EP2653430A1 - Procédé de commande pour l'enlèvement de la charge d'un chariot de manutention et chariot de manutention - Google Patents

Procédé de commande pour l'enlèvement de la charge d'un chariot de manutention et chariot de manutention Download PDF

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Publication number
EP2653430A1
EP2653430A1 EP13162432.2A EP13162432A EP2653430A1 EP 2653430 A1 EP2653430 A1 EP 2653430A1 EP 13162432 A EP13162432 A EP 13162432A EP 2653430 A1 EP2653430 A1 EP 2653430A1
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EP
European Patent Office
Prior art keywords
load
control method
truck
receiving means
functions
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
EP13162432.2A
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German (de)
English (en)
Other versions
EP2653430B1 (fr
Inventor
Dr. Ralf König
Volker Viereck
Tino Krüger-Basjmeleh
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STILL GmbH
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STILL GmbH
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Publication date
Application filed by STILL GmbH filed Critical STILL GmbH
Publication of EP2653430A1 publication Critical patent/EP2653430A1/fr
Application granted granted Critical
Publication of EP2653430B1 publication Critical patent/EP2653430B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/0755—Position control; Position detectors
    • 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
    • B66F9/20—Means for actuating or controlling masts, platforms, or forks
    • B66F9/24—Electrical devices or systems

Definitions

  • the invention relates to a control method for an industrial truck having at least one camera, a monitor and a control device aligned with the area of a lifting device, wherein in the control method, when the truck with the load picked up is in a storage position with the load receiving device, the steps are carried out: Detecting the geometry of the storage position by means of image processing methods by the control device, such as pattern or object detection, determining a possible Absetzposition of the load in the storage position by the control device and determining a relative position of the load receiving means relative to a position of the load receiving means in the Absetzposition by the control device.
  • Forklifts are used in addition to pallet trucks on a very large scale, both types of industrial trucks transport especially arranged on pallets loads.
  • two forks are usually arranged to form a fork on a fork carriage with which a recorded pallet and a load on this load by appropriate maneuvering the forklift and driving a mast on which the fork is guided vertically movable, can be discontinued in a storage position .
  • unfavorable visibility conditions such as at very high lifted fork or in poorly lit areas of a warehouse, this can be tedious or at least require considerable time, as must be particularly slow and carefully controlled.
  • the handling capacity and the efficient use of industrial trucks are also impaired by the fact that drivers or operators of industrial trucks may not yet have sufficient training in the operation and in the control of the truck.
  • Driverless transport systems are also known in which image data obtained by a camera are used to generate control commands to the vehicle control system.
  • Optical sensors are now available in very compact dimensions and cost just as miniaturized cameras, z. B. for widespread use in mobile phones. Also, by using a plurality of optical sensors within a housing, the imaging range can be increased or three-dimensional data can be obtained by combining the sensor data of the individual sensors. In addition, image-sensor combinations are available in the field of the video entertainment industry. In addition to imaging camera sensors, they can use correlated depth-measuring sensor systems to provide three-dimensional image data.
  • From the DE10 2010 004 719 A1 is a is a camera device for detecting the position of a lifting device known which allows an operator a field of view on a storage position at high lifting heights.
  • From the DE 10 2008 027 695 A1 is a control method for an autonomous, fully automatic truck with a laser sensor in the area of the lifting device known. From data of the sensor, the relative position of a load-receiving means in relation to a storage position can be determined and the storage position can be controlled fully automatically.
  • the present invention has for its object to provide a control method for an industrial truck and an associated truck available with the ease of use for inexperienced with the operation people and with the handling capacity of the truck can be increased.
  • the object is achieved by a control method for an industrial truck having at least one camera, a monitor and a control device aligned with the area of a lifting device, wherein in the control method, when the truck with the load picked up is in a storage position with the load receiving device, the following steps be performed:
  • Detecting the geometry of the storage position by means of image processing methods by the control device such as pattern or object detection, determining a possible Absetzposition of the load in the storage position by the control device, in particular from the viewpoint of a space-saving arrangement, determining a relative position of the lifting device a position of the load receiving means in the setting position by the control device, representing at least parts of the storage position and schematically the load in the possible setting position on the monitor, interrogating a confirmation input, and in the case of a confirmation input settling the load in the setting position at the storage position by automatic adjustment and aligning the controllable by the control device functions of the lifting device and controllable by the control device driving functions of the truck and displaying values to be set for functions of the lifting device and driving functions of the truck on the monitor, which can not be controlled automatically by the control device.
  • the handling performance and the efficient use of industrial trucks can be increased if an operator is still relatively inexperienced in the operation of the truck.
  • the reliable and safe setting down of a load without damaging the load or other objects in the vicinity, in particular a shelf requires some practice and is only feasible after some routine with greater speed. This applies even more if the load is to be placed in a high rack position.
  • control commands of the truck operator such as a reach truck or even a counterbalance forklift or Gabelhochhubwagens, in a different manner, as in a position close to the ground.
  • vibrations and delays can occur due to the elasticity of a lifting mast.
  • the control device has determined a sequence of activation commands of the functions of the lifting device and, if appropriate, of travel movements of the industrial truck in order to move the load receiving means into a position for depositing the load, the storage position, for example a shelf space, is represented with a schematic marking of the setting-down position.
  • the automatic control of the functions or driving movement takes place only after the control device receives a signal that a confirmation input done by the driver.
  • a confirmation input may be a dedicated switch, a button on the touch-sensitive monitor, or any other suitable operator-aware input.
  • the control device executes those required movements to move the load receiving means in the setting position, which can be made as movements of the control device automatically.
  • the functions of a lifting device by working hydraulics the valves are usually carried out as electrically actuated control valves, with manually performed operating inputs via controls that emit an electrical signal. This allows a fully automatic control by the control device in the method according to the invention, which is inexpensive to implement.
  • the values to be set for the operating element are displayed by a graphical display on the monitor, but also optionally in another alternative display option.
  • This can be, for example, turns of a steering wheel, but also an arrow-controlled display which specifies in which direction a control element is to be actuated until the value to be set is reached.
  • this is also possible for operating lever for a lifting height, a side thrust, a mast thrust, a tilt of the lifting device or a mast tilt.
  • functions that could be controlled fully automatically by the control device are operated in this way.
  • the automated movements of the truck thus subject to a human control both in terms of the correct determination of an intended automated movement sequence and during the automated movement sequence of the truck. Therefore, safety requirements can be met more easily and a required greater effort as in autonomous industrial trucks can be avoided.
  • the method is also inexpensive to implement insofar as for a variety of functions of the lifting device as well as the driving functions of the truck already has the possibility of automated control and for the remaining required functions such is not required.
  • control of a brake pedal and an accelerator pedal may remain under human control alone.
  • one or more further confirmation inputs can be interrogated before or between the activation of individual functions of the lifting device and / or the activation of individual driving functions of the industrial truck.
  • the automated control of individual functions of the load handling device and / or individual driving functions of the truck can be done simultaneously, but also for time optimization simultaneously. Moreover, at the same time the control of those functions by the operator can take place, which can not be controlled automatically. It can be provided that further confirmation inputs must be made in the same manner described above, in order to meet safety requirements, for example, if in a certain automated movements increased monitoring by the operator to be ensured.
  • a continuous confirmation input is interrogated and, in the absence of a confirmation signal, the control of the functions of the load receiving means and / or the driving functions of the truck is stopped.
  • a confirmation input can also be provided by the fact that a corresponding signal must be given constantly and when a "release” all automated movements are stopped.
  • the lifting device may be guided vertically movable on a mast and functions of the lifting device may be the lifting height and / or a slope and / or a mast thrust of the mast.
  • the inventive method is particularly advantageous when loads must be discontinued even at high altitudes, since it can cause vibrations and elastic deformations of the mast at high lifting heights, which can complicate the operation in addition. In particular, however, the visibility at high lift are unfavorable.
  • the inventive method as assistance system supports an operator in contrast, for example, to a pure camera system according to the prior art in the operation and thus avoids the problems that can occur when an operator only on the basis of a Camera image movements of a lifting device must control.
  • One function of the load handling device may be a side thruster.
  • a value range of a required steering angle is displayed for the steering angle as the driving function of the truck as the value to be set, as well as the actual value of the steering angle.
  • the inventive method does not require autonomous steering with the appropriate requirements for safety and reliability.
  • a warning tone and / or the further control of the functions of the load-handling device and / or the driving functions of the truck is stopped.
  • optical sensors for the detection of the load, which are connected to the control device.
  • optical sensors By further optical sensors, the accuracy of detection can be improved.
  • Such optical sensors are available as CMOS image sensors but also as miniaturized cameras inexpensively as mass products.
  • the further optical sensors may preferably be in addition to those already mentioned Image information, for example encoded in brightness and color values of the pixels, capture further information, such as distance information in the form of point clouds.
  • a stereo image can be obtained in general by two cameras, from which information about the distance of the individual pixels can be obtained.
  • the camera can be a Time Of Flight camera.
  • the camera is a stereo camera.
  • a stereo camera can be very compact in a camera win a double image, from which a distance information can be calculated.
  • the camera is arranged on a fork carrier of the load-receiving means, in particular arranged so as to be movable in height, and can be moved to a position below the load-carrying means.
  • the camera on a vertical rail behind the load bearing device preferably designed as a load fork on the fork carriage in height be arranged so that it can be moved at a load lying on the load fork down until the camera a field of vision under the forks Reached fork. It is also possible to generally move the camera to this lower position for the image recording in the inventive method. Also conceivable are movable cameras that can not be moved vertically but horizontally.
  • the monitor can be a touch screen.
  • the storage position is a shelf space, in particular a shelf space of a pallet rack.
  • a check can be made as to whether the load fits in the shelf space.
  • It may be a detection of the geometry of the load on the load-carrying means by image processing methods by the control device, such as pattern or object recognition.
  • the determination as to whether a load can be placed in a certain storage position or how the set-down position can be selected for a space-saving arrangement can be made more accurate, since the geometric data of the load are known.
  • an industrial truck having at least one camera, a monitor and a control device, which is aligned with the region of a load-receiving device and in which the control device carries out a method described above.
  • the truck has the advantages already described above.
  • a truck is shown in perspective view, in which the control method according to the invention is used.
  • the truck is a reach truck with a first Radarm 1 with a roller 2 and a second Radarm 3, also with a roller 2.
  • the inventive method is at any time in any other type of truck and especially forklift, such as a Counterbalance forklift, or about a Gabelhochhubwagen used.
  • the control method according to the invention can also be used in industrial trucks that have no mast.
  • a fork carriage 11 is arranged on a lifting mast 4, to which a load fork 5 is attached as a load-receiving means 9. Behind the mast 4, a battery 6 is arranged.
  • the load carrier 5 carrying fork carriage 11 is raised and lowered on the mast 4 by means of a lifting drive.
  • the mast 4 can be moved forward between the wheel arms 1, 3 to receive a load.
  • a first fender 7 and the roller 2 of the second Radarms 3 also a second fender 8.
  • a camera 10 is arranged at the fork carriage 11.
  • the camera 10 is arranged in the vehicle transverse direction in the central region of the fork carriage 11.
  • the camera 10 is preferably arranged in height adjustable on the fork carriage 11 and can be moved to a position below the fork 5.
  • a miniature camera 13 can be arranged as a further optical sensor 14 on a fork tine 12. Such miniature cameras 13 are available in robust and cost-effective design and are used for example in numerous mobile phones.
  • Fig. 2 schematically shows the truck according to the invention in view from above.
  • the fork 5 Between the first Radarm 1 and the second Radarm 3 with the roller 2 of the mast 4 is arranged with the fork 5.
  • Fig. 3 shows a perspective view of a load shelf 19, which is designed as a pallet rack 18. Between vertical supports 40 on different levels 41, a front support strut 42 and a rear support strut 43 are each arranged. Between the front support strut 42 and the rear support strut 43 no shelf is arranged. Pallets can be stored in each level 41 in corresponding storage positions. A possible settling position 44 determined by the control device is arranged in the middle plane 41.
  • the Fig. 4 shows a monitor image of a monitor 23, which is arranged in the field of view of the operator of the truck. On this monitor image is a section of the captured by the camera 10 representation of the pallet rack 18 with the Absetzposition 44 from the Fig. 3 displayed.
  • An operator of the truck can now confirm the correct detection of the Absetzposition 44 and by a confirmation input, for example by a switch not shown here or a control panel 24 of the touchscreen 25 designed as monitor 23, the automatic control of the functions of the lifting device 9 and the driving functions of Start the truck.
  • a value to be set is displayed on the monitor 23 for functions that can not be controlled automatically, in this case the steering of the industrial truck.
  • the load fork 5 aligns with the setting position 44, and when the operator observes the corresponding instructions about the values to be set, the load receiving means 9 moves with the overlying load 15 to the setting position 44.
  • This assistance function also allows operators with little experience to load 15 settle safely.
  • the control device may be integrated in a control computer of the vehicle or consist entirely or in part from a separate computer.
  • the Fig. 5 shows a schematic of the method according to the invention.
  • the monitor 23 may consist of any form of image display means, e.g. B. a color screen in LCD technology.
  • the functions 26 of the load receiving means 9 are by the Operated operator in normal operation via working hydraulic control elements 27 and usually consist of hydraulic elements that are usually already automatically controlled by electrically controllable valves. Via a traction drive control 28 of the driving functions 29 of the truck an operator is able to control the vehicle movement. In a forklift, for example, by an operation by means of steering wheel, direction switch, accelerator pedal and brake pedal.
  • An image processing unit 30 forms part of a control device 31, which can detect and process the signals of one or more optical sensors 10, 14 in real time.
  • An optical sensor in the present example case, the camera 10 and the optical sensor 14 in the Fig. 1
  • the optical sensors 10, 14 are able to record brightness and color information by, for example, a camera chip and can, with appropriate design, also determine distances to objects by optical means.
  • the functions 26 of the load receiving means 9 and the driving functions 29 of the truck are in the illustration of Fig. 5 to vehicle drives 32 summarized.
  • the working hydraulic control elements 27, the traction drive control 28 and the monitor 23 are arranged in the area of a driver's workplace 33.
  • the image processing unit 30 and the optical sensors 10, 14 are arranged in the region of the load-receiving means 9, here the fork carrier 11 and the fork tine 12.
  • a vehicle controller 34 in the present example also forms part of the control device 31 and connects the aforementioned elements via unidirectional or bidirectional communication means.
  • the image processing unit 30 can also be arranged elsewhere and / or also integrated into the vehicle control system 34, so that the vehicle control system 34 simultaneously forms the complete control device 31 of the previously described embodiment.
  • a signal S1 transmits an acknowledgment signal generated upon the operator requesting the confirmation input, as well as other selection and control signals.
  • the signal S2 transmits the image of the camera 10, the quality of which can be improved by image processing algorithms of the control device 31 and which can additionally be provided with superimposed algorithmically generated additional information, e.g. B. distance information, route specifications and markings of hazardous areas.
  • the signal S3 includes control signals of the working hydraulic controls 27 and the signal S4 control signals of the traction drive operation 28.
  • the signal S5 is the image information signal of the camera 10 and the signal S6 is the image information signal of the optical sensor 14.
  • Generated control signals of the image processing unit 30 are transmitted to the vehicle controller 34 via a signal S7.
  • a signal S8 forms the control signals of the functions 26 of the load receiving means 9 and a signal S9 is used to control the driving functions 29th

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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)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Forklifts And Lifting Vehicles (AREA)
  • Warehouses Or Storage Devices (AREA)
EP20130162432 2012-04-20 2013-04-05 Procédé de commande pour l'enlèvement de la charge d'un chariot de manutention et chariot de manutention Active EP2653430B1 (fr)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
DE102012103486 2012-04-20
DE102012103841 2012-05-02
DE201210108028 DE102012108028A1 (de) 2012-04-20 2012-08-30 Steuerverfahren für Lastabsetzung eines Flurförderzeugs sowie Flurförderzeug

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EP2653430A1 true EP2653430A1 (fr) 2013-10-23
EP2653430B1 EP2653430B1 (fr) 2015-03-25

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EP (1) EP2653430B1 (fr)
DE (1) DE102012108028A1 (fr)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9932213B2 (en) 2014-09-15 2018-04-03 Crown Equipment Corporation Lift truck with optical load sensing structure
WO2019137767A1 (fr) * 2018-01-09 2019-07-18 Vetter Industrie GmbH Caméra côté fourche pour la détection de l'environnement d'un chariot de manutention
US10430073B2 (en) 2015-07-17 2019-10-01 Crown Equipment Corporation Processing device having a graphical user interface for industrial vehicle
CN111517248A (zh) * 2020-02-24 2020-08-11 科大智能机器人技术有限公司 一种agv叉车货物到位检测机构及其agv叉车
EP3718951A1 (fr) * 2019-04-05 2020-10-07 The Raymond Corporation Module de gestion de charge pour un véhicule de manutention de matériaux

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR102379813B1 (ko) 2016-11-22 2022-03-30 크라운 이큅먼트 코포레이션 산업용 차량을 위한 사용자 인터페이스 디바이스
DE102019112954A1 (de) 2019-05-16 2020-11-19 Jungheinrich Aktiengesellschaft Verfahren zur Lagerungsunterstützung bei einem Flurförderzeug und Flurförderzeug
JP7215394B2 (ja) * 2019-10-25 2023-01-31 株式会社豊田自動織機 荷役車両の操作支援装置

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0800129A1 (fr) * 1996-04-03 1997-10-08 FIAT OM CARRELLI ELEVATORI S.p.A. Chariot de manutention utilisable en mode manuel ou automatique
US20040073359A1 (en) * 2002-01-23 2004-04-15 Hisashi Ichijo Position control device and position control method of stevedoring apparatus in industrial vehicle
DE102008027701A1 (de) * 2008-04-20 2009-10-29 Still Gmbh Steuerungsverfahren für Flurförderzeug
DE102008027695A1 (de) 2008-04-20 2009-10-29 Still Gmbh Verfahren für die Lagerpositionsansteuerung bei Flurförderzeugen
DE102010004719A1 (de) 2010-01-15 2011-07-21 Linde Material Handling GmbH, 63743 Flurförderzeug, insbesondere Lagertechnikstapler

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0800129A1 (fr) * 1996-04-03 1997-10-08 FIAT OM CARRELLI ELEVATORI S.p.A. Chariot de manutention utilisable en mode manuel ou automatique
US20040073359A1 (en) * 2002-01-23 2004-04-15 Hisashi Ichijo Position control device and position control method of stevedoring apparatus in industrial vehicle
DE102008027701A1 (de) * 2008-04-20 2009-10-29 Still Gmbh Steuerungsverfahren für Flurförderzeug
DE102008027695A1 (de) 2008-04-20 2009-10-29 Still Gmbh Verfahren für die Lagerpositionsansteuerung bei Flurförderzeugen
DE102010004719A1 (de) 2010-01-15 2011-07-21 Linde Material Handling GmbH, 63743 Flurförderzeug, insbesondere Lagertechnikstapler

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9932213B2 (en) 2014-09-15 2018-04-03 Crown Equipment Corporation Lift truck with optical load sensing structure
US10430073B2 (en) 2015-07-17 2019-10-01 Crown Equipment Corporation Processing device having a graphical user interface for industrial vehicle
WO2019137767A1 (fr) * 2018-01-09 2019-07-18 Vetter Industrie GmbH Caméra côté fourche pour la détection de l'environnement d'un chariot de manutention
EP3718951A1 (fr) * 2019-04-05 2020-10-07 The Raymond Corporation Module de gestion de charge pour un véhicule de manutention de matériaux
CN111792582A (zh) * 2019-04-05 2020-10-20 雷蒙德股份有限公司 用于物料搬运车辆的负载搬运模块
US11591197B2 (en) 2019-04-05 2023-02-28 The Raymond Corporation Load handling module for a material handling vehicle
CN111517248A (zh) * 2020-02-24 2020-08-11 科大智能机器人技术有限公司 一种agv叉车货物到位检测机构及其agv叉车

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Publication number Publication date
DE102012108028A1 (de) 2013-10-24
EP2653430B1 (fr) 2015-03-25

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