EP0959038B1 - Appareil vidéo pour chariot de manutention - Google Patents

Appareil vidéo pour chariot de manutention Download PDF

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Publication number
EP0959038B1
EP0959038B1 EP19990108915 EP99108915A EP0959038B1 EP 0959038 B1 EP0959038 B1 EP 0959038B1 EP 19990108915 EP19990108915 EP 19990108915 EP 99108915 A EP99108915 A EP 99108915A EP 0959038 B1 EP0959038 B1 EP 0959038B1
Authority
EP
European Patent Office
Prior art keywords
monitor
target
pallet
mask
load
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.)
Expired - Lifetime
Application number
EP19990108915
Other languages
German (de)
English (en)
Other versions
EP0959038A3 (fr
EP0959038A2 (fr
Inventor
Otto Ettenhuber
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Still Wagner GmbH and Co KG
Original Assignee
Still Wagner GmbH and Co KG
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Still Wagner GmbH and Co KG filed Critical Still Wagner GmbH and Co KG
Publication of EP0959038A2 publication Critical patent/EP0959038A2/fr
Publication of EP0959038A3 publication Critical patent/EP0959038A3/fr
Application granted granted Critical
Publication of EP0959038B1 publication Critical patent/EP0959038B1/fr
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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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
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/0755—Position control; Position detectors

Definitions

  • the invention relates to a video device for an industrial truck with a camera arranged in the region of a load-receiving device of the industrial truck and a monitor arranged in the region of a driver's compartment of the industrial truck, the load-receiving device being provided for receiving standardized transport means, which are designed as pallets, and wherein Target mask is provided, which is superimposed on the image displayed by the monitor and has a target mark for at least one contour of the pallet.
  • Forklifts where video devices are often used, for example, front forklifts or reach trucks.
  • As a standardized means of transport pallets grid boxes or other generally or operationally standardized containers are used.
  • load handling device usually forks are used, which can be retracted into an opening of the transport or in a space located under the transport space.
  • the load-receiving device and optionally located in front of or on the load-receiving device transport is detected by the camera and displayed simultaneously on the monitor. This should enable the driver to optimally position the load-receiving device, in particular before entering the means of transport.
  • a video device is known, for example, from US Pat. No. 5,586,620 A.
  • the present invention is therefore an object of the invention to provide a video device that facilitates the positioning of the load receiving device.
  • the target mask has a target for a vertical edge of an insertion opening of the pallet, a target for a horizontal edge of an insertion opening of the pallet and a target for at least one alignment line of an insertion opening of the pallet.
  • the driver sees the image of the means of transport captured by the camera.
  • the load handling device is optimally positioned when the target mark shown on the mask is matched with the corresponding contour of the image on the monitor. If this agreement is achieved, the load receiving device can be retracted straight and accurate in the transport.
  • Pallets have rectangular slots for a fork. If the length of the target on the target mask matches the length of the edge imaged on the monitor, the fork has a well-defined distance from the pallet.
  • the position of the forks can be adjusted in the lateral direction, wherein the vertical edge of the insertion opening and the associated target must align with each other.
  • the means of transport is designed as a pallet and the target mask has a target mark for a horizontal edge of an insertion opening of the pallet
  • the vertical position of the forklift can be adjusted by means of this target mark.
  • the target mask has a target mark for at least one alignment line of an insertion opening of the pallet
  • the inclination of a load fork can be checked using this alignment line and adjusted if necessary.
  • the alignment line is a horizontal, running away from the truck inner edge of the insertion opening. A retraction into a pallet may only be carried out with a horizontal fork. If the camera is attached to the forklift or truck lift mast, the camera will tilt with the forklift.
  • the fork is level if and only if the line of sight on the monitor is parallel to the corresponding target.
  • the destination mask has a destination mark for at least one contour of a shelf. If the contour of the shelf coincides with the target mark shown on the target mask, it is ensured that the load handling device does not approach the shelf.
  • Truck indicates running away the inner edge of the insertion opening.
  • a retraction into a pallet may only be carried out with a horizontal fork. If the camera is attached to the forklift or truck lift mast, the camera will tilt with the forklift. The fork is level if and only if the line of sight on the monitor is parallel to the corresponding target.
  • the target mask is imaged on a transparent film, which is arranged in front of the monitor.
  • the film can be individually printed for every location of the truck and is easily replaceable. If the camera mounted on a particular side of the load handling device is symmetrically remounted to the other side of the load handling device, for example, for operational reasons, the film can simply be turned.
  • the film can be arranged between the monitor and a protective film arranged in front of the monitor.
  • the film is protected by the protective film and it must be provided for the film no separate fastening device.
  • the target mask is displayed electronically in the image displayed by the monitor. It must be made no slides for this purpose. Instead, the position of the targets on the monitor is calculated and fed to the monitor as an electronic signal.
  • FIG. 1 shows a video device with a camera 6 arranged on a load fork 1, which is connected to a monitor 7 via a signal line 8.
  • the Signal transmission from the camera 6 to the monitor 7 can also be wireless.
  • the monitor 7 is arranged in the area of a driver's seat, not shown, of an industrial truck.
  • a transparent film 7b In front of a screen 7a of the monitor 7 according to the invention is a transparent film 7b, on which the target mask can be applied.
  • FIG. 2 shows the image of the monitor of a video device according to the invention, wherein a load fork 1 is located in front of a pallet P arranged in the longitudinal direction.
  • the forks 1 is located in the correct position for insertion into the insertion opening E position on a shelf R, which has an upper edge 2.
  • the pallet P has in this view as a characteristic for determining the position lines a vertical edge 3 of the insertion opening E and two alignment lines 4, 5.
  • an image of the entire palette for example, as shown in Figure 2, be superimposed with the image of the monitor.
  • greater clarity is achieved if only some characteristic lines of the pallet P are shown on the target mask.
  • the load fork 1 is in the correct position to enter the insertion opening E of the pallet P.
  • mark 1a for the forks 1 on the target mask there is a mark 1a for the forks 1 on the target mask. This mark 1a can be used to check whether the camera is in its correct position relative to the forks.
  • Target masks can be made in an analogous way for the transverse picking up of pallets. It can here for each used means of transport and for each possible orientation of the same means of transport uses a separate mask become. It is also possible to map the destinations for a plurality of means of transport, for example color-coded, on a common mask.

Landscapes

  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Structural Engineering (AREA)
  • Civil Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Mechanical Engineering (AREA)
  • Forklifts And Lifting Vehicles (AREA)
  • Warehouses Or Storage Devices (AREA)
  • Fittings On The Vehicle Exterior For Carrying Loads, And Devices For Holding Or Mounting Articles (AREA)

Claims (5)

  1. Dispositif vidéo pour un chariot de manutention comprenant une caméra (6) pouvant être disposée dans la zone d'un dispositif de prise de charge du chariot de manutention et un moniteur (7) pouvant être disposé dans la zone d'un poste de conduite du chariot de manutention, le dispositif de prise de charge étant prévu pour recevoir des moyens de transport standard réalisés sous la forme de palettes (P), et un masque de visée étant prévu, lequel est superposé à l'image représentée par le moniteur (7) et présente un repère de visée (3a, 4a, 5a) pour au moins un contour de la palette, caractérisé en ce que le masque de visée présente un repère de visée (3a) pour un bord vertical (3) d'une ouverture d'enfichage (E) de la palette (P), un repère de visée pour un bord horizontal d'une ouverture d'enfichage (E) de la palette (P) et un repère de visée (4a, 5a) pour au moins une ligne d'alignement (4, 5) d'une ouverture d'enfichage (E) de la palette (P).
  2. Dispositif vidéo pour un chariot de manutention selon la revendication 1, caractérisé en ce que les moyens de transport sont généralement entreposés dans un rayonnage (R) et le masque de visée présente un repère de visée (2a) pour au moins un contour d'un rayonnage (R).
  3. Dispositif vidéo pour un chariot de manutention selon la revendication 1 ou 2, caractérisé en ce que le masque de visée est représenté sur un film transparent (7b) qui est disposé devant le moniteur (7).
  4. Dispositif vidéo pour un chariot de manutention selon la revendication 3, caractérisé en ce que le film (7b) est disposé entre le moniteur (7) et un film protecteur disposé devant le moniteur (7).
  5. Dispositif vidéo pour un chariot de manutention selon l'une des revendications 1 à 4, caractérisé en ce que le masque de visée est affiché de manière électronique dans l'image représentée par le moniteur (7).
EP19990108915 1998-05-19 1999-05-05 Appareil vidéo pour chariot de manutention Expired - Lifetime EP0959038B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE19822496 1998-05-19
DE1998122496 DE19822496A1 (de) 1998-05-19 1998-05-19 Videovorrichtung für ein Flurförderzeug

Publications (3)

Publication Number Publication Date
EP0959038A2 EP0959038A2 (fr) 1999-11-24
EP0959038A3 EP0959038A3 (fr) 2004-02-11
EP0959038B1 true EP0959038B1 (fr) 2007-05-02

Family

ID=7868313

Family Applications (1)

Application Number Title Priority Date Filing Date
EP19990108915 Expired - Lifetime EP0959038B1 (fr) 1998-05-19 1999-05-05 Appareil vidéo pour chariot de manutention

Country Status (2)

Country Link
EP (1) EP0959038B1 (fr)
DE (2) DE19822496A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2345620A1 (fr) 2010-01-15 2011-07-20 Linde Material Handling GmbH Chariot de manutention, notamment chariot élévateur de stockage

Families Citing this family (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2001206696A (ja) * 2000-01-21 2001-07-31 Nippon Yusoki Co Ltd フォークリフト
EP1361190B1 (fr) * 2001-02-16 2010-04-14 Kabushiki Kaisha Toyoda Jidoshokki Dispositif de levage d'appareil photographique et dispositif support pour manipulation de charge d'un vehicule industriel et vehicule industriel associe
GB2395186B (en) 2002-11-13 2006-06-28 Bamford Excavators Ltd Method of handling a load
DE202005005409U1 (de) * 2005-04-06 2005-06-16 Still Gmbh Flurförderzeug mit einem Lastaufnahmemittel
JP4666154B2 (ja) * 2005-09-20 2011-04-06 株式会社豊田自動織機 フォークリフトにおける荷役作業支援装置
WO2016043998A1 (fr) 2014-09-15 2016-03-24 Crown Equipment Corporation Chariot élévateur comprenant une structure de détection de charge optique
US11142442B2 (en) 2017-02-10 2021-10-12 Arrow Acquisition, Llc System and method for dynamically controlling the stability of an industrial vehicle
DE102017124850A1 (de) * 2017-10-24 2019-04-25 Jungheinrich Ag Flurförderzeug mit einer Gabel und einer Gabelzinkenkamera sowie Verfahren zum Betreiben eines solchen Flurförderzeugs
DE102018100370A1 (de) * 2018-01-09 2019-07-11 Vetter Industrie GmbH Gabelseitenkamera zur Erfassung der Umgebung eines Flurförderzeugs
DE102019132375A1 (de) * 2019-11-27 2021-05-27 Rogama B.V. Lastaufnahmemittel

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3816988A1 (de) * 1988-05-18 1989-11-30 Tax Ingenieurgesellschaft Mbh Containerkrananlage
SE470018B (sv) * 1991-05-06 1993-10-25 Bromma Conquip Ab Optiskt avkännings- och styrningssystem
US5586620A (en) * 1995-05-12 1996-12-24 Crown Equipment Corporation Remote viewing apparatus for fork lift trucks
DE29708980U1 (de) * 1997-05-22 1997-07-17 Graef Ferdinand Überwachungsvorrichtung für Flurförderfahrzeuge

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2345620A1 (fr) 2010-01-15 2011-07-20 Linde Material Handling GmbH Chariot de manutention, notamment chariot élévateur de stockage
DE102010004719A1 (de) 2010-01-15 2011-07-21 Linde Material Handling GmbH, 63743 Flurförderzeug, insbesondere Lagertechnikstapler

Also Published As

Publication number Publication date
EP0959038A3 (fr) 2004-02-11
DE59914319D1 (de) 2007-06-14
EP0959038A2 (fr) 1999-11-24
DE19822496A1 (de) 1999-11-25

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