EP1710204B1 - Véhicule industriel avec dispositif de communication avec système d'identification monté sur un chariot porte-fourches mobile verticalement - Google Patents

Véhicule industriel avec dispositif de communication avec système d'identification monté sur un chariot porte-fourches mobile verticalement Download PDF

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Publication number
EP1710204B1
EP1710204B1 EP20060007150 EP06007150A EP1710204B1 EP 1710204 B1 EP1710204 B1 EP 1710204B1 EP 20060007150 EP20060007150 EP 20060007150 EP 06007150 A EP06007150 A EP 06007150A EP 1710204 B1 EP1710204 B1 EP 1710204B1
Authority
EP
European Patent Office
Prior art keywords
industrial truck
transmission
communicating
reception antenna
identification system
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 - Fee Related
Application number
EP20060007150
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German (de)
English (en)
Other versions
EP1710204A3 (fr
EP1710204A2 (fr
Inventor
Maik Manthey
Joachim Dr. Tödter
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 GmbH
Original Assignee
STILL GmbH
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Filing date
Publication date
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Publication of EP1710204A3 publication Critical patent/EP1710204A3/fr
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Publication of EP1710204B1 publication Critical patent/EP1710204B1/fr
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

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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 an industrial truck with at least one vertically movable fork carrier and at least one device arranged on the fork carriage for communication with an identification system.
  • the invention also relates to a method for operating such a truck.
  • Forklifts usually have a vertically movable fork carrier and arranged on the vertically movable fork carrier load-carrying means to raise or lower loads and carry for transport.
  • a typical example of this is a counterbalance forklift where the load handler essentially consists of a forklift attached to a fork carriage.
  • the fork carriage is mounted vertically movable on a mast.
  • other attachments such as drum clamps can be mounted.
  • fork carriage and forks can also form a structural unit.
  • RFID transponders are often used, which communicate with a reader via radio waves. In order to read out and / or modify this information, it is known to attach appropriate readers to industrial trucks. When using RFID technology, these reading devices usually consist of an antenna unit which emits and receives corresponding radio signals and an evaluation unit. The area covered by the antenna is, depending on the design of the antenna of different shape and size, but has mostly approximately conical shape. Preferably, the antenna unit is to bring as close to the transponder to be read, so an arrangement on the fork carriage of the truck is advantageous.
  • a reliable communication is still often not possible because the reception range of the antenna unit is spatially limited and additionally by interference or shading of the antenna unit by Parts of the load or the truck is reduced. Also, the orientation of the antenna unit to the transponder plays an essential role in the transmission quality.
  • a bar code reader for a forklift which is formed of a bar code reader, a turntable, a rotary drive device and a motion translation device.
  • the turntable is rotated by the rotary drive device
  • the rotary motion of the bar code reader is translated by the motion translation device into a rotary motion of the bar code reader.
  • the bar code reader is thereby rotated horizontally to form a wide horizontal detection area by the scanning pattern of the bar code reader. Accordingly, the read range of the Bareodelesers is widened horizontally.
  • the invention is therefore an object of the invention to provide an industrial truck with at least one vertically movable fork carriage and at least one arranged on the fork carriage device for communicating with an identification system that is easy to manufacture, reliable communication allows and improves the operator's view.
  • This object is achieved according to the invention by providing means for changing the coverage area covered by the device for communication with an identification system.
  • the communication with a specific identification means can be improved by changing the coverage area.
  • a restriction or shift of the covered detection range can hide interference signals. By shifting the covered detection range, it is also possible to read out different identification means without changing the location of the truck.
  • a particularly advantageous embodiment of the invention include the for changing the of the device for communication with a Means provided at least one device for rotating at least one transmitting and / or receiving antenna about an axis parallel to the vehicle longitudinal axis and / or about an axis parallel to the vehicle transverse axis and / or about an axis approximately parallel to the vehicle vertical axis.
  • a Means provided at least one device for rotating at least one transmitting and / or receiving antenna about an axis parallel to the vehicle longitudinal axis and / or about an axis parallel to the vehicle transverse axis and / or about an axis approximately parallel to the vehicle vertical axis.
  • the means provided for changing the detection range covered by the device for communication with an identification system comprise at least one device for displacing at least one transmitting and / or receiving antenna in a plane approximately parallel to the fork carrier.
  • This plane is defined by the cross members and the elements connecting them, such as reel seat, of the fork carriage and is mostly oriented approximately perpendicular to the footprint and the longitudinal axis of the truck.
  • the antenna can be brought into a better transmitting and / or receiving position, especially in shading by parts of the load or the truck.
  • Such a shift may also be advantageous in order to distinguish between adjacent or adjacent pallets. For example, a shift from an upper portion of the fork carriage to a lower portion makes it possible to distinguish between identification means located on a picked pallet and those mounted in the ground.
  • the means provided for changing the detection range covered by the device for communication with an identification system comprise at least one device for displacing at least one transmitting and / or receiving antenna in approximately vertical and / or approximately horizontal direction.
  • Shifts in these directions are parallel to main structural elements of the fork carriage and therefore particularly easy to accomplish.
  • means are provided for detecting and / or storing the displacement and / or rotation of the transmitting and / or receiving antenna.
  • the means for modifying the coverage area covered by the device for communication with an identification system prefferably be in operative connection with a control device in such a manner that the coverage area covered depends on the condition parameters of the industrial truck, in particular the lift height and / or load weight and / or inclination a lifting mast and / or position of the truck and / or vehicle speed and / or vehicle acceleration, is automatically changed.
  • the means for modifying the detection range covered by the device for communication with an identification system are actuated by a control device which receives information about the condition of the industrial truck, for example from sensors of the industrial truck. By the control device automatically changes the orientation of the reception area as a function of this information, an optimal coordination of the alignment of the detection area with the tasks to be performed is ensured without the operator having to intervene.
  • the transmitting and / or receiving antenna for transmitting signals in a wavelength range of 868 MHz to 920 MHz and / or in a wavelength range of 125 to 135 kHz and / or at a wavelength of approximately 13.56 MHz and / or at a wavelength of approximately 2.45 GHz, preferably for communication with RFID transponders is provided.
  • RFID transponders which usually operate in one of the specified wavelength ranges, as identification means is widely used. Therefore, such a system is inexpensive and easy to manufacture. at If several wavelength ranges are used, different types of transponders can be read out.
  • the device for displacing the transmitting and / or receiving antenna and / or the device for rotating the transmitting and / or receiving antenna has at least one electric and / or hydraulic and / or pneumatic drive.
  • Electrical energy is easily available on industrial trucks, electric drives are small, light and powerful and easy to control.
  • Hydraulic drives can also be supplied via the hydraulic system, which is usually available on forklift trucks, are robust and in particular enable simple linear adjustment.
  • Pneumatic actuators are simple in design, contain no harmful medium and are particularly suitable for use in potentially explosive atmospheres.
  • the object is achieved according to the invention in that a detection of signals of an identification system is carried out in at least two different settings of the detection area.
  • interference can be suppressed, which are generated for example by reflection on metal parts or by adjacent transponder.
  • a localization of at least one transponder is performed by comparing the data received at at least two different settings of the detection range.
  • the signals which are different in the case of different detection ranges, enable the signals from transponders located in edge regions of the respective detection ranges to be separated. So it is possible to locate a transponder.
  • the object is further achieved according to the invention in that displacements and / or rotations of the transmitting and / or receiving antenna are dependent on parameters of the industrial truck, in particular the position of the industrial truck and / or position of the load receiving device, and / or parameters of the load, in particular identification of the load and / or type of the load carrier means are stored and, when at least one of these parameters reappears, the stored displacements and / or rotations of the transmitting and / or receiving antenna are automatically carried out.
  • Frequently in certain Situations for example, on a particular shelf or when using a particular pallet type; given characteristic reception situations in which the reception can be optimized by a specific position of the receiving antenna.
  • FIG. 1 shows schematically a fork carriage 1 of a truck according to the invention with a arranged in the region of the fork carriage 1 communication device. 2
  • the fork carriage 1 consists essentially of a lower cross member 3 and an upper cross member 4, which are connected by roll holder 5. On the roll holders 5 rollers 6 are mounted, with which the fork carriage 1 is mounted vertically movable on a mast of a truck, not shown here. At the fork carriage 1 different attachments can be attached. In the illustrated embodiment, these are two forks 7, but also Fassklammem, dome or other attachments according to the prior art are conceivable.
  • the communication device 2 essentially consists of an antenna 9 arranged in a housing 8 for communication with RFID transponders.
  • the antenna 9 is rotatable about an axis 11 by means of an electric drive 10 designed, for example, as a stepper motor. This allows a favorable orientation to a rotated transponder can be set.
  • the housing 8 is mounted in a pivot bearing 12, which allows tilting of the device 2 about an axis 13 parallel to the vehicle transverse axis.
  • the pivot bearing 12 in turn is connected via another pivot bearing 14, which allows a rotational movement of the housing about an axis parallel to the vehicle vertical axis 15, with a support 16 which is mounted vertically movable on a rail 17.
  • the rail 17 is laterally movably attached to other rails 18, which in turn are attached to the cross members 3, 4 of the fork carriage 1.
  • electrical drives 10, 19a-d which are controlled by a control unit, not shown here.
  • the control unit is usefully integrated into the evaluation unit, which processes the signals received by the antenna 9, but embodiments are also conceivable in which the control unit is provided, for example, as an independent component or integrated into other devices.
  • the antenna 9 is capable of transmitting signals in a wavelength range of 868 MHz to 920 MHz and in a wavelength range of 125 to 135 kHz and at a wavelength of approximately 13.56 MHz and at a wavelength of approximately 2.45 GHz. The selection of the frequency range is made by the evaluation unit.
  • the antenna 9 is preferably oriented so that the area of the load forks 7 is covered as evenly as possible, i.
  • the device 2 will be arranged approximately without lateral rotation with a slight inclination forward. If signals from several transponders are detected, as may be the case, for example, when pallets are close together, the stepping motor 19b is driven such that the device 2 about the axis 15 by a certain angle, preferably 10 ° -60 °, after both Pages is pivoted. Transponders whose signal disappears during this swiveling movement are no longer taken into account in the evaluation of the signals.
  • the signals from transponders located above or below the pallet can be excluded by a tilting movement of the device 2 about the axis 13 according to the same principle.
  • Embodiments are also conceivable in which the detection range is changed continuously, for example according to the above-described motion scheme, in order to automatically determine the best reception position.
  • a coupling of the rotation and / or displacement of the antenna 9 in dependence on state parameters of the truck or the charge to be absorbed is conceivable, so that, for example, if it is known in the control unit for the antenna 9 which type of charge is to be picked up, the antenna is automatically aligned in the ideal receiving position. If, for example, different pallets with different placement of the transponder are to be accommodated, a preselection option for the pallet type can also be provided by the operator, so that the antenna 9 is aligned in accordance with this specification in the optimum receiving position.
  • the possibility of adjusting the antenna 9 is given by an operator on stand-alone, not shown here operating devices, for example, to remove the antenna 9 from the field of view or specifically cover a specific area or to save.
  • transponders with position information are also embedded in the road to allow a location of the truck.
  • an antenna is arranged in vehicles according to the prior art on the vehicle underbody. This is very complex and there is a high risk that the antenna will be damaged during operation.
  • the device 2 is rotated by 180 ° about the axis 15, brought along the rail 17 in the lowest position and the inclination is adjusted by rotation about the axis 13 so that the receiving area of the antenna 9 is directed to the road, can also in the roadway arranged transponder can be read out.
  • the antenna 9 is moved automatically during driving in this read-out position.
  • Whether the vehicle is in driving mode or in shunting operation can be determined by a coupling of the control unit with sensors of the truck, for example with a speed sensor. Since position information is usually read out only during travel and load information primarily when picking up or setting down the load, it is possible to perform both functions with a single antenna 9, which is why a separate antenna for reading the position information is not required.
  • the drive for the adjusting devices can for example also be hydraulic or pneumatic, with the former probably being the preferred embodiment in most cases due to the hydraulic system already present in industrial trucks.
  • the use of only one of the aforementioned frequency ranges is conceivable depending on the application. If other identification systems are to be used instead of RFID transponders, other transmitting and / or receiving units are to be provided, for example also optical systems.

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  • 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)

Claims (11)

  1. Chariot de manutention comprenant au moins une fourche porteuse (1) mobile dans le sens vertical et au moins un dispositif (2) disposé sur la fourche porteuse (1) pour communiquer avec un système d'identification, constitué d'un transpondeur RFID, et comprenant au moins une antenne d'émission et/ou de réception faisant office de dispositif pour communiquer avec le transpondeur, caractérisé en ce que des moyens (10, 12, 14, 17, 18) sont prévus pour modifier la plage de détection couverte par le dispositif (2) destiné à communiquer avec un système d'identification.
  2. Chariot de manutention selon la revendication 1, caractérisé en ce que les moyens (10, 12, 14, 17, 18) prévus pour modifier la plage de détection couverte par le dispositif (2) destiné à communiquer avec un système d'identification comprennent au moins un dispositif (10, 12, 14) destiné à faire tourner l'au moins une antenne d'émission et/ou de réception (9) autour d'un axe (11) approximativement parallèle à l'axe longitudinal du véhicule et/ou autour d'un axe (13) approximativement parallèle à l'axe transversal du véhicule et/ou autour d'un axe (15) approximativement parallèle à l'axe de hauteur du véhicule.
  3. Chariot de manutention selon la revendication 1 ou 2, caractérisé en ce que les moyens (10, 12, 14, 17, 18) prévus pour modifier la plage de détection couverte par le dispositif (2) destiné à communiquer avec un système d'identification comprennent au moins un dispositif (17, 18) de translation de l'au moins une antenne d'émission et/ou de réception dans un plan approximativement parallèle à la fourche porteuse (1).
  4. Chariot de manutention selon l'une des revendications 1 à 3, caractérisé en ce que les moyens (10, 12, 14, 17, 18) prévus pour modifier la plage de détection couverte par le dispositif (2) destiné à communiquer avec un système d'identification comprennent au moins un dispositif (17, 18) de translation de l'au moins une antenne d'émission et/ou de réception (9) dans une direction approximativement verticale et/ou approximativement horizontale.
  5. Chariot de manutention selon l'une des revendications 1 à 4, caractérisé en ce que des moyens sont prévus pour détecter et/ou mémoriser la translation et/ou la rotation de l'antenne d'émission et/ou de réception (9).
  6. Chariot de manutention selon l'une des revendications 1 à 5, caractérisé en ce que les moyens (10, 12, 14, 17, 18) prévus pour modifier la plage de détection couverte par le dispositif (2) destiné à communiquer avec un système d'identification sont en liaison active avec un dispositif de commande de telle sorte que la plage de détection couverte peut être modifiée automatiquement en fonction des paramètres d'état du chariot de manutention, notamment de la hauteur de levage et/ou du poids de la charge et/ou de l'inclinaison d'un mât de levage et/ou de la position du chariot de manutention et/ou de la vitesse du véhicule et/ou de l'accélération du véhicule.
  7. Chariot de manutention selon l'une des revendications 1 à 6, caractérisé en ce que l'antenne d'émission et/ou de réception (9) est prévue pour la transmission de signaux dans une plage de longueurs d'onde de 868 MHz à 920 MHz et/ou dans une plage de longueurs d'onde de 125 à 135 kHz et/ou à une longueur d'onde d'environ 13,56 MHz et/ou à une longueur d'onde d'environ 2,45 GHz, de préférence pour la communication avec des transpondeurs RFID.
  8. Chariot de manutention selon l'une des revendications 1 à 7, caractérisé en ce que le dispositif (17, 18) de translation de l'antenne d'émission et/ou de réception et/ou le dispositif (10, 12, 14) destiné à faire tourner l'antenne d'émission et/ou de réception (9) présente au moins un mécanisme d'entraînement (10, 19a-d) électrique et/ou hydraulique et/ou pneumatique.
  9. Procédé de fonctionnement d'un chariot de manutention selon l'une des revendications 1 à 8, caractérisé en ce d'une détection des signaux d'un système d'identification est effectuée avec au moins deux réglages différents de la plage de détection.
  10. Procédé selon la revendication 9, caractérisé en ce qu'une localisation de l'au moins un transpondeur est effectuée par une comparaison des données reçues avec au moins deux réglages différents.
  11. Procédé de fonctionnement d'un chariot de manutention selon l'une des revendications 1 à 8, caractérisé en ce que les translations et/ou les rotations de l'antenne d'émission et/ou de réception (9) sont mémorisées en fonction des paramètres du chariot de manutention, notamment de la position du chariot de manutention et/ou de la position du moyen d'accueil de la charge et/ou de paramètres de la charge, notamment de l'identification de la charge et/ou du type de moyen porteur de charge et, en présence d'une modification d'au moins l'un de ces paramètres, les translations et/ou rotations mémorisées de l'antenne d'émission et/ou de réception (9) sont exécutées automatiquement.
EP20060007150 2005-04-08 2006-04-04 Véhicule industriel avec dispositif de communication avec système d'identification monté sur un chariot porte-fourches mobile verticalement Expired - Fee Related EP1710204B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE200510016276 DE102005016276A1 (de) 2005-04-08 2005-04-08 Flurförderzeug mit einem vertikal beweglichen Gabelträger

Publications (3)

Publication Number Publication Date
EP1710204A2 EP1710204A2 (fr) 2006-10-11
EP1710204A3 EP1710204A3 (fr) 2007-11-14
EP1710204B1 true EP1710204B1 (fr) 2009-06-17

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EP (1) EP1710204B1 (fr)
DE (2) DE102005016276A1 (fr)

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE202005015095U1 (de) * 2005-09-24 2006-01-19 Jungheinrich Aktiengesellschaft System zur Erkennung und Verwaltung von Paletten
US7612673B2 (en) 2007-05-30 2009-11-03 Kimberly-Clark Worldwide, Inc. RFID system for lifting devices
DE102007061707A1 (de) 2007-12-19 2009-06-25 Technische Universität München Flurförderzeug mit einer RFID-gestützten Einrichtung zur Identifikation von Ladungsgütern
BE1018160A3 (nl) * 2008-05-26 2010-06-01 Egemin Nv Automatisch gestuurd voertuig en werkwijze voor het sturen daarbij toegepast.
DE202010012161U1 (de) 2010-09-02 2011-01-05 Sae Schaarschmidt Analytic Engineering Gmbh Flurförderfahrzeug
DE102014010943A1 (de) * 2014-07-28 2016-01-28 Andreas Laubner Mobile Barcodelesevorrichtung
EP3522102A1 (fr) * 2018-02-05 2019-08-07 Audi Ag Procédé de fonctionnement d'un système de transport comportant au moins un moyen de transport ainsi que système de transport correspondant

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Publication number Priority date Publication date Assignee Title
JPH054799A (ja) * 1991-06-27 1993-01-14 Toyota Autom Loom Works Ltd フオークリフトのバーコード読み取り装置
JPH0558598A (ja) * 1991-09-03 1993-03-09 Toyota Autom Loom Works Ltd フオークリフトにおけるバーコード読取り装置
CA2144886A1 (fr) * 1995-03-17 1996-09-18 William J. Doherty Systeme de guidage a camera video pour chariot elevateur a fourches
JP2002321899A (ja) * 2001-04-27 2002-11-08 Matsushita Electric Ind Co Ltd フォークリフト用入力装置
US6669089B2 (en) * 2001-11-12 2003-12-30 3M Innovative Properties Co Radio frequency identification systems for asset tracking
DE10323641A1 (de) * 2003-05-26 2005-01-05 Daimlerchrysler Ag Bewegliche Sensoreinrichtung am Lastmittel eines Gabelstaplers

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Publication number Publication date
DE102005016276A1 (de) 2006-10-12
DE502006003968D1 (de) 2009-07-30
EP1710204A3 (fr) 2007-11-14
EP1710204A2 (fr) 2006-10-11

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