 1989-04-05 | Jungheinrich Aktiengesellschaft | Security device for fork-lift trucks |
DE3732724A1 (en) * | 1987-09-29 | 1989-04-13 | Jungheinrich Kg | SAFETY DEVICE FOR FORK VEHICLES |
EP0309796A3 (en) * | 1987-09-29 | 1990-06-20 | Jungheinrich Unternehmensverwaltung Kg | Security device for fork-lift trucks |
WO1996022939A1 (en) * | 1995-01-27 | 1996-08-01 | Andersson Hakan | Collision protection |
Also Published As
Publication number | Publication date |
---|---|
NO813545L (en) | 1982-05-07 |
FI813345L (en) | 1982-05-07 |
SE8007824L (en) | 1982-05-07 |
DK490581A (en) | 1982-05-07 |
SE436184B (en) | 1984-11-19 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
US4802096A (en) | Controlled direction non-contact detection system for automatic guided vehicles | |
EP0170038B1 (en) | Protective zone apparatus on a vehicle | |
US6784800B2 (en) | Industrial vehicle safety system | |
CA1291725C (en) | Load lifting device load sensing | |
US8146702B2 (en) | Load handling bumper for material handling device | |
US9637123B2 (en) | Method for operating a self-propelled mobile platform | |
US4968878A (en) | Dual bumper-light curtain obstacle detection sensor | |
JP2603228Y2 (en) | Automated guided vehicle safety equipment | |
US6290188B1 (en) | Collision avoidance system for track-guided vehicles | |
US4958068A (en) | Dual bumper-light curtain obstacle detection sensor | |
EP0052088A1 (en) | Collision guard | |
WO2012012344A1 (en) | Rfid safety system and method | |
US6069558A (en) | Warning system for vehicles operating in confined spaces | |
AU2010201626A1 (en) | Vehicle Control Safety System | |
US3942603A (en) | Automatic vehicle-stopping structure | |
GB2119987A (en) | Traffic control system | |
JPH08137547A (en) | Safety device for automated guided vehicle | |
JPH02115475A (en) | Safety confirming device for mechanical parking device | |
JPS6111819B2 (en) | ||
US20220137635A1 (en) | Autonomous vehicle with a sensor device | |
US20240176019A1 (en) | System having a sensor and associated method | |
CN220033926U (en) | Double-insurance fork anti-collision safety device and forklift type AGV with same | |
CN210065097U (en) | Safety protection system based on unmanned forklift application | |
JPH08169505A (en) | Automated warehouse having safety device | |
KR200182216Y1 (en) | Backward gear |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
PUAI | Public reference made under article 153(3) epc to a published international application that has entered the european phase |
Free format text: ORIGINAL CODE: 0009012 |
|
AK | Designated contracting states |
Designated state(s): DE FR GB |
|
STAA | Information on the status of an ep patent application or granted ep patent |
Free format text: STATUS: THE APPLICATION HAS BEEN WITHDRAWN |
|
18W | Application withdrawn |
Withdrawal date: 19821026 |
|
RIN1 | Information on inventor provided before grant (corrected) |
Inventor name: LINDELL, EWERT Inventor name: GRANATH, GOETE Inventor name: WOLGAST, BERTIL |