EP1834922A2 - Chariot de manutention doté d'un mât de levage - Google Patents

Chariot de manutention doté d'un mât de levage Download PDF

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Publication number
EP1834922A2
EP1834922A2 EP07004276A EP07004276A EP1834922A2 EP 1834922 A2 EP1834922 A2 EP 1834922A2 EP 07004276 A EP07004276 A EP 07004276A EP 07004276 A EP07004276 A EP 07004276A EP 1834922 A2 EP1834922 A2 EP 1834922A2
Authority
EP
European Patent Office
Prior art keywords
truck
lifting
load
measurement
mast
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.)
Granted
Application number
EP07004276A
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German (de)
English (en)
Other versions
EP1834922B1 (fr
EP1834922A3 (fr
Inventor
Maik Manthey
Joachim Tödter
Volker Viereck
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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Application filed by STILL GmbH filed Critical STILL GmbH
Publication of EP1834922A2 publication Critical patent/EP1834922A2/fr
Publication of EP1834922A3 publication Critical patent/EP1834922A3/fr
Application granted granted Critical
Publication of EP1834922B1 publication Critical patent/EP1834922B1/fr
Not-in-force legal-status Critical Current
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/0755—Position control; Position detectors

Definitions

  • the invention relates to an industrial truck with a lifting mast, arranged on the lifting mast lifting device and arranged in the region of the lifting mast means for non-contact distance measurement.
  • Such vehicles such as counterbalanced forklifts, reach trucks or stackers are used for in-house goods transport, where they can pick up loads by means of a lifting mast vertically movably arranged lifting device, transport and set down again.
  • the truck operator In order to accurately position the load handling device, it is important for the truck operator to know the exact height of the load handling device and its inclination. If the height information is not correct, damage to the vehicle and / or the racking system may occur during loading or unloading of loads, for example from higher shelf areas.
  • the inclination of the load receiving means which is usually adjusted by the inclination of the lifting mast, is a safety-related information, as by falling back of the load-receiving means to the vehicle, the falling of loads should be avoided.
  • the lifting height of the load receiving means can be determined, for example, by means of friction wheels mounted on the mast, via a travel measurement on the lifting cylinder or via angular encoders on the deflection of a lifting chain.
  • Such sensors are often sensitive to environmental influences such as dirt or temperature.
  • a sensor for non-contact distance measurement at a single point is known, which is attached to the load-receiving means and aligned with the footprint.
  • sensors are also used for example in collision avoidance system and are usually based on optical or acoustic measurements.
  • unevenness or interruptions in the measurement surface often lead to falsifications or misinterpretations of the measurement result.
  • the sensors used for this purpose even if their detection range covers a larger area, react only to the nearest object and thus effectively only allow the measurement at a point whose exact position within the covered measuring range is also mostly unknown.
  • the invention is therefore an object of the invention to provide a truck with a mast, arranged on the mast lifting equipment and arranged in the Hubmasts means for non-contact removal measurement, which is simple and safe to operate, in particular by particularly accurate measurements of the lifting height and / or the mast tilt are enabled
  • This object is achieved in that means are provided for non-contact distance measurement between a defined point of the truck and at least three non-lying points in the area of the lifting mast.
  • a device for determining the lifting height of the load receiving means and / or the inclination of the load receiving means from the means for non-contact distance measurement determined data is provided.
  • Lifting height and / or the inclination of the load handling device are of particular importance for the safety of the truck and can be determined directly or via simple calculations from the measured data.
  • means are provided for changing the area detected by the means for non-contact distance measurement.
  • the detected region is considered to be the region defined by the straight-line connections between the positions of the measuring points on an imaginary plane, which is defined by the maximum range of the measuring device, and the means for non-contact distance measurement and this plane.
  • the detected area is changed in its position and / or size, this can be optimally adapted to the requirements in the operation.
  • a narrowing or widening as well as a change in position can be used to take measurements only at certain points and thus eliminate sources of error such as floor heels.
  • an area approximately in the direction of travel of the truck can be detected by the means for non-contact distance measurement.
  • the distance of the truck to a wall or other obstacles in the direction of travel, such as shelves, other trucks or walls can be detected. Based on these data, it is possible to surely avoid a collision.
  • approximately the area of the load-receiving means can be detected by the means for contactless distance measurement. This makes it possible to monitor the load: When the load slips, the measured distances change and it is possible to initiate countermeasures based on the measured values.
  • the means for non-contact removal measurement are arranged substantially in the region of the load-receiving means, in particular in the region of a fork carrier and / or a lifting carriage.
  • Mast tilt and lifting height can be determined so easily, since only the distance to the footprint of the truck or a vehicle-fixed reference surface must be determined to determine the sizes mentioned. If the detection area is aligned in front of the forklift in the direction of travel, the positioning of the load handling device and thus the picking up of loads can be monitored particularly well.
  • the means for non-contact distance measurement are arranged substantially in the region of the mast base.
  • the power supply and signal transmission to or from This area is particularly simple, since there are no parts moving over the lifting height. The detection of the load and the lifting height can take place simultaneously.
  • the means for non-contact distance measurement comprise at least one sensor for detecting three-dimensional environmental data, preferably a photonic mixer detector.
  • sensors allow the virtually simultaneous detection of a plurality of distance measuring points in a narrow grid (so-called 3D camera).
  • the senor for detecting three-dimensional environmental data is arranged pivotably.
  • the detection range can be changed easily.
  • the detection range can be changed from the footprint immediately in front of the truck below the lifting device to the area in front of the truck to the area of the lifting device and so the functions height measurement, collision protection and monitoring of load and load transport can be realized ,
  • the means for non-contact removal measurement are in operative connection with at least one device for warning against dangers, in particular collisions.
  • the measured values indicate the emergence and / or existence of a critical situation, for example, the risk of a collision of the truck with an obstacle or slippage of the load, a warning for the operator and / or persons located near the truck so that timely countermeasures can be taken.
  • the means for non-contact distance measurement are in operative connection with a vehicle control.
  • counterbalance forklift 1 is shown with a mast 2 and a fork-shaped load-carrying means 3.
  • the load-receiving means 3 is fastened by means of a fork carrier 4 to a lifting carriage 5, which is movably guided on the lifting mast 2.
  • a so-called 3D sensor 6 is arranged according to the invention, which detects the area A.
  • range sensors that respond to a single signal echo reflected from the nearest object
  • sensors also referred to as photonic mixer or 3D camera
  • the transit time of an infrared signal to a reflecting surface is determined and used to determine their distance.
  • the sensor 6 is connected to an evaluation electronics not shown here, which can be arranged on the lifting carriage 5 and / or in the vehicle 1. If the sensor 6, as shown in the exemplary embodiment, is aligned with a surface 7 in front of the forklift 1 below the load-carrying means 3, the measured values for determining the lifting height and the mast tilt are used by the distance from the Sensor 6 is determined to the surface 7. In a flat surface 7, as usual in a warehouse, a factory floor or other typical locations of a truck 1, also the inclination of the surface 7 relative to the sensor 6 can be determined and in turn the inclination of the lifting device 3 and the lifting mast 2 at the site at which the load-carrying means 3 is currently located.
  • These values can be communicated to the operator via a display unit 9 arranged at a driver's seat 8 or processed in a vehicle control, not shown here, in order to influence vehicle parameters such as driving speed, acceleration, lifting speed, lifting height, mast tilt or steering angle.
  • vehicle parameters such as driving speed, acceleration, lifting speed, lifting height, mast tilt or steering angle.
  • the output of warnings acoustic or optical type when approaching or exceeding critical limits for lifting height or mast tilt is conceivable, as well as a representation of the detected by the sensor Entfemungs Kunststoffs on a screen, with different distances are identified, for example, by different colors and so the operator For example, located directly in front of the truck 1 objects that would not be visible, can recognize.
  • an evaluation of the distance image can also be carried out, recognizing, for example, strong changes in the distance within the detected area A, which indicate obstacles or steps in the ground, such as parked crates, the edge of a ramp or a curb.
  • the sensor 6 is pivotably mounted on the lifting carriage 5 and can be pivoted about a horizontal, transverse to the vehicle longitudinal axis pivot axis 10 via a drive, not shown here, for example, a stepper motor.
  • a drive not shown here, for example, a stepper motor.
  • the detection range A of the 3D sensor can be changed and, for example, also detect the areas shown in FIG.
  • the sensor 6 is pivoted so that the area B is detected directly in front of the truck 1. This makes it possible to detect obstacles located in the path of the forklift 1 in time, which is otherwise difficult or impossible for the operator due to the visual obstruction by a load 12 recognize.
  • the distance of the forklift 1 can be displayed by an obstacle or a shelf.
  • the sensor is pivoted so that the area C is detected directly in front of the load-receiving means 3.
  • the sensor is pivoted so that the area C is detected directly in front of the load-receiving means 3.
  • it is possible to detect the shape and position of the load 12 and the rack 13 and to assist the operator in picking up the load 12 by risking a collision of the load receiving means 3 with the load 12 or the shelf 13 issued a warning and, where appropriate, driving and / or lifting movements of the truck 1 are prevented or in dangerous recording a signal indicating this state, is delivered.
  • This function is particularly advantageous when shooting loads in higher shelves, since the operator then has only poor visibility of the load 12 and the shelf 13.
  • the sensor 6 is pivoted so that the measuring range D includes the load-receiving means 3. In this position, the sensor 6 can be used to monitor the load 12, i. a shift of the load 12 leads to a change in the distance measurement values.
  • the sensor 6 is pivoted so that the measuring range E partially covers the load-carrying means 3 and a part of the measuring range E detects the space above the truck 1 and so the distance of the load-receiving means 3 can be determined by a building ceiling.
  • the pivoting of the sensor 6 can be both manually specified by the operator as well as be made automatically depending on the operating state of the truck 1.
  • the sensor 6, for example can be manually or automatically swiveled to the front of the vehicle 1 from the downwardly directed position (see Fig. 1) when lifting the load receiving means 3 after reaching the desired lifting height to detect area C in front of the vehicle 1 and so on To load or unload a load 12 in a high shelf space.
  • an automatic pivoting in the direction of the load-receiving means 3 which makes it possible to monitor the position of the load 12 and so to detect a shift of the load 12 in time and / or the room to detect above the truck 1, to prevent a risk of collision with obstacles above the lifting mast 2, is conceivable.
  • the interaction of the sensor 6 with a vehicle control, not shown, and a warning device means a large safety gain, as vehicle dependent parameters, such as driving speed, acceleration, lifting speed, lifting height, mast tilt or steering angle depending on the situation and the operator is informed of the presence of critical operating conditions.
  • vehicle dependent parameters such as driving speed, acceleration, lifting speed, lifting height, mast tilt or steering angle depending on the situation and the operator is informed of the presence of critical operating conditions.
  • FIG. 3 shows a counterbalance forklift 1 with a 3D sensor 6 arranged in the region of the mast base 14 as an example of an industrial truck 1 according to the invention.
  • the structure of the forklift 1 corresponds in principle to that shown in FIGS. 1 and 2, but the 3D sensor 6 was in the region of Mastfußes 14 attached to the housing 15 of the truck 1 and is aligned with the load receiving means 3, wherein the area F is detected.
  • the load-receiving means 3 can be well identified by its specific shape and its inclination and height in relation to the 3D sensor 6 and thus also to the footprint 16 of the truck 1 can be determined.
  • this arrangement Compared to an arrangement of the 3D sensor 6 on the load receiving means 3, this arrangement has the advantage that no lines for power supply and data transfer to moving parts are needed.
  • the measurement of lifting height and mast tilt is also easier in cases than when mounting the sensor 6 on the load-carrying means 3, in which there are bumps and obstacles in front of the truck, since these circumstances do not have to be considered.
  • the correct detection of the lifting device 3 is much more difficult than detecting the bottom surface 7 of FIG. 1, since the image of the lifting device 3 in the sensor 6 changes with increasing lifting height and the accuracy of the height measurement depends on the distance between the sensor. 6 and soil remains the same under all circumstances, which is not the case especially in tire wear or deformation on the vehicle.
  • the use of the 3D sensor 6 in the directly forward-facing position see Fig.
  • the change in the measuring range takes place by swiveling the sensor 6 on the one hand and selectively evaluating individual ranges within the detected range if necessary, however, other possibilities for changing the measuring range are conceivable, for example via optical systems such as Lenses or mirrors.
  • optical systems such as Lenses or mirrors.
  • the use of a sensor with a particularly large detection range or of two or more sensors is also conceivable so that the described ranges can be monitored simultaneously.
  • 3D sensor 6 which operates in the infrared range of electromagnetic radiation
  • other measuring methods for non-contact distance measurement are conceivable, for example, working in other wavelength ranges or by means of acoustic methods or other known principles.
  • detecting a larger area with a dense grid of measuring points it is also conceivable to measure only a few, but at least three measuring points not lying on a straight line.
  • Such a device is particularly simple and requires only a few expensive devices for the evaluation of the measurement results, but increases the risk of incorrect measurements.

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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)
EP20070004276 2006-03-16 2007-03-01 Chariot de manutention doté d'un mât de levage Not-in-force EP1834922B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE200610012205 DE102006012205A1 (de) 2006-03-16 2006-03-16 Flurförderzeug mit einem Hubmast

Publications (3)

Publication Number Publication Date
EP1834922A2 true EP1834922A2 (fr) 2007-09-19
EP1834922A3 EP1834922A3 (fr) 2009-08-19
EP1834922B1 EP1834922B1 (fr) 2014-05-21

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ID=38197751

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EP20070004276 Not-in-force EP1834922B1 (fr) 2006-03-16 2007-03-01 Chariot de manutention doté d'un mât de levage

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EP (1) EP1834922B1 (fr)
DE (1) DE102006012205A1 (fr)

Cited By (17)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1886966A3 (fr) * 2006-08-11 2009-11-04 Still Gmbh Chariot de manutention avec dispositif de prise de charge relevable
WO2010045391A2 (fr) * 2008-10-14 2010-04-22 Freightscan, Llc Chariot élévateur permettant de gérer du fret et procédé d'utilisation associé
EP2385013A1 (fr) * 2010-05-03 2011-11-09 Siemens Aktiengesellschaft Chariot de manutention doté d'un dispositif destiné à la surveillance de la position d'un produit de transport chargé et procédé destiné à la surveillance de la position d'un produit de transport chargé d'un chariot de manutention
CN102249169A (zh) * 2010-05-18 2011-11-23 南京梅山冶金发展有限公司 炮筒叉车操作可视定位方法及装置
WO2012022598A1 (fr) * 2010-08-18 2012-02-23 Robert Bosch Gmbh Procédé et dispositif pour déterminer une hauteur de levage d'un engin de travail
US20130182237A1 (en) * 2011-08-23 2013-07-18 Still Gmbh Industrial Truck with Lifting Height Measurement System
EP2653431A1 (fr) * 2012-04-20 2013-10-23 STILL GmbH Chariot de manutention avec mesure de la hauteur de levage
EP2653432A1 (fr) * 2012-04-20 2013-10-23 STILL GmbH Chariot de manutention avec mesure de la hauteur de levage et procédé de mesure de la hauteur de levage
US9296912B2 (en) 2009-08-14 2016-03-29 Nano-C, Inc. Solvent-based and water-based carbon nanotube inks with removable additives
US9340697B2 (en) 2009-08-14 2016-05-17 Nano-C, Inc. Solvent-based and water-based carbon nanotube inks with removable additives
EP3282336A1 (fr) * 2016-08-12 2018-02-14 Universität Stuttgart Dispositif de transport sans conducteur et procédé de navigation et de positionnement d'un dispositif de transport sans conducteur
US9932213B2 (en) 2014-09-15 2018-04-03 Crown Equipment Corporation Lift truck with optical load sensing structure
EP3309112A1 (fr) * 2016-10-14 2018-04-18 Kabushiki Kaisha Toyota Jidoshokki Chariot élévateur et son procédé de fonctionnement
EP3581963A3 (fr) * 2018-05-24 2020-04-15 Toyota Motor Engineering & Manufacturing North America, Inc. Module de lidar et unité de balayage lidar portable
CN115432646A (zh) * 2021-06-03 2022-12-06 中强光电股份有限公司 堆高机及其控制方法
DE102021121515A1 (de) 2021-08-19 2023-02-23 Bayerische Motoren Werke Aktiengesellschaft Verfahren zum Betreiben eines Transportfahrzeugs in einem Logistikbereich, Computerprogrammprodukt sowie Transportfahrzeug
EP3812340B1 (fr) 2019-10-21 2023-12-06 Robert Bosch GmbH Charriot de manutention, équipé pour un fonctionnement sans conducteur et autonome

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Publication number Priority date Publication date Assignee Title
DE102010039477A1 (de) * 2010-08-18 2012-02-23 Robert Bosch Gmbh Verfahren und Vorrichtung zur Bestimmung einer Hubhöhe einer Arbeitsmaschine
DE102011054852B4 (de) * 2011-07-30 2024-05-16 Götting KG Verfahren zur Erfassung und Bewertung einer Ebene
DE102012108034A1 (de) 2012-04-20 2013-10-24 Still Gmbh Steuerungsverfahren für Flurförderzeug sowie Flurförderzeug
DE102013101561B4 (de) * 2013-02-15 2020-02-13 Götting KG Fahrerloses Transportfahrzeug mit einem Sensor
DE102014004140A1 (de) * 2014-03-24 2015-09-24 Still Gmbh Ausrichtbares Abstandsmessgerät
DE102015101090A1 (de) * 2014-03-24 2015-09-24 Still Gmbh Abstandsmessgerät
DE102017124850A1 (de) * 2017-10-24 2019-04-25 Jungheinrich Ag Flurförderzeug mit einer Gabel und einer Gabelzinkenkamera sowie Verfahren zum Betreiben eines solchen Flurförderzeugs
CN114929538A (zh) 2020-02-21 2022-08-19 克朗设备公司 基于车辆位置信息修改车辆参数
DE102020206557A1 (de) 2020-05-26 2021-12-02 Robert Bosch Gesellschaft mit beschränkter Haftung Verfahren zum Bestimmen des Abstands einer Gabel zum Boden und Gabelstapler
DE102022206053B3 (de) 2022-06-15 2023-07-27 Zf Friedrichshafen Ag Vorrichtung zur Hinderniserkennung an einem Fahrzeug mit Hubvorrichtung und Verfahren zum Betreiben einer solchen Vorrichtung
DE102022132171A1 (de) 2022-12-05 2024-06-06 Jungheinrich Aktiengesellschaft Verfahren zur automatischen Prüfung von mindestens einem Schutzbereich an einem Flurförderzeug

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WO2004103883A1 (fr) 2003-05-20 2004-12-02 TGW Transportgeräte GmbH Bras de poussee telescopique utilise en particulier pour un dispositif de reception de charges

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EP1502896A4 (fr) * 2002-01-23 2009-11-18 Toyota Jidoshokki Kk Dispositif et procede de commande de la position d'un appareil de manutention dans un vehicule industriel
DE10323641A1 (de) * 2003-05-26 2005-01-05 Daimlerchrysler Ag Bewegliche Sensoreinrichtung am Lastmittel eines Gabelstaplers

Patent Citations (1)

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WO2004103883A1 (fr) 2003-05-20 2004-12-02 TGW Transportgeräte GmbH Bras de poussee telescopique utilise en particulier pour un dispositif de reception de charges

Cited By (23)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP1886966A3 (fr) * 2006-08-11 2009-11-04 Still Gmbh Chariot de manutention avec dispositif de prise de charge relevable
WO2010045391A2 (fr) * 2008-10-14 2010-04-22 Freightscan, Llc Chariot élévateur permettant de gérer du fret et procédé d'utilisation associé
WO2010045391A3 (fr) * 2008-10-14 2010-07-29 Freightscan, Llc Chariot élévateur permettant de gérer du fret et procédé d'utilisation associé
US10023755B2 (en) 2009-08-14 2018-07-17 Nano-C, Inc. Solvent-based and water-based carbon nanotube inks with removable additives
US9340697B2 (en) 2009-08-14 2016-05-17 Nano-C, Inc. Solvent-based and water-based carbon nanotube inks with removable additives
US9296912B2 (en) 2009-08-14 2016-03-29 Nano-C, Inc. Solvent-based and water-based carbon nanotube inks with removable additives
EP2385013A1 (fr) * 2010-05-03 2011-11-09 Siemens Aktiengesellschaft Chariot de manutention doté d'un dispositif destiné à la surveillance de la position d'un produit de transport chargé et procédé destiné à la surveillance de la position d'un produit de transport chargé d'un chariot de manutention
CN102249169A (zh) * 2010-05-18 2011-11-23 南京梅山冶金发展有限公司 炮筒叉车操作可视定位方法及装置
CN102249169B (zh) * 2010-05-18 2013-06-26 南京梅山冶金发展有限公司 炮筒叉车操作可视定位方法及装置
US9008900B2 (en) 2010-08-18 2015-04-14 Robert Bosch Gmbh Method and device for determining a height of lift of a working machine
WO2012022598A1 (fr) * 2010-08-18 2012-02-23 Robert Bosch Gmbh Procédé et dispositif pour déterminer une hauteur de levage d'un engin de travail
US8763759B2 (en) * 2011-08-23 2014-07-01 Still Gmbh Industrial truck with lifting height measurement system
US20130182237A1 (en) * 2011-08-23 2013-07-18 Still Gmbh Industrial Truck with Lifting Height Measurement System
EP2653432A1 (fr) * 2012-04-20 2013-10-23 STILL GmbH Chariot de manutention avec mesure de la hauteur de levage et procédé de mesure de la hauteur de levage
EP2653431A1 (fr) * 2012-04-20 2013-10-23 STILL GmbH Chariot de manutention avec mesure de la hauteur de levage
US9932213B2 (en) 2014-09-15 2018-04-03 Crown Equipment Corporation Lift truck with optical load sensing structure
EP3282336A1 (fr) * 2016-08-12 2018-02-14 Universität Stuttgart Dispositif de transport sans conducteur et procédé de navigation et de positionnement d'un dispositif de transport sans conducteur
EP3309112A1 (fr) * 2016-10-14 2018-04-18 Kabushiki Kaisha Toyota Jidoshokki Chariot élévateur et son procédé de fonctionnement
EP3581963A3 (fr) * 2018-05-24 2020-04-15 Toyota Motor Engineering & Manufacturing North America, Inc. Module de lidar et unité de balayage lidar portable
US11041956B2 (en) 2018-05-24 2021-06-22 Toyota Motor Engineering & Manufacturing North America, Inc. Lidar module and portable lidar scanner unit
EP3812340B1 (fr) 2019-10-21 2023-12-06 Robert Bosch GmbH Charriot de manutention, équipé pour un fonctionnement sans conducteur et autonome
CN115432646A (zh) * 2021-06-03 2022-12-06 中强光电股份有限公司 堆高机及其控制方法
DE102021121515A1 (de) 2021-08-19 2023-02-23 Bayerische Motoren Werke Aktiengesellschaft Verfahren zum Betreiben eines Transportfahrzeugs in einem Logistikbereich, Computerprogrammprodukt sowie Transportfahrzeug

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Publication number Publication date
EP1834922B1 (fr) 2014-05-21
DE102006012205A1 (de) 2007-09-20
EP1834922A3 (fr) 2009-08-19

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