EP1764340B1 - Industrial truck with an environnement sensor positioned close to the lifting mast - Google Patents

Industrial truck with an environnement sensor positioned close to the lifting mast Download PDF

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Publication number
EP1764340B1
EP1764340B1 EP06018575A EP06018575A EP1764340B1 EP 1764340 B1 EP1764340 B1 EP 1764340B1 EP 06018575 A EP06018575 A EP 06018575A EP 06018575 A EP06018575 A EP 06018575A EP 1764340 B1 EP1764340 B1 EP 1764340B1
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EP
European Patent Office
Prior art keywords
ambient sensor
industrial truck
fork carrier
truck according
fork
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Not-in-force
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EP06018575A
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German (de)
French (fr)
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EP1764340A3 (en
EP1764340A2 (en
Inventor
Joachim Tödter
Volker Viereck
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STILL GmbH
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STILL GmbH
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    • 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, in particular counterbalance forklifts, arranged with an arranged in the region of a mast, in the forward direction, for example, designed as a camera environment sensor, wherein the motion sensor is mounted in the vertical direction movable on a fork carrier of the mast.
  • Industrial trucks such as counterbalanced forklifts, reach trucks or forklift trucks, also known as AGVs (automatic guided vehicles), have a mast and a fork carriage which can be moved up and down on the mast, to which a load-receiving means usually formed by a fork can be fastened , Forklifts of this type can be used to pick up loads from the floor or from a shelf, place them on the floor or in a rack, raise, lower and transport them.
  • AGVs automated guided vehicles
  • a driver's seat In counterbalanced forklifts, a driver's seat is usually aligned in the forward direction.
  • the mast with fork carriage and load handler is located on counterbalance forklift outside the wheel base at the front end of the counterbalance forklift.
  • a load taken up with the load-carrying means is thus in front of the operator and, especially when the load is wide and particularly high, impairs the operator's front view.
  • a forklift truck in which a camera is arranged to be vertically movable on the lifting carriage.
  • a fork carriage On the lifting a fork carriage by means of a scissors mechanism is moved horizontally, wherein the fork carriage, a further camera is provided which is fixedly secured to the fork carriage.
  • WO 2004/103882 A1 is a designed as a counterbalance forklift truck disclosed, wherein a load sensor is movably arranged on the fork carriage.
  • the load sensor can be moved vertically and / or horizontally by means of a linear drive.
  • a pan-tilt head may be provided to pivot and tilt the load sensor.
  • the present invention is therefore an object of the invention to provide an industrial truck of the type mentioned above, which can be safely controlled by the operator in the forward direction due to the image detected by the environmental sensor.
  • the environmental sensor is biased to a position down, in which the environmental sensor is below the fork carriage, and on the mast, a stop for the environmental sensor is arranged, such that the environment sensor at a complete lowering of Fork carrier is moved relative to the fork carriage up.
  • the environmental sensor is preferably formed by a camera.
  • the environment sensor is located below the fork carriage, as soon as the fork carriage to some Centimeters is raised. This is the case, for example, during driving with a load located on the load-carrying means.
  • the arrangement of the environmental sensor below the fork carrier makes it possible to fully capture the area of the road ahead of the truck. This makes it possible for the operator to control the truck only on the basis of the image taken by the environmental sensor.
  • the underside of a load-bearing device fastened to the fork carriage as well as a shelf optionally located in front of the load-receiving means are also detected by the environmental sensor. This makes it possible to monitor the correct retraction of the lifting device on a shelf with the image taken by the environmental sensor. Only when the fork carriage is fully lowered, for example, to settle a load on the ground, the environmental sensor is pushed by the stop relative to the fork carriage up. A placement of the environmental sensor on the road is thereby reliably prevented. Due to the bias of the environmental sensor, the environmental sensor moves down relative to the carriage once the carriage is raised.
  • Optimal protection of the environmental sensor from damage is achieved by the environmental sensor being fully within the vertical extension of the fork carriage when the fork carriage is fully lowered.
  • At least one spring is provided for biasing the environmental sensor, which exerts a downward force on the environmental sensor.
  • the spring is attached to the fork carriage and supports the reaction force on the fork carriage.
  • the bias of the environmental sensor down at least partially by means of the gravity of the environmental sensor and / or the gravity of a connected to the environmental sensor component. If the environmental sensor is provided with an additional weight, the weight for the bias of the environmental sensor down sufficient. According to a preferred embodiment, the bias voltage is generated by the weight force of the environmental sensor together with the force of a spring.
  • the stop is expediently arranged on a lifting mast which can not be raised or on a lifting mast of the mast which can be raised independently of the fork carriage.
  • the non-liftable mast of the mast which is also known as a mast, is located directly behind the fork carriage. If the stop is arranged on a lifting mast of the mast which can be raised independently of the fork carriage, it is ensured that this mast is always lifted later than the fork carriage and is always lowered earlier than the fork carriage.
  • the environmental sensor in its position below the fork carriage detects a section of the road ahead of the industrial truck. For safety reasons, it is particularly important that the area directly in front of the truck is detected by the environmental sensor.
  • the environmental sensor is connected to a screen arranged on the driver's station of the industrial truck.
  • the screen plays without delay the image taken with the environmental sensor again.
  • the screen is located at the driver's seat of the truck directly in front of the operator. So that the screen takes up as little space as possible, it is preferably designed as a flat screen.
  • the environmental sensor detects in its position within the vertical extent of the fork carriage a load lifted by the fork carriage.
  • the environmental sensor can thus also be used to identify loads on the load handling device, such as pallets.
  • This function can be further improved by the environment sensor being in operative connection with a means for identifying a load, for example an RFID receiver and / or with a barcode scanner.
  • RFID receivers and barcode scanners are used in warehouse management systems to identify pallets and the items on pallets. The data thus determined can be supplied together with the information obtained with the environmental sensor information to a warehouse management system.
  • the truck has at least one further, rearwardly directed environmental sensor.
  • This further environmental sensor is preferably designed as a camera. If the truck is reversed, the image displayed on the screen can be automatically switched to the rear-facing environmental sensor. With the truck according to the invention then both forward driving, as well as a reversing based on the recorded with the environmental sensor images is possible.
  • FIG. 1 shows the front portion of a truck according to the invention.
  • a frame 1 of the truck on which a front wheel 12 is arranged and a stationary mast 2 of a mast by means of a mast bearing 3 is pivotally mounted about a transverse axis of the truck.
  • An extension mast 4 shown with dashed lines is displaceably guided on the stationary mast 2 in the vertical direction.
  • a fork carriage 5 is guided displaceably in the vertical direction.
  • the fork carriage 5 serves to receive a load-receiving means 6, which is designed, for example, as a load fork.
  • an environmental sensor 7 designed as a camera is fastened to the fork carriage 5 and is displaceable in the vertical direction with guide elements 8 relative to the fork carriage 5. Between the fork carriage 5 and the camera 7, a spring 13 is arranged, which exerts on the camera 7 a downward pressure force and thus biases the camera 7 downwards.
  • the relative to the stationary mast 2 deepest position of the camera 7 is defined by a stand arranged on the stop 9
  • the fork carriage 5 is raised by approx. 20-30 cm.
  • the camera 7 is located relative to the fork carriage 5 in the lowest possible position.
  • a component 7a of the camera 7 abuts on the stop 9.
  • the camera 7 has a free Viewing direction 10 to the front. If, starting from the in Fig. 1 shown position, the fork carriage 5 is further raised, the camera 7 moves together with the fork carriage 5 upwards. The component 7a lifts off from the stop 9.
  • the stop 9 determines the vertical position of the camera 7.
  • the camera 7 is thereby pushed up relative to the fork carriage 5, wherein it does not change its vertical position relative to the stationary mast 2. It is thereby precluded that the camera comes into contact with the roadway 11.
  • FIG. 2 shows the arrangement according to Fig. 1 , wherein the fork carriage 5 is in its lowest possible position and the camera 7 is pushed by the stop 9 upwards. The camera is thereby completely within the vertical extension of the fork carriage. 5
  • the device according to the invention allows the arrangement of a camera 7 below a load received by the load-receiving means 6. This camera position ensures complete detection of the roadway 11 in front of the truck.
  • the detection angle to the side can be further increased by providing two or more cameras 7.
  • the camera 7 is always below the fork carriage 5, if this is possible due to the position of the fork carriage 5. Only when the fork carriage 5 is completely lowered, the camera 7 has no free view of the roadway 11.
  • the arrangement according to the invention is particularly easy to implement and requires no additional actuators and no additional control effort to move the camera. 7

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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)
  • Handcart (AREA)

Abstract

The truck has a proximity sensor (7) that is arranged in a region of a lifting frame, directed in a forward driving direction and designed as a camera. The proximity sensor is movably fastened to a shank carrier (5) of the lifting frame in vertical direction. The proximity sensor is pre-stressed into a position, in which the proximity sensor is provided below the shank carrier. A stopper (9) for the proximity sensor is arranged at the lifting frame such that the proximity sensor is moved upward relative to the shank carrier during a complete lowering of the shank carrier.

Description

Die Erfindung betrifft ein Flurförderzeug, insbesondere Gegengewichtsgabelstapler, mit einem im Bereich eines Hubgerüsts angeordneten, in Vorwärtsfahrtrichtung gerichteten, beispielsweise als Kamera ausgeführten Umgebungssensor, wobei der Bewegungssensor in vertikaler Richtung bewegbar an einem Gabelträger des Hubgerüsts befestigt ist.The invention relates to an industrial truck, in particular counterbalance forklifts, arranged with an arranged in the region of a mast, in the forward direction, for example, designed as a camera environment sensor, wherein the motion sensor is mounted in the vertical direction movable on a fork carrier of the mast.

Flurförderzeuge, wie beispielsweise Gegengewichtsgabelstapler, Schubmast- oder Schubgabelstapler oder fahrerlose Staplerfahrzeuge, auch AGVs (automatic guided vehicles) genannt, besitzen ein Hubgerüst und einen an dem Hubgerüst auf- und abbewegbaren Gabelträger, an dem ein in der Regel von einer Gabel gebildetes Lastaufnahmemittel befestigbar ist. Mit Flurförderzeugen dieser Art können Lasten vom Boden oder aus einem Regalfach aufgenommen, auf dem Boden oder in einem Regalfach abgestellt, angehoben, abgesenkt und transportiert werden.Industrial trucks, such as counterbalanced forklifts, reach trucks or forklift trucks, also known as AGVs (automatic guided vehicles), have a mast and a fork carriage which can be moved up and down on the mast, to which a load-receiving means usually formed by a fork can be fastened , Forklifts of this type can be used to pick up loads from the floor or from a shelf, place them on the floor or in a rack, raise, lower and transport them.

Bei Gegengewichtsgabelstaplern ist ein Fahrersitz üblicherweise in Vorwärtsfahrtrichtung ausgerichtet. Das Hubgerüst mit dem Gabelträger und dem Lastaufnahmemittel befindet sich bei Gegengewichtsgabelstaplem außerhalb der Radbasis am vorderen Ende des Gegengewichtsgabelstaplers. Eine mit dem Lastaufnahmemittel aufgenommene Last befindet sich damit vor der Bedienperson und beeinträchtigt - insbesondere wenn die Last breit und besonders hoch ist - die Sicht der Bedienperson nach vorne.In counterbalanced forklifts, a driver's seat is usually aligned in the forward direction. The mast with fork carriage and load handler is located on counterbalance forklift outside the wheel base at the front end of the counterbalance forklift. A load taken up with the load-carrying means is thus in front of the operator and, especially when the load is wide and particularly high, impairs the operator's front view.

Bei Flurförderzeugen des Standes der Technik ist es üblich, dass dann, wenn eine sichtbehindernde Last transportiert wird, sämtliche Fahrstrecken in Rückwärtsfahrt zurückgelegt werden. Ein häufiges Rückwärtsfahren ist jedoch für die Bedienperson ergonomisch sehr nachteilig, da sich die Bedienperson auf dem nach vorne gerichteten Fahrersitz nach hinten drehen muss, um das Flurförderzeug in Rückwärtsrichtung steuern zu können.In the prior art trucks, it is common that when a visual obstructing load is being transported, all the driving distances are reversed. However, frequent reversing is ergonomically very disadvantageous to the operator since the operator has to turn backwards on the forward driver's seat to control the truck in the reverse direction.

Um diesen ergonomischen Nachteil zu beheben, sind Flurförderzeuge mit schwenkbaren Fahrersitzen bekannt, die es ermöglichen, den Fahrersitz um maximal 20 Grad, maximal 90 Grad oder um 180 Grad nach hinten zu drehen. Schwenkbare Fahrersitze sind jedoch aufwändig in der Herstellung und finden darüber hinaus häufig nicht die Akzeptanz der Bedienpersonen.To overcome this ergonomic disadvantage, trucks are known with swivel driver seats, which make it possible to turn the driver's seat by a maximum of 20 degrees, a maximum of 90 degrees or by 180 degrees to the rear. However, swiveling driver's seats are expensive to manufacture and moreover often do not find the acceptance of the operators.

Ebenfalls bereits bekannt ist es, an dem Flurförderzeug mindestens einen als Kamera ausgeführten Umgebungssensor anzuordnen, der den Bereich vor dem Lastaufnahmemittel des Flurförderzeugs erfasst, und das mit der Kamera aufgenommene Bild auf einem am Fahrerplatz angeordneten Bildschirm darzustellen. Um sicherzustellen, dass die Kamera auch über hohe Lasten hinwegblicken kann, ist die Kamera üblicherweise oben am Hubgerüst des Flurförderzeugs angeordnet. Diese Anordnung hat den Nachteil, dass ein direkt vor der Last befindlicher Fahrbahnabschnitt von der Kamera nicht erfasst wird und dass sich die Perspektive des von oben aufgenommenen Kamerabildes erheblich von der natürlichen Blickperspektive der Bedienperson unterscheidet. Aus diesen Gründen sind die bekannten Flurförderzeuge mit nach vorne gerichtetem Umgebungssensor nicht dazu geeignet, um von der Bedienperson ausschließlich aufgrund des Kamerabildes in Vorwärtsrichtung gesteuert zu werden.It is also already known to arrange on the truck at least one environment sensor designed as a camera, which detects the area in front of the load-handling device of the industrial truck, and to display the image recorded with the camera on a screen arranged on the driver's seat. To ensure that the camera can look over even high loads, the camera is usually located on top of the mast of the truck. This arrangement has the disadvantage that a roadway section located directly in front of the load is not detected by the camera and that the perspective of the camera image taken from above differs considerably from the natural view perspective of the operator. For these reasons, the known trucks with front-facing environmental sensor are not suitable to be controlled by the operator only due to the camera image in the forward direction.

Aus der US 5 738 187 ist ein Schubgabelstapler bekannt, bei dem am Hubschlitten eine Kamera vertikal bewegbar angeordnet ist. An dem Hubschlitten ist ein Gabelträger mittels eines Scherenmechanismus horizontal bewegbar, wobei am Gabelträger eine weitere Kamera vorgesehen ist, die fest am Gabelträger befestigt ist.From the US 5,738,187 For example, a forklift truck is known in which a camera is arranged to be vertically movable on the lifting carriage. On the lifting a fork carriage by means of a scissors mechanism is moved horizontally, wherein the fork carriage, a further camera is provided which is fixedly secured to the fork carriage.

In der WO 2004/103882 A1 ist ein als Gegengewichtsgabelstapler ausgebildetes Flurförderzeug offenbart, wobei am Gabelträger ein Lastsensor bewegbar angeordnet ist. Der Lastsensor kann mittels eines Linearantriebs vertikal und/oder horizontal verfahren werden. Zudem kann ein Schwenk-Neige-Kopf vorgesehen werden, um den Lastsensor zu schwenken und zu neigen.In the WO 2004/103882 A1 is a designed as a counterbalance forklift truck disclosed, wherein a load sensor is movably arranged on the fork carriage. The load sensor can be moved vertically and / or horizontally by means of a linear drive. In addition, a pan-tilt head may be provided to pivot and tilt the load sensor.

Der vorliegenden Erfindung liegt daher die Aufgabe zugrunde, ein Flurförderzeug der eingangs genannten Art zur Verfügung zu stellen, das von der Bedienperson aufgrund des mit dem Umgebungssensor erfassten Bildes in Vorwärtsrichtung sicher gesteuert werden kann.The present invention is therefore an object of the invention to provide an industrial truck of the type mentioned above, which can be safely controlled by the operator in the forward direction due to the image detected by the environmental sensor.

Diese Aufgabe wird erfindungsgemäß dadurch gelöst, dass der Umgebungssensor in eine Position nach unten vorgespannt ist, in der sich der Umgebungssensor unterhalb des Gabelträgers befindet, und an dem Hubgerüst ein Anschlag für den Umgebungssensor angeordnet ist, derart, dass der Umgebungssensor bei einem vollständigen Absenken des Gabelträgers relativ zum Gabelträger nach oben bewegt wird. Der Umgebungssensor ist vorzugsweise von einer Kamera gebildet. Alternativ oder zusätzlich kann auch ein 3D-Sensor verwendet werden, mit dem die Entfernung zu einer Vielzahl von Umgebungspunkten ermittelt wird, sodass eine Matrix von Entfernungsdaten entsteht. Bei der erfindungsgemäßen Anordnung befindet sich der Umgebungssensor unterhalb des Gabelträgers, sobald der Gabelträger um einige Zentimeter angehoben ist. Dies ist z.B. während des Fahrens mit einer auf dem Lastaufnahmemittel befindlichen Last der Fall. Die Anordnung des Umgebungssensors unterhalb des Gabelträgers ermöglicht es, den Bereich der Fahrbahn vor dem Flurförderzeug vollständig zu erfassen. Hierdurch ist es der Bedienperson möglich, das Flurförderzeug nur aufgrund des von dem Umgebungssensor aufgenommenen Bildes zu steuern. Darüber hinaus wird mit dem Umgebungssensor auch die Unterseite eines am Gabelträger befestigten Lastaufnahmemittels sowie ein gegebenenfalls vor dem Lastaufnahmemittel befindliches Regal erfasst. Dies ermöglicht es, das korrekte Einfahren des Lastaufnahmemittels in ein Regal mit dem von dem Umgebungssensor aufgenommenen Bild zu überwachen. Nur dann, wenn der Gabelträger vollständig abgesenkt wird, beispielsweise um eine Last am Boden abzusetzen, wird der Umgebungssensor von dem Anschlag relativ zum Gabelträger nach oben geschoben. Ein Aufsetzen des Umgebungssensors auf der Fahrbahn ist dadurch sicher verhindert. Aufgrund der Vorspannung des Umgebungssensors bewegt sich der Umgebungssensor relativ zum Gabelträger wieder nach unten, sobald der Gabelträger angehoben wird.This object is achieved in that the environmental sensor is biased to a position down, in which the environmental sensor is below the fork carriage, and on the mast, a stop for the environmental sensor is arranged, such that the environment sensor at a complete lowering of Fork carrier is moved relative to the fork carriage up. The environmental sensor is preferably formed by a camera. Alternatively or additionally, it is also possible to use a 3D sensor with which the distance to a plurality of surrounding points is determined, so that a matrix of distance data is produced. In the arrangement according to the invention, the environment sensor is located below the fork carriage, as soon as the fork carriage to some Centimeters is raised. This is the case, for example, during driving with a load located on the load-carrying means. The arrangement of the environmental sensor below the fork carrier makes it possible to fully capture the area of the road ahead of the truck. This makes it possible for the operator to control the truck only on the basis of the image taken by the environmental sensor. In addition, the underside of a load-bearing device fastened to the fork carriage as well as a shelf optionally located in front of the load-receiving means are also detected by the environmental sensor. This makes it possible to monitor the correct retraction of the lifting device on a shelf with the image taken by the environmental sensor. Only when the fork carriage is fully lowered, for example, to settle a load on the ground, the environmental sensor is pushed by the stop relative to the fork carriage up. A placement of the environmental sensor on the road is thereby reliably prevented. Due to the bias of the environmental sensor, the environmental sensor moves down relative to the carriage once the carriage is raised.

Ein optimaler Schutz des Umgebungssensors vor Beschädigungen wird dadurch erreicht, dass sich der Umgebungssensor bei vollständig abgesenktem Gabelträger vollständig innerhalb der Vertikalerstreckung des Gabelträgers befindet.Optimal protection of the environmental sensor from damage is achieved by the environmental sensor being fully within the vertical extension of the fork carriage when the fork carriage is fully lowered.

Gemäß einer zweckmäßigen Ausgestaltung der Erfindung ist zur Vorspannung des Umgebungssensors mindestens eine Feder vorgesehen, die auf den Umgebungssensor eine nach unten gerichtete Kraft ausübt. Die Feder ist an dem Gabelträger befestigt und stützt die Reaktionskraft an dem Gabelträger ab.According to an expedient embodiment of the invention, at least one spring is provided for biasing the environmental sensor, which exerts a downward force on the environmental sensor. The spring is attached to the fork carriage and supports the reaction force on the fork carriage.

Alternativ oder zusätzlich ist es möglich, dass die Vorspannung des Umgebungssensors nach unten zumindest teilweise mittels der Schwerkraft des Umgebungssensors und/oder der Schwerkraft eines mit dem Umgebungssensor verbundenen Bauteils erfolgt. Wenn der Umgebungssensor mit einem Zusatzgewicht versehen ist, kann die Gewichtskraft für die Vorspannung des Umgebungssensors nach unten ausreichen. Gemäß einer bevorzugten Ausführungsform wird die Vorspannung von der Gewichtskraft des Umgebungssensors gemeinsam mit der Kraft einer Feder erzeugt.Alternatively or additionally, it is possible that the bias of the environmental sensor down at least partially by means of the gravity of the environmental sensor and / or the gravity of a connected to the environmental sensor component. If the environmental sensor is provided with an additional weight, the weight for the bias of the environmental sensor down sufficient. According to a preferred embodiment, the bias voltage is generated by the weight force of the environmental sensor together with the force of a spring.

Zweckmäßigerweise ist der Anschlag an einem nicht anhebbaren Hubmast oder an einem unabhängig von dem Gabelträger anhebbaren Hubmast des Hubgerüsts angeordnet. Der nicht anhebbare Hubmast des Hubgerüsts, der auch als Standmast bezeichnet wird, befindet sich direkt hinter dem Gabelträger. Wenn der Anschlag an einem unabhängig von dem Gabelträger anhebbaren Hubmast des Hubgerüsts angeordnet ist, ist sichergestellt, dass dieser Hubmast stets später als der Gabelträger angehoben wird und stets früher als der Gabelträger abgesenkt wird.The stop is expediently arranged on a lifting mast which can not be raised or on a lifting mast of the mast which can be raised independently of the fork carriage. The non-liftable mast of the mast, which is also known as a mast, is located directly behind the fork carriage. If the stop is arranged on a lifting mast of the mast which can be raised independently of the fork carriage, it is ensured that this mast is always lifted later than the fork carriage and is always lowered earlier than the fork carriage.

Wie oben bereits erwähnt, erfasst der Umgebungssensor in seiner Position unterhalb des Gabelträgers einen vor dem Flurförderzeug befindlichen Abschnitt der Fahrbahn. Aus Sicherheitsgründen ist es dabei besonders wichtig, dass auch der Bereich direkt vor dem Flurförderzeug von dem Umgebungssensor erfasst wird.As already mentioned above, the environmental sensor in its position below the fork carriage detects a section of the road ahead of the industrial truck. For safety reasons, it is particularly important that the area directly in front of the truck is detected by the environmental sensor.

Der Umgebungssensor ist mit einem an dem Fahrerplatz des Flurförderzeugs angeordneten Bildschirm verbunden. Der Bildschirm gibt dabei ohne Zeitverzögerung das mit dem Umgebungssensor aufgenommene Bild wieder. Vorzugsweise ist der Bildschirm am Fahrerplatz des Flurförderzeugs direkt vor der Bedienperson angeordnet. Damit der Bildschirm möglichst wenig Bauraum beansprucht, ist er vorzugsweise als Flachbildschirm ausgeführt.The environmental sensor is connected to a screen arranged on the driver's station of the industrial truck. The screen plays without delay the image taken with the environmental sensor again. Preferably, the screen is located at the driver's seat of the truck directly in front of the operator. So that the screen takes up as little space as possible, it is preferably designed as a flat screen.

Der Umgebungssensor erfasst in seiner Position innerhalb der Vertikalerstreckung des Gabelträgers eine mit dem Gabelträger angehobene Last. Der Umgebungssensor kann damit auch eingesetzt werden, um auf dem Lastaufnahmemittel befindliche Lasten, wie beispielsweise Paletten zu identifizieren.The environmental sensor detects in its position within the vertical extent of the fork carriage a load lifted by the fork carriage. The environmental sensor can thus also be used to identify loads on the load handling device, such as pallets.

Diese Funktion kann weiter verbessert werden, indem der Umgebungssensor mit einem Mittel zum Identifizieren einer Last, beispielsweise einem RFID-Empfänger und/oder mit einem Barcode-Scanner in Wirkverbindung steht. RFID-Empfänger und Barcode-Scanner werden in Lagerverwaltungssystemen eingesetzt, um Paletten und die auf den Paletten befindlichen Waren zu identifizieren. Die so ermittelten Daten können gemeinsam mit den mit dem Umgebungssensor gewonnenen Informationen einem Lagerverwaltungssystem zugeführt werden.This function can be further improved by the environment sensor being in operative connection with a means for identifying a load, for example an RFID receiver and / or with a barcode scanner. RFID receivers and barcode scanners are used in warehouse management systems to identify pallets and the items on pallets. The data thus determined can be supplied together with the information obtained with the environmental sensor information to a warehouse management system.

Eine vorteilhafte Weiterbildung der Erfindung besteht darin, dass das Flurförderzeug mindestens einen weiteren, nach hinten gerichteten Umgebungssensor aufweist. Auch dieser weitere Umgebungssensor ist vorzugsweise als Kamera ausgeführt. Wenn mit dem Flurförderzeug rückwärts gefahren wird, kann das auf dem Bildschirm dargestellte Bild automatisch auf den nach hinten gerichteten Umgebungssensor umgeschaltet werden. Mit dem erfindungsgemäßen Flurförderzeug ist dann sowohl ein Vorwärtsfahren, als auch ein Rückwärtsfahren anhand der mit dem Umgebungssensor aufgenommenen Bilder möglich.An advantageous development of the invention is that the truck has at least one further, rearwardly directed environmental sensor. Also This further environmental sensor is preferably designed as a camera. If the truck is reversed, the image displayed on the screen can be automatically switched to the rear-facing environmental sensor. With the truck according to the invention then both forward driving, as well as a reversing based on the recorded with the environmental sensor images is possible.

Weitere Vorteile und Einzelheiten der Erfindung werden anhand des in schematischen Figuren dargestellten Ausführungsbeispiels näher erläutert. Dabei zeigt

Figur 1
den vorderen Abschnitt eines erfindungsgemäßen Flurförderzeugs mit angehobenem Gabelträger,
Figur 2
die Anordnung gemäß Fig. 1 mit vollständig abgesenktem Gabelträger.
Further advantages and details of the invention will be explained in more detail with reference to the embodiment shown in schematic figures. It shows
FIG. 1
the front portion of a truck according to the invention with a raised fork carriage,
FIG. 2
the arrangement according to Fig. 1 with fully lowered fork carriage.

Figur 1 zeigt den vorderen Abschnitt eines erfindungsgemäßen Flurförderzeugs. Zu erkennen sind das Vorderteil eines Rahmens 1 des Flurförderzeugs, an dem ein Vorderrad 12 angeordnet ist und ein Standmast 2 eines Hubgerüsts mittels eines Mastlagers 3 schwenkbar um eine Querachse des Flurförderzeugs gelagert ist. Ein mit gestrichelten Linien dargestellter Ausfahrmast 4 ist an dem Standmast 2 in vertikaler Richtung verschiebbar geführt. An dem Ausfahrmast 4 wiederum ist ein Gabelträger 5 in vertikaler Richtung verschiebbar geführt. Der Gabelträger 5 dient zur Aufnahme eines beispielsweise als Lastgabel ausgeführten Lastaufnahmemittels 6. FIG. 1 shows the front portion of a truck according to the invention. Evident are the front part of a frame 1 of the truck, on which a front wheel 12 is arranged and a stationary mast 2 of a mast by means of a mast bearing 3 is pivotally mounted about a transverse axis of the truck. An extension mast 4 shown with dashed lines is displaceably guided on the stationary mast 2 in the vertical direction. On the extension mast 4, in turn, a fork carriage 5 is guided displaceably in the vertical direction. The fork carriage 5 serves to receive a load-receiving means 6, which is designed, for example, as a load fork.

Erfindungsgemäß ist an dem Gabelträger 5 ein als Kamera ausgeführter Umgebungssensor 7 befestigt, die mit Führungselementen 8 relativ zum Gabelträger 5 in vertikaler Richtung verschiebbar ist. Zwischen dem Gabelträger 5 und der Kamera 7 ist eine Feder 13 angeordnet, die auf die Kamera 7 eine nach unten gerichtete Druckkraft ausübt und damit die Kamera 7 nach unten vorspannt. Die relativ zum Standmast 2 tiefste Position der Kamera 7 ist durch einen am Standmast angeordneten Anschlag 9 definiertAccording to the invention, an environmental sensor 7 designed as a camera is fastened to the fork carriage 5 and is displaceable in the vertical direction with guide elements 8 relative to the fork carriage 5. Between the fork carriage 5 and the camera 7, a spring 13 is arranged, which exerts on the camera 7 a downward pressure force and thus biases the camera 7 downwards. The relative to the stationary mast 2 deepest position of the camera 7 is defined by a stand arranged on the stop 9

In der Abbildung gemäß Fig. 1 ist der Gabelträger 5 um ca. 20-30 cm angehoben. Die Kamera 7 befindet sich relativ zum Gabelträger 5 in der tiefstmöglichen Position. Gleichzeitig steht ein Bauteil 7a der Kamera 7 an dem Anschlag 9 an. In dieser geringfügig angehobenen Position des Gabelträgers 5 besitzt die Kamera 7 eine freie Blickrichtung 10 nach vorne. Wenn, ausgehend von der in Fig. 1 dargestellten Position, der Gabelträger 5 weiter angehoben wird, bewegt sich die Kamera 7 gemeinsam mit dem Gabelträger 5 nach oben. Das Bauteil 7a hebt dabei von dem Anschlag 9 ab.In the picture according to Fig. 1 the fork carriage 5 is raised by approx. 20-30 cm. The camera 7 is located relative to the fork carriage 5 in the lowest possible position. At the same time, a component 7a of the camera 7 abuts on the stop 9. In this slightly raised position of the fork carriage 5, the camera 7 has a free Viewing direction 10 to the front. If, starting from the in Fig. 1 shown position, the fork carriage 5 is further raised, the camera 7 moves together with the fork carriage 5 upwards. The component 7a lifts off from the stop 9.

Wenn hingegen der Gabelträger 5 ausgehend von der in Fig. 1 dargestellten Position abgesenkt wird, bestimmt der Anschlag 9 die vertikale Position der Kamera 7. Die Kamera 7 wird dabei relativ zum Gabelträger 5 nach oben geschoben, wobei sie ihre vertikale Position relativ zum Standmast 2 nicht verändert. Es ist dadurch ausgeschlossen, dass die Kamera mit der Fahrbahn 11 in Kontakt tritt.If, however, the fork carriage 5, starting from the in Fig. 1 The stop 9 determines the vertical position of the camera 7. The camera 7 is thereby pushed up relative to the fork carriage 5, wherein it does not change its vertical position relative to the stationary mast 2. It is thereby precluded that the camera comes into contact with the roadway 11.

Figur 2 zeigt die Anordnung gemäß Fig. 1, wobei sich der Gabelträger 5 in seiner tiefstmöglichen Position befindet und die Kamera 7 durch den Anschlag 9 nach oben geschoben ist. Die Kamera befindet sich dabei vollständig innerhalb der Vertikalerstreckung des Gabelträgers 5. FIG. 2 shows the arrangement according to Fig. 1 , wherein the fork carriage 5 is in its lowest possible position and the camera 7 is pushed by the stop 9 upwards. The camera is thereby completely within the vertical extension of the fork carriage. 5

Die erfindungsgemäße Vorrichtung ermöglicht die Anordnung einer Kamera 7 unterhalb einer mit dem Lastaufnahmemittel 6 aufgenommenen Last. Diese Kameraposition gewährleistet eine vollständige Erfassung der Fahrbahn 11 vor dem Flurförderzeug. Der Erfassungswinkel zur Seite kann weiter erhöht werden, indem zwei oder mehr Kameras 7 vorgesehen sind. Die Kamera 7 befindet sich immer dann unterhalb des Gabelträgers 5, wenn dies aufgrund der Position des Gabelträgers 5 möglich ist. Nur dann, wenn der Gabelträger 5 vollständig abgesenkt ist, hat die Kamera 7 keinen freien Blick auf die Fahrbahn 11. Die erfindungsgemäße Anordnung ist besonders einfach realisierbar und erfordert keine zusätzlichen Stellglieder und keinen zusätzlichen Steuerungsaufwand zum Bewegen der Kamera 7.The device according to the invention allows the arrangement of a camera 7 below a load received by the load-receiving means 6. This camera position ensures complete detection of the roadway 11 in front of the truck. The detection angle to the side can be further increased by providing two or more cameras 7. The camera 7 is always below the fork carriage 5, if this is possible due to the position of the fork carriage 5. Only when the fork carriage 5 is completely lowered, the camera 7 has no free view of the roadway 11. The arrangement according to the invention is particularly easy to implement and requires no additional actuators and no additional control effort to move the camera. 7

Claims (10)

  1. Industrial truck, in particular counterweight fork-lift truck, having an ambient sensor (7) which is arranged in the region of a lifting frame, is directed in the forward driving direction and is configured, for example, as a camera, the ambient sensor (7) being fastened to a fork carrier (5) of the lifting frame such that it can be moved in the vertical direction, characterized in that the ambient sensor (7) is prestressed downward into a position, in which the ambient sensor (7) is situated below the fork carrier (5), and a stop (9) for the ambient sensor (7) is arranged on the lifting frame in such a way that the ambient sensor (7) is moved upward relative to the fork carrier (5) if the fork carrier (5) is lowered completely.
  2. Industrial truck according to Claim 1, characterized in that the ambient sensor (7) is situated completely within the vertical extent of the fork carrier (5) when the fork carrier (5) is lowered completely.
  3. Industrial truck according to Claim 1 or 2, characterized in that, in order to prestress the ambient sensor (7), at least one spring (13) is provided which exerts a downwardly directed force on the ambient sensor (7).
  4. Industrial truck according to one of Claims 1 to 3, characterized in that the ambient sensor (7) is prestressed downwards at least partially by means of the weight of the ambient sensor (7) and/or by means of the weight of a component which is connected to the ambient sensor (7).
  5. Industrial truck according to one of Claims 1 to 4, characterized in that the stop (9) is arranged on a lifting mast (2) which cannot be raised or on a lifting mast of the lifting frame, which lifting mast can be raised independently of the fork carrier (5).
  6. Industrial truck according to one of Claims 1 to 5, characterized in that, in its position below the fork carrier (5), the ambient sensor (7) detects a section of the roadway (11), which section is situated in front of the industrial truck.
  7. Industrial truck according to one of Claims 1 to 6, characterized in that the ambient sensor (7) is connected to a display screen which is arranged at the driver's compartment of the industrial truck.
  8. Industrial truck according to one of Claims 1 to 7, characterized in that, in its position within the vertical extent of the fork carrier (5), the ambient sensor (7) detects a load which is raised with the fork carrier (5).
  9. Industrial truck according to one of Claims 1 to 8, characterized in that the ambient sensor (7) is operatively connected to a means for identifying a load, for example an RFID receiver, and/or to a barcode scanner.
  10. Industrial truck according to one of Claims 1 to 9, characterized in that the industrial truck has at least one further ambient sensor (7) which is directed rearwards.
EP06018575A 2005-09-14 2006-09-05 Industrial truck with an environnement sensor positioned close to the lifting mast Not-in-force EP1764340B1 (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102005043781A DE102005043781A1 (en) 2005-09-14 2005-09-14 Industrial truck e.g. counterbalance fork-lift truck, for putting down, lifting, lowering and transporting loads, has stopper arranged at lifting frame such that sensor is moved upward relative to carrier during complete lowering of carrier

Publications (3)

Publication Number Publication Date
EP1764340A2 EP1764340A2 (en) 2007-03-21
EP1764340A3 EP1764340A3 (en) 2007-06-27
EP1764340B1 true EP1764340B1 (en) 2008-11-19

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EP06018575A Not-in-force EP1764340B1 (en) 2005-09-14 2006-09-05 Industrial truck with an environnement sensor positioned close to the lifting mast

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EP (1) EP1764340B1 (en)
AT (1) ATE414672T1 (en)
DE (2) DE102005043781A1 (en)

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DE102019118756A1 (en) * 2019-07-11 2021-01-14 Jungheinrich Aktiengesellschaft Industrial truck with a mounting element for a sensor and a method for positioning a sensor of an industrial truck
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Also Published As

Publication number Publication date
ATE414672T1 (en) 2008-12-15
EP1764340A3 (en) 2007-06-27
EP1764340A2 (en) 2007-03-21
DE102005043781A1 (en) 2007-03-15
DE502006002107D1 (en) 2009-01-02

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