EP1767488A2 - System for assisting an industrial truck driver while driving - Google Patents

System for assisting an industrial truck driver while driving Download PDF

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Publication number
EP1767488A2
EP1767488A2 EP06018414A EP06018414A EP1767488A2 EP 1767488 A2 EP1767488 A2 EP 1767488A2 EP 06018414 A EP06018414 A EP 06018414A EP 06018414 A EP06018414 A EP 06018414A EP 1767488 A2 EP1767488 A2 EP 1767488A2
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EP
European Patent Office
Prior art keywords
truck
signal
transponder
antenna
driver
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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.)
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EP06018414A
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German (de)
French (fr)
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EP1767488A3 (en
EP1767488B1 (en
Inventor
Ernst-Peter Dr.-Ing. Magens
Frank Dr.-Ing. Mänken
Martin Dipl.-Ing. Von Werder
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Jungheinrich AG
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Jungheinrich AG
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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
    • 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
    • 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 system for assisting a driver of a truck while driving according to claim 1.
  • the maximum speed of a truck is prescribed by the authorities. Moreover, the speed is determined by the use and the requirements in operation. In order to accelerate the handling, it is naturally desirable to drive the vehicle at maximum speed as often as possible. When approaching critical points, such as hall passages or on shelves or the like, the driver must reduce the speed in good time so as not to bring about any danger. Usually, it is up to the driver to influence the speed depending on the location and destination. It is also known, in the area in which trucks are operated to set up signs that serve to regulate traffic.
  • the transponders On the pallets are usually two or more transponders mounted on the truck also usually more than one antenna is mounted in order to bring about communication with the transponders. From the last-mentioned document is also known to provide the transponders with a battery and to arrange them in certain places, for example in a hall to address a locality for the storage of pallets. When addressed, the transponders generate, for example, a UHF signal which is evaluated in an electronic evaluation device and, for example, identifies a relevant pallet because it is provided with a corresponding identifier via the transponder.
  • the invention has for its object to provide a system for supporting the driver of an industrial truck, which gives the driver directly special traffic conditions within his workspace.
  • transponders equipped with a battery are arranged at predetermined locations of the working area of the industrial truck.
  • a network connection for the transponder is likewise possible.
  • the attachment of such transponder is preferably carried out in places where the driver must be particularly attentive, for example in the vicinity of thoroughfares, near shelves or the like, which usually cause him to reduce the driving speed.
  • the memory of the transponder information is therefore included on what function of the truck in the transponder is offered or prohibited, for example, lifting height of a mast, speed, driving with internal combustion engine in the hall, etc.
  • the driver can be specified, for example, which speed he preferred should stop when he comes near or that he should bring the vehicle to a halt.
  • the transponder is provided according to an embodiment with a battery, so that a sufficient range can be achieved, for example, up to 10 m.
  • the circuit in the transponder is preferably designed so that its transmission circuit is normally switched off, so that energy consumption does not take place. Only when a signal, preferably an LF signal from the transponder is received with the aid of an antenna, this is activated and sends, for example, a UHF signal. It is conceivable to stop transmitting the UHF signal when a certain time has elapsed. However, it is also conceivable to send the UHF signal at intervals and to determine in the interim times whether an activation signal has been received. Only if this is the case will the transponder send a UHF signal.
  • the UHF signal by means of a more or less integrated antenna received.
  • the antenna can protrude outward from a housing for the evaluation unit, if it is made of metal, for example, or if it is arranged inside a housing if it is permeable to microwaves.
  • Such receiving antennas are known per se.
  • the antenna of the evaluation unit can also serve as a transmitting antenna, wherein the transmission signal selectively forms only the wake-up signal for a transponder, if it has a battery, or even transmit the energy to a transponder so that it can send its data.
  • the driver then receives a corresponding indication of the instantaneous "traffic situation" on a display and can therefore adjust, for example, by throttling the driving speed, by retracting the mast, switching the drive from the internal combustion engine to battery operation, etc.
  • the invention is an assistance system for the driver, via which the driver additional information is provided without taking the full responsibility and control of the truck.
  • the invention increases safety in the operation of the truck, thereby causing fewer accidents by providing additional information to the driver.
  • the system according to the invention leads to a reduction of damage to building equipment, for example roller shutters.
  • the invention can be installed on existing equipment and trucks, without this being associated with a significant overhead. If the transponders send only temporary UHF signals, long battery life will result.
  • a first antenna is mounted on the driver's roof of the truck. Because of the relatively low frequency in an LF transmit signal, the first antenna requires a relatively large extension. There is sufficient space on the driver's protection roof for this.
  • the transmission circuit for the preferably LF signal.
  • the transmission circuit is also housed in the evaluation unit, wherein between the evaluation and the first antenna extends a cable.
  • a monitoring circuit can be provided which monitors the individual functions of the truck, such as driving speed, lifting height, size of the recorded load, type of drive in a hybrid drive (internal combustion engine and battery-powered electric motor), etc.
  • the transponder data is stored, which prohibits or Bids can correspond to traffic signs, eg maximum Lifting height, maximum speed, stop function, etc. If the evaluation device of the truck receives such a signal, the data is compared with the current data in the monitoring circuit. If the vehicle does not exceed the maximum speed prescribed in the area of the transponder, no display will be made. However, if the maximum speed is exceeded, this is indicated to the driver on the display. The same applies, for example, to the lifting height.
  • the current lifting height of the mast is compared with the data. If there is a difference, ie if the current lifting height exceeds the prescribed lifting height, this is indicated to the driver. If the vehicle does not stop at a desired location, as dictated by the traffic sign or by the data in the transponder, this is also displayed to the driver so that he receives a corresponding indication of the prohibition or bid function.
  • location-related information is stored and transmitted in the transponder, which are read by the truck's system, the information being presented to the driver depending on the condition of the truck, ie only in those cases where the current function is not the stored prohibition - or bidder function, but should do so.
  • transponders from other sources, for example a transponder on a roller door, which, for example, activates the transponder when the roller shutter is closed or vice versa.
  • FIG. 1a shows a system with a first antenna 12, which is designed as a foil or plastic plate, and is attached to a driving protection roof 14 of the stacker 10.
  • a housing or a box is indicated, which has a second antenna 18 and in which a transmission circuit for LF is arranged and a receiving circuit for UHF and an evaluation circuit.
  • a signal with, for example, 125 kHz is transmitted via the antenna 12, wherein the range is about 10 m maximum.
  • a transponder 20 If a transponder 20 is located in this area, it will send a UHF signal, for example at the frequency of 868 MHz, upon receipt of the LF signal.
  • the transponder 20 is equipped with a battery and normally switched off. Only upon receipt of the LF signal, the transmission circuit of the transponder 10 is turned on, so that the described UHF signal is sent.
  • the UHF signal is received by the antenna 18 and evaluated in the evaluation circuit.
  • On the housing 16 On the housing 16 is an interface for connection to an on-board computer in the stacker 10, which by a Display 22 is indicated in Fig. 1.
  • the transponder is located for example in the area of a hall gate, which allows a passage only up to a certain height.
  • the transponder 20 is attached to the road sign or in its immediate vicinity.
  • the information stored in the transponder 20 and sent upon activation therefore corresponds, for example, the content of the road sign 24 (bidding or prohibition function). This is, as shown in Fig. 1, reproduced on the display.
  • the driver recognizes therefore that he is approaching a hall gate, the passage height is limited.
  • the connection between the evaluation unit in the housing 16 and the computer is provided by a cable 26.
  • the transmission circuit for the LF signal is arranged. Therefore, a cable 28 is provided between the housing 16 and the antenna 12 on the driver's shelter 14.
  • Fig. 2 at 30 the plan of a warehouse is arranged, are arranged in the shelf assemblies 32 and 34, respectively.
  • By hatched areas 36, 38 zones are indicated in which the driver of the truck, which is shown in Fig. 2 in three different positions, must drive very carefully, especially at reduced speed.
  • a transponder 20 according to FIG. 1 is arranged in each of these areas.
  • an open gate 40 and a closed gate 42 is also shown, to which in turn in each case a transponder 20 is assigned.
  • the transponder 20 signals to the driver that the gate is closed, therefore he must stop in time, for example, to wait until the roller shutter opens.
  • the transponder 20 at the gate 40 indicates, for example, as in FIG. 1, the passage height.
  • the transponders 20 in the vulnerable areas 36, 38 indicate to the driver that he should reduce the speed.
  • a monitoring circuit can be provided, which monitors the individual functions of the truck 10 and, for example. Data about the speed, height of the mast, size of the load, etc. currently stores.
  • the transponders now store functions of the truck which are either prohibited or commanded at the location or in the vicinity of the transponder. For example, e.g. prescribed with which lifting height the gate of a building can be passed. It can also be prescribed which maximum speed may be driven.
  • the UHF signal contains data about the bidding or prohibition functions which the monitoring circuit compares with the current function. If there is a difference between the functions stored in the transponders and the current functions, e.g. If the vehicle is too fast or if the lift height is too high, this will be indicated to the driver. The same applies, for example, when a vehicle has a hybrid drive and drives from the outdoors into the hall. It must be ensured that in the hall is not driven by internal combustion engine.

Abstract

The system has a transponder (20) arranged at preset positions of an operating area of an industrial truck. The transponder is designed in such a manner that it transmits an ultra-high-frequency (UHF) signal upon reception of a low frequency (LF) signal from an antenna (12) in a truck. An evaluation unit (16) is connected with an on-board computer (22) in the truck. The unit (16) includes an antenna (18) to receive the UHF signals, and evaluation electronics to evaluate the UHF signals and to transmit the signals to the computer.

Description

Die Erfindung bezieht sich auf ein System zur Unterstützung eines Fahrers eines Flurförderzeugs während der Fahrt nach dem Patentanspruch 1.The invention relates to a system for assisting a driver of a truck while driving according to claim 1.

Die Höchstgeschwindigkeit eines Flurförderzeugs ist behördlich vorgeschrieben. Im übrigen ist die Geschwindigkeit durch den Einsatz und die Erfordernisse im Betrieb vorgegeben. Zur Beschleunigung des Umschlags wird naturgemäß angestrebt, das Fahrzeug möglichst häufig mit maximaler Geschwindigkeit zu fahren. Bei Annäherung an kritischen Punkten, wie Hallendurchfahrten oder an Regalen oder dergleichen muß der Fahrer rechtzeitig die Geschwindigkeit drosseln, um keine Gefahr heraufzubeschwören. Üblicherweise obliegt die Beeinflussung der Geschwindigkeit je nach Ort und Ziel dem Fahrer. Es ist darüber hinaus auch bekannt, in dem Gelände, in dem Flurförderzeuge betrieben werden, Schilder aufzustellen, welche zur Regelung des Verkehrs dienen.The maximum speed of a truck is prescribed by the authorities. Moreover, the speed is determined by the use and the requirements in operation. In order to accelerate the handling, it is naturally desirable to drive the vehicle at maximum speed as often as possible. When approaching critical points, such as hall passages or on shelves or the like, the driver must reduce the speed in good time so as not to bring about any danger. Usually, it is up to the driver to influence the speed depending on the location and destination. It is also known, in the area in which trucks are operated to set up signs that serve to regulate traffic.

Aus DE 20 2005 005 409 U1 ist bekannt geworden, Flurförderzeuge mit einer Vorrichtung zur drahtlosen Kommunikation mit einem RFID-Transponder zu versehen. Die Vorrichtung wird entweder seitlich an einem Gabelarm oder an der Rückseite der Lastgabel angeordnet. RFID-Transponder sind an Lasten oder Paletten zur Aufnahme von Lasten angebracht. Derartige Transponder werden zum Beispiel als Tag bezeichnet. Aus US 2003/0089771 A1 ist bekannt geworden, Antennen zur Kommunikation mit Transpondern am lastseitigen Teil des Gabelträgers bündig mit diesem oder in Richtung der Last vorstehend anzuordnen. Die Antenne ist über ein Kabel mit einem Lesegerät am Flurförderzeug verbunden, das seinerseits über ein Kabel mit einem Bordcomputer verbunden werden kann, um zum Beispiel dem Fahrer Informationen über den Lagerplatz und die Art der Paletten zu vermitteln. An den Paletten sind zumeist zwei oder mehr Transponder angebracht, wobei am Flurförderzeug ebenfalls meist mehr als eine Antenne angebracht ist, um eine Kommunikation mit den Transpondern herbeizuführen. Aus der zuletzt angegebenen Schrift ist auch bekannt, die Transponder mit einer Batterie zu versehen und diese auch an bestimmten Orten zum Beispiel in einer Halle anzuordnen, um eine Lokalität für die Lagerung von Paletten anzusprechen. Die Transponder erzeugen bei Ansprache zum Beispiel ein UHF-Signal, das in einer elektronischen Auswertevorrichtung ausgewertet wird und zum Beispiel eine betreffende Palette identifiziert, weil sie über den Transponder mit einer entsprechenden Kennung versehen ist.Out DE 20 2005 005 409 U1 It has become known to provide industrial trucks with a device for wireless communication with an RFID transponder. The device is placed either laterally on a fork arm or on the back of the fork. RFID transponders are attached to loads or pallets for receiving loads. Such transponders are referred to as a tag, for example. Out US 2003/0089771 A1 It has become known antennas for communication with transponders on the load-side part of the fork carriage flush with this or in the direction of the load above to arrange. The antenna is connected via a cable with a reading device on the truck, which in turn can be connected via a cable to an on-board computer, for example, to give the driver information about the storage location and the type of pallets. On the pallets are usually two or more transponders mounted on the truck also usually more than one antenna is mounted in order to bring about communication with the transponders. From the last-mentioned document is also known to provide the transponders with a battery and to arrange them in certain places, for example in a hall to address a locality for the storage of pallets. When addressed, the transponders generate, for example, a UHF signal which is evaluated in an electronic evaluation device and, for example, identifies a relevant pallet because it is provided with a corresponding identifier via the transponder.

Während der bisherige Einsatz der RFID-Technologie der Paletten- und Lagerplatzerkennung dient, liegt der Erfindung liegt die Aufgabe zugrunde, ein System zur Unterstützung des Fahrers eines Flurförderzeuges zu schaffen, das dem Fahrer unmittelbar besondere Verkehrsbedingungen innerhalb seines Arbeitsbereiches vermittelt.While the previous use of RFID technology pallet and storage location detection is used, the invention has for its object to provide a system for supporting the driver of an industrial truck, which gives the driver directly special traffic conditions within his workspace.

Diese Aufgabe wird durch die Merkmale des Patentanspruchs 1 gelöst.This object is solved by the features of patent claim 1.

Bei dem erfindungsgemäßen System sind an vorgegebenen Stellen des Arbeitsbereichs des Flurförderzeugs vorzugsweise mit einer Batterie ausgerüstete Transponder angeordnet. Ein Netzanschluß für die Transponder ist gleichfalls möglich. Die Anbringung derartiger Transponder erfolgt vorzugsweise an Orten, an denen der Fahrer besonders aufmerksam sein muß, beispielsweise in der Nähe von Durchfahrten, in der Nähe von Regalen oder dergleichen, welche ihn üblicherweise zur Verringerung der Fahrgeschwindigkeit veranlassen. In dem Speicher des Transponders ist mithin eine Information darüber enthalten, welche Funktion des Flurförderzeugs im Bereich des Transponders geboten oder verboten ist, z.B. Hubhöhe eines Mastes, Geschwindigkeit, Fahren mit Verbrennungsmotor in Halle usw. Dem Fahrer kann z.B. angegeben werden, welche Geschwindigkeit er vorzugsweise einstellen soll, wenn er in die Nähe kommt oder dass er das Fahrzeug zum Halten zu bringen soll.In the system according to the invention preferably transponders equipped with a battery are arranged at predetermined locations of the working area of the industrial truck. A network connection for the transponder is likewise possible. The attachment of such transponder is preferably carried out in places where the driver must be particularly attentive, for example in the vicinity of thoroughfares, near shelves or the like, which usually cause him to reduce the driving speed. In the memory of the transponder information is therefore included on what function of the truck in the transponder is offered or prohibited, for example, lifting height of a mast, speed, driving with internal combustion engine in the hall, etc. The driver can be specified, for example, which speed he preferred should stop when he comes near or that he should bring the vehicle to a halt.

Bei dem erfindungsgemäßen System ist der Transponder nach einer Ausgestaltung mit einer Batterie versehen, damit eine ausreichende Reichweite erzielt werden kann, von zum Beispiel bis zu 10 m. Die Schaltung im Transponder ist vorzugsweise so ausgelegt, daß seine Sendeschaltung normalerweise ausgeschaltet ist, so daß ein Energieverbrauch nicht stattfindet. Erst wenn mit Hilfe einer Antenne ein Signal, vorzugsweise ein LF-Signal vom Transponder empfangen wird, wird dieser aktiviert und sendet zum Beispiel ein UHF-Signal. Es ist denkbar, das Senden des UHF-Signals zu beenden, wenn eine bestimmte Zeit verstrichen ist. Es ist jedoch auch denkbar, das UHF-Signal in Intervallen zu senden und in den Zwischenzeiten festzustellen, ob ein Aktivierungssignal empfangen worden ist. Nur wenn dies der Fall ist, wird vom Transponder ein UHF-Signal gesendet.In the system according to the invention, the transponder is provided according to an embodiment with a battery, so that a sufficient range can be achieved, for example, up to 10 m. The circuit in the transponder is preferably designed so that its transmission circuit is normally switched off, so that energy consumption does not take place. Only when a signal, preferably an LF signal from the transponder is received with the aid of an antenna, this is activated and sends, for example, a UHF signal. It is conceivable to stop transmitting the UHF signal when a certain time has elapsed. However, it is also conceivable to send the UHF signal at intervals and to determine in the interim times whether an activation signal has been received. Only if this is the case will the transponder send a UHF signal.

In einer Auswerteeinheit, die an einer geeigneten Stelle im Flurförderzeug untergebracht wird, wird das UHF-Signal mittels einer mehr oder weniger integrierten Antenne empfangen. Die Antenne kann außen an einem Gehäuse für die Auswerteeinheit herausstehen, wenn dieses zum Beispiel aus Metall besteht oder innerhalb eines Gehäuses angeordnet sein, wenn es für Mikrowellen durchlässig ist. Derartige Empfangsantennen sind an sich bekannt.In an evaluation unit, which is housed in a suitable location in the truck, the UHF signal by means of a more or less integrated antenna received. The antenna can protrude outward from a housing for the evaluation unit, if it is made of metal, for example, or if it is arranged inside a housing if it is permeable to microwaves. Such receiving antennas are known per se.

Die Antenne der Auswerteeinheit kann auch als Sendeantenne dienen, wobei das Sendesignal wahlweise nur das Wecksignal für einen Transponder bildet, wenn er eine Batterie aufweist, oder auch die Energie auf einen Transponder übertragen, damit dieser seine Daten senden kann.The antenna of the evaluation unit can also serve as a transmitting antenna, wherein the transmission signal selectively forms only the wake-up signal for a transponder, if it has a battery, or even transmit the energy to a transponder so that it can send its data.

Die Auswerteelektronik der Auswerteeinheit ermittelt aus dem UHF-Signal die darin enthaltene Information und gibt sie auf einen normalerweise im Flurförderzeug vorhandenen Bordcomputer. Der Fahrer erhält dann auf einem Display einen entsprechenden Hinweis über die augenblickliche "Verkehrssituation" und kann sich daher zum Beispiel durch Drosselung der Fahrgeschwindigkeit, durch Einfahren des Mastes, Umschalten des Antriebs von Verbrennungsmotor auf Batteriebetrieb usw., darauf einstellen.The evaluation of the evaluation determined from the UHF signal, the information contained therein and gives it to a normally present in the truck on-board computer. The driver then receives a corresponding indication of the instantaneous "traffic situation" on a display and can therefore adjust, for example, by throttling the driving speed, by retracting the mast, switching the drive from the internal combustion engine to battery operation, etc.

Befinden sich gleichzeitig mehrere Transponder in Reichweite, werden alle UHF-Signale der Transponder von der Auswerteeinheit empfangen und können dem Fahrer in geeigneter Weise dargestellt werden. Mithin handelt es sich bei der Erfindung um ein Assistenzsystem für den Fahrer, über welches dem Fahrer zusätzliche Informationen zur Verfügung gestellt werden, ohne ihm die volle Verantwortung und Kontrolle des Flurförderzeugs zu nehmen. Allerdings ist auch denkbar, zum Beispiel aktiv in die Geschwindigkeitsregelung des Fahrantriebs oder in sonstige Funktionen einzugreifen.If several transponders are within reach at the same time, all UHF signals of the transponders are received by the evaluation unit and can be displayed to the driver in a suitable manner. Thus, the invention is an assistance system for the driver, via which the driver additional information is provided without taking the full responsibility and control of the truck. However, it is also conceivable, for example, to actively intervene in the speed control of the traction drive or in other functions.

Durch die Erfindung wird die Sicherheit im Betrieb des Flurförderzeugs erhöht, wodurch weniger Unfälle verursacht werden, indem dem Fahrer zusätzliche Informationen zur Verfügung gestellt werden. Das erfindungsgemäße System führt zu einer Verringerung von Schäden an Gebäudeeinrichtungen, zum Beispiel Rolltoren. Die Erfindung läßt sich an bestehenden Einrichtungen und Flurförderzeugen installieren, ohne daß dies mit einem erheblichen Mehraufwand verbunden ist. Wenn die Transponder nur zeitweise UHF-Signale senden, ergeben sich lange Batterielaufzeiten.The invention increases safety in the operation of the truck, thereby causing fewer accidents by providing additional information to the driver. The system according to the invention leads to a reduction of damage to building equipment, for example roller shutters. The invention can be installed on existing equipment and trucks, without this being associated with a significant overhead. If the transponders send only temporary UHF signals, long battery life will result.

Nach einer Ausgestaltung der Erfindung ist eine erste Antenne am Fahrerschutzdach des Flurförderzeugs angebracht. Wegen der relativ niedrigen Frequenz bei einem LF-Sendesignal erfordert die erste Antenne eine relativ große Ausdehnung. Auf dem Fahrerschutzdach ist hierfür ausreichend Platz.According to one embodiment of the invention, a first antenna is mounted on the driver's roof of the truck. Because of the relatively low frequency in an LF transmit signal, the first antenna requires a relatively large extension. There is sufficient space on the driver's protection roof for this.

Naturgemäß bedarf es auch einer Sendeschaltung für das vorzugsweise LF-Signal. Vorzugsweise wird die Sendeschaltung ebenfalls in der Auswerteeinheit untergebracht, wobei zwischen Auswerteeinheit und erster Antenne ein Kabel verläuft.Naturally, it also requires a transmission circuit for the preferably LF signal. Preferably, the transmission circuit is also housed in the evaluation unit, wherein between the evaluation and the first antenna extends a cable.

Im Flurförderzeug kann eine Überwachungsschaltung vorgesehen werden, welche die einzelnen Funktionen des Flurförderzeugs überwacht, wie z.B. Fahrgeschwindigkeit, Hubhöhe, Größe der aufgenommenen Last, Art des Antriebs bei einem Hybridantrieb (Verbrennungsmotor und batteriebetriebener Elektromotor) usw. Im Transponder sind Daten gespeichert, welche Verboten oder Geboten von Verkehrsschildern entsprechen können, z.B. maximale Hubhöhe, maximale Geschwindigkeit, Stoppfunktion usw. Empfängt die Auswerteeinrichtung des Flurförderzeugs ein derartiges Signal, werden die Daten mit den aktuellen Daten in der Überwachungsschaltung verglichen. Überschreitet das Fahrzeug nicht die in dem Bereich des Transponders vorgeschriebene Höchstgeschwindigkeit, erfolgt keine Anzeige. Ist jedoch die Höchstgeschwindigkeit überschritten, wird dies dem Fahrer am Display angezeigt. Das gleiche gilt z.B. für die Hubhöhe. Wird im Bereich des Transponders eine maximale Hubhöhe vorgeschrieben, die nicht überschritten werden darf, wird die aktuelle Hubhöhe des Mastes mit den Daten verglichen. Liegt eine Differenz vor, d.h. überschreitet die aktuelle Hubhöhe die vorgeschriebene Hubhöhe, wird dies dem Fahrer angezeigt. Hält das Fahrzeug nicht an einer gewünschten Stelle, wie dies vom Verkehrsschild bzw. von den Daten im Transponder vorgegeben wird, wird dies ebenfalls dem Fahrer angezeigt, damit er einen entsprechenden Hinweis auf die Verbots- oder Gebotsfunktion erhält. Allgemein kann festgestellt werden, dass im Transponder ortsbezogene Informationen gespeichert und gesendet werden, die vom System des Flurförderzeugs gelesen werden, wobei die Informationen dem Fahrer abhängig vom Zustand des Flurförderzeugs dargestellt werden, d.h. nur in solchen Fällen, wo die aktuelle Funktion nicht der gespeicherten Verbots- oder Gebotsfunktion entspricht, dies aber tun sollte.In the truck, a monitoring circuit can be provided which monitors the individual functions of the truck, such as driving speed, lifting height, size of the recorded load, type of drive in a hybrid drive (internal combustion engine and battery-powered electric motor), etc. In the transponder data is stored, which prohibits or Bids can correspond to traffic signs, eg maximum Lifting height, maximum speed, stop function, etc. If the evaluation device of the truck receives such a signal, the data is compared with the current data in the monitoring circuit. If the vehicle does not exceed the maximum speed prescribed in the area of the transponder, no display will be made. However, if the maximum speed is exceeded, this is indicated to the driver on the display. The same applies, for example, to the lifting height. If a maximum lifting height is specified in the area of the transponder, which must not be exceeded, the current lifting height of the mast is compared with the data. If there is a difference, ie if the current lifting height exceeds the prescribed lifting height, this is indicated to the driver. If the vehicle does not stop at a desired location, as dictated by the traffic sign or by the data in the transponder, this is also displayed to the driver so that he receives a corresponding indication of the prohibition or bid function. In general, it can be stated that location-related information is stored and transmitted in the transponder, which are read by the truck's system, the information being presented to the driver depending on the condition of the truck, ie only in those cases where the current function is not the stored prohibition - or bidder function, but should do so.

Schließlich ist auch denkbar, die Transponder von anderen Quellen aus zu aktivieren, beispielsweise ein Transponder an einem Rolltor, das z.B. den Transponder aktiviert, wenn das Rolltor geschlossen wird oder auch umgekehrt.Finally, it is also conceivable to activate the transponders from other sources, for example a transponder on a roller door, which, for example, activates the transponder when the roller shutter is closed or vice versa.

Die Erfindung wird nachfolgend anhand eines Ausführungsbeispiels näher erläutert.

Fig. 1a
ein Flurförderzeug mit einem System nach der Erfindung
Fig. 1 b
zeigt schematisch das System nach der Erfindung.
Fig. 2
zeigt den Betrieb des Systems nach Fig. 1 in einer Lagerhalle.
The invention will be explained in more detail with reference to an embodiment.
Fig. 1a
an industrial truck with a system according to the invention
Fig. 1 b
schematically shows the system according to the invention.
Fig. 2
shows the operation of the system of FIG. 1 in a warehouse.

In Fig. 1a ist ein Gegengewichtsstapler 10 angedeutet, der in üblicher Weise ausgeführt ist. Daher sollen Einzelteile nicht beschrieben werden. Fig. 1b zeigt ein System mit einer ersten Antenne 12, die als Folie oder Kunststoffplatte ausgeführt, und an einem Fahrschutzdach 14 des Staplers 10 angebracht ist. Bei 16 ist ein Gehäuse oder eine Box angedeutet, die eine zweite Antenne 18 aufweist und in der eine Sendeschaltung für LF angeordnet ist sowie eine Empfangsschaltung für UHF und eine Auswerteschaltung. Durch die Sendeschaltung wird über die Antenne 12 ein Signal mit zum Beispiel 125 kHz gesendet, wobei die Reichweite etwa 10 m maximal ist. Befindet sich in diesem Bereich ein Transponder 20, dann wird von diesem bei Empfang des LF-Signals ein UHF-Signal, zum Beispiel mit der Frequenz von 868 MHz gesendet. Der Transponder 20 ist mit einer Batterie ausgerüstet und normalerweise ausgeschaltet. Erst bei Empfang des LF-Signals wird die Sendeschaltung des Transponders 10 eingeschaltet, damit das beschriebene UHF-Signal gesendet wird. Das UHF-Signal wird von der Antenne 18 empfangen und in der Auswerteschaltung ausgewertet. Am Gehäuse 16 befindet sich eine Schnittstelle für eine Verbindung zu einem Bordcomputer im Stapler 10, welcher durch ein Display 22 in Fig. 1 angedeutet ist. Der Transponder befindet sich zum Beispiel im Bereich eines Hallentores, das eine Durchfahrt nur bis zu einer bestimmten Höhe erlaubt. Im Bereich des Tores ist außerhalb ein Verkehrsschild 24 angeordnet, wobei im vorliegenden Fall der Transponder 20 am Verkehrsschild oder in seiner unmittelbaren Nähe angebracht ist. Die im Transponder 20 gespeicherte und bei Aktivierung gesendete Information entspricht daher zum Beispiel dem Inhalt des Verkehrsschildes 24 (Gebots- oder Verbotsfunktion). Dieses wird, wie in Fig. 1 ersichtlich, auf dem Display wiedergegeben. Der Fahrer erkennt mithin, daß er sich einem Hallentor nähert, dessen Durchfahrthöhe begrenzt ist. Die Verbindung zwischen der Auswerteeinheit im Gehäuse 16 und dem Computer ist durch ein Kabel 26 vorgesehen. Außerdem ist, wie erwähnt, in dem Gehäuse 16 die Sendeschaltung für das LF-Signal angeordnet. Daher ist ein Kabel 28 zwischen dem Gehäuse 16 und der Antenne 12 auf dem Fahrerschutzdach 14 vorgesehen.In Fig. 1a, a counterbalance truck 10 is indicated, which is carried out in the usual way. Therefore, items should not be described. FIG. 1b shows a system with a first antenna 12, which is designed as a foil or plastic plate, and is attached to a driving protection roof 14 of the stacker 10. At 16, a housing or a box is indicated, which has a second antenna 18 and in which a transmission circuit for LF is arranged and a receiving circuit for UHF and an evaluation circuit. By the transmission circuit, a signal with, for example, 125 kHz is transmitted via the antenna 12, wherein the range is about 10 m maximum. If a transponder 20 is located in this area, it will send a UHF signal, for example at the frequency of 868 MHz, upon receipt of the LF signal. The transponder 20 is equipped with a battery and normally switched off. Only upon receipt of the LF signal, the transmission circuit of the transponder 10 is turned on, so that the described UHF signal is sent. The UHF signal is received by the antenna 18 and evaluated in the evaluation circuit. On the housing 16 is an interface for connection to an on-board computer in the stacker 10, which by a Display 22 is indicated in Fig. 1. The transponder is located for example in the area of a hall gate, which allows a passage only up to a certain height. In the area of the gate outside a traffic sign 24 is arranged, in the present case, the transponder 20 is attached to the road sign or in its immediate vicinity. The information stored in the transponder 20 and sent upon activation therefore corresponds, for example, the content of the road sign 24 (bidding or prohibition function). This is, as shown in Fig. 1, reproduced on the display. The driver recognizes therefore that he is approaching a hall gate, the passage height is limited. The connection between the evaluation unit in the housing 16 and the computer is provided by a cable 26. In addition, as mentioned, in the housing 16, the transmission circuit for the LF signal is arranged. Therefore, a cable 28 is provided between the housing 16 and the antenna 12 on the driver's shelter 14.

In Fig. 2 ist bei 30 der Grundriß einer Lagerhalle angeordnet, in der Regalanordnungen 32 bzw. 34 angeordnet sind. Durch schraffierte Bereiche 36, 38 sind Zonen angedeutet, in denen der Fahrer des Flurförderzeugs, das in Fig. 2 in drei verschiedenen Positionen dargestellt ist, besonders aufmerksam fahren muß, insbesondere mit reduzierter Geschwindigkeit. Man erkennt, daß in diesen Bereichen jeweils ein Transponder 20 gemäß Fig. 1 angeordnet ist. In Fig. 2 ist ferner ein offenes Tor 40 und ein geschlossenes Tor 42 eingezeichnet, denen wiederum jeweils ein Transponder 20 zugeordnet ist. Der Transponder 20 signalisiert dem Fahrer, daß das Tor geschlossen ist, er daher rechtzeitig stoppen muß, um zum Beispiel zu warten, bis das Rolltor öffnet. Der Transponder 20 beim Tor 40 gibt zum Beispiel, wie in Fig. 1 die Durchfahrthöhe an. Die Transponder 20 in den gefährdeten Bereichen 36, 38 zeigen dem Fahrer an, daß er die Geschwindigkeit reduzieren sollte.In Fig. 2 at 30 the plan of a warehouse is arranged, are arranged in the shelf assemblies 32 and 34, respectively. By hatched areas 36, 38 zones are indicated in which the driver of the truck, which is shown in Fig. 2 in three different positions, must drive very carefully, especially at reduced speed. It can be seen that in each of these areas a transponder 20 according to FIG. 1 is arranged. In Fig. 2, an open gate 40 and a closed gate 42 is also shown, to which in turn in each case a transponder 20 is assigned. The transponder 20 signals to the driver that the gate is closed, therefore he must stop in time, for example, to wait until the roller shutter opens. The transponder 20 at the gate 40 indicates, for example, as in FIG. 1, the passage height. The transponders 20 in the vulnerable areas 36, 38 indicate to the driver that he should reduce the speed.

Im Bordcomputer kann eine Überwachungsschaltung vorgesehen werden, welche die einzelnen Funktionen des Flurförderzeugs 10 überwacht und z.B. Daten über die Geschwindigkeit, Höhe des Hubmastes, Größe der Last usw. aktuell speichert. In den Transpondern sind nun Funktionen des Flurförderzeugs gespeichert, welche am Ort oder in der Nähe des Transponders entweder verboten oder geboten sind. So ist z.B. vorgeschrieben, mit welcher Hubhöhe das Tor eines Gebäudes passiert werden kann. Ferner kann vorgeschrieben werden, welche Höchstgeschwindigkeit gefahren werden darf. Das UHF-Signal enthält Daten über die Gebots- oder Verbotsfunktionen, welche die Überwachungsschaltung mit der jeweils aktuellen Funktion vergleicht. Gibt es eine Differenz zwischen den in den Transpondern gespeicherten Funktionen und den aktuellen Funktionen, fährt z.B. das Fahrzeug zu schnell oder ist die Hubhöhe zu groß, wird dies dem Fahrer angezeigt. Gleiches gilt z.B., wenn ein Fahrzeug einen Hybridantrieb aufweist und vom Freien in die Halle fährt. Dabei muß sichergestellt sein, dass in der Halle nicht mit Verbrennungsmotor gefahren wird.In the on-board computer, a monitoring circuit can be provided, which monitors the individual functions of the truck 10 and, for example. Data about the speed, height of the mast, size of the load, etc. currently stores. The transponders now store functions of the truck which are either prohibited or commanded at the location or in the vicinity of the transponder. For example, e.g. prescribed with which lifting height the gate of a building can be passed. It can also be prescribed which maximum speed may be driven. The UHF signal contains data about the bidding or prohibition functions which the monitoring circuit compares with the current function. If there is a difference between the functions stored in the transponders and the current functions, e.g. If the vehicle is too fast or if the lift height is too high, this will be indicated to the driver. The same applies, for example, when a vehicle has a hybrid drive and drives from the outdoors into the hall. It must be ensured that in the hall is not driven by internal combustion engine.

Claims (10)

System zur Unterstützung eines Fahrers eines Flurförderzeugs mit den folgenden Merkmalen: an vorgegebenen Stellen des Arbeitsbereichs des Flurförderzeugs (10) sind Transponder (20) angeordnet die Transponder (20) sind so ausgelegt, daß sie bei Empfang eines Sendesignals ein UHF-Signal senden das Flurförderzeug (10) weist mindestens eine Antenne (12) für das Senden und/oder Empfang eines Signals zum bzw. vom Transponder auf am Flurförderzeug (10) ist eine Auswerteeinheit (16) angeordnet, die eine Auswerteelektronik für die UHF-Signale enthält und die Auswerteeinheit ist mit einem Bordcomputer (22) im Flurförderzeug verbunden. System for supporting a driver of a truck with the following features: transponder (20) are arranged at predetermined locations of the working area of the industrial truck (10) the transponders (20) are designed to transmit a UHF signal upon receipt of a transmission signal the industrial truck (10) has at least one antenna (12) for transmitting and / or receiving a signal to or from the transponder on the truck (10) an evaluation unit (16) is arranged, which contains an evaluation of the UHF signals and the evaluation unit is connected to an on-board computer (22) in the truck. System nach Anspruch 1, dadurch gekennzeichnet, daß die mit Batterie ausgerüsteten Transponder (20) normalerweise inaktiv sind und bei Empfang eines Signals, vorzugsweise eines LF-Signals, ein UHF-Signal senden, das Flurförderzeug eine erste Antenne für das Senden des Sendesignals, vorzugsweise LF-Signals, aufweist und die Auswerteeinheit vorzugsweise eine zweite Antenne für den Empfang des UHF-Signals aufweist.A system according to claim 1, characterized in that the battery-equipped transponders (20) are normally inactive and, upon receipt of a signal, preferably an LF signal, transmit a UHF signal, the truck has a first antenna for transmitting the transmission signal, preferably LF signal, and the evaluation unit preferably has a second antenna for receiving the UHF signal. System nach Anspruch 1, dadurch gekennzeichnet, daß die Transponder (20) an oder in der Nähe von Verkehrsschildern (24) angebracht sind.A system according to claim 1, characterized in that the transponders (20) are mounted on or near traffic signs (24). System nach einem der Ansprüche 1 bis 3, dadurch gekennzeichnet, daß eine erste Antenne (12) am Fahrerschutzdach des Flurförderzeugs angebracht ist.System according to one of claims 1 to 3, characterized in that a first antenna (12) is mounted on the driver's roof of the truck. System nach einem der Ansprüche 1 bis 4, dadurch gekennzeichnet, daß das Flurförderzeug eine Steuervorrichtung für den Fahrantrieb aufweist und die Geschwindigkeit nach Maßgabe des UHF-Signals beeinflußt ist.System according to one of claims 1 to 4, characterized in that the truck has a control device for the traction drive and the speed is influenced in accordance with the UHF signal. System nach einem der Ansprüche 1 bis 5, dadurch gekennzeichnet, daß eine Sendeschaltung für das Sendesignal, vorzugsweise das LF-Signal, in der Auswerteeinheit (16) angeordnet und die Auswerteeinheit (16) über ein Kabel (28) mit der Sendeantenne (12) verbunden ist.System according to one of Claims 1 to 5, characterized in that a transmission circuit for the transmission signal, preferably the LF signal, is arranged in the evaluation unit (16) and the evaluation unit (16) is connected to the transmission antenna (12) via a cable (28). connected is. System nach Anspruch 1, dadurch gekennzeichnet, dass als Spannungsquelle für die Transponder ein Netzanschluß vorgesehen ist.System according to claim 1, characterized in that a mains connection is provided as voltage source for the transponder. System nach einem der Ansprüche 1 bis 3, dadurch gekennzeichnet, dass die Antenne an der Front- oder Heckscheibe oder am Hubgerüst angebracht ist.System according to one of claims 1 to 3, characterized in that the antenna is mounted on the front or rear window or on the mast. System nach einem der Ansprüche 1 bis 8, dadurch gekennzeichnet, dass am Flurförderzeug eine Überwachungsschaltung vorgesehen ist, die die Funktionen des Flurförderzeugs überwacht, im Transponder auf die Funktionen des Flurförderzeugs bezogene Daten gespeichert sind, die Verbots- oder Gebotsfunktionen am Ort oder in der Nähe der Transponder entsprechen und die Überwachungsschaltung die von den Transpondern kommenden Signale mit der jeweiligen Funktion vergleicht und eine Anzeige am Display oder dergleichen für den Fahrer erfolgt, wenn die jeweilige Funktion von der im Signal enthaltenen Verbots- oder Gebotsfunktion abweicht.System according to one of claims 1 to 8, characterized in that the truck is a monitoring circuit is provided which monitors the functions of the truck, stored in the transponder on the functions of the truck data stored, the prohibition or bid functions at the site or in the vicinity correspond to the transponder and the monitoring circuit compares the signals coming from the transponders with the respective function and an indication on the display or the like for the driver, if the respective Function differs from the prohibition or bidding function contained in the signal. System nach einem der Ansprüche 1 bis 9, dadurch gekennzeichnet, dass die Transponder von externen Steuervorrichtungen im Betriebsbereich des Flurförderzeugs aktivierbar sind.System according to one of claims 1 to 9, characterized in that the transponder can be activated by external control devices in the operating range of the truck.
EP06018414A 2005-09-24 2006-09-02 System for assisting an industrial truck driver while driving Active EP1767488B1 (en)

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DE102005045721A1 (en) 2007-03-29
CN100577556C (en) 2010-01-06
US7688223B2 (en) 2010-03-30
US20070069907A1 (en) 2007-03-29
EP1767488B1 (en) 2010-05-05
CN1935623A (en) 2007-03-28
DE502006006888D1 (en) 2010-06-17

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