EP3020677A1 - Procede de preselection de la hauteur de levage pour un chariot de manutention - Google Patents

Procede de preselection de la hauteur de levage pour un chariot de manutention Download PDF

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Publication number
EP3020677A1
EP3020677A1 EP15192550.0A EP15192550A EP3020677A1 EP 3020677 A1 EP3020677 A1 EP 3020677A1 EP 15192550 A EP15192550 A EP 15192550A EP 3020677 A1 EP3020677 A1 EP 3020677A1
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EP
European Patent Office
Prior art keywords
shelf
sensor means
receiving means
height
lifting
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
EP15192550.0A
Other languages
German (de)
English (en)
Other versions
EP3020677B1 (fr
Inventor
Volker Viereck
Tino Krüger-Basjmeleh
Thomas Wittmann
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
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STILL GmbH
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Publication date
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Publication of EP3020677A1 publication Critical patent/EP3020677A1/fr
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Publication of EP3020677B1 publication Critical patent/EP3020677B1/fr
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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 method for Hub Ounvor inches in a truck.
  • the invention relates to a method for Hub Ounvor inches in an industrial truck with a controller, a mast on which a load-receiving means is guided vertically movable and optical sensor means for detecting a region in front of the load receiving means and image processing means for the data of the optical sensor means.
  • Forklift trucks or warehouse trucks are examples of industrial trucks that are used to transport a wide variety of loads and for a wide range of purposes.
  • a typical application for industrial trucks which have a mast on which a lifting device, a load receiving means, in particular a fork, is guided.
  • the load handling device is used to handle loads normally placed on pallets.
  • a plurality of storage bins can be arranged one above the other in storage bays in a rack storage.
  • a disadvantage of this prior art is that with increasing lifting height starting a certain height of a level for the driver becomes increasingly tedious and time consuming. Even with very great routine and practice can not always accurately targeted with high approach speed a certain lift height can be controlled and either the stroke speed must be reduced accordingly for a fine adjustment, or corrections must be made if the lifting movement was carried out on the approaching stroke.
  • a disadvantage of this prior art is that just for a larger number of shelves it is extremely expensive to perform the learning operation due to the large amount of time required. Furthermore, it is also difficult to keep the programmed lift heights always up to date, as far as changes occur. This applies all the more if the data is to be consistently stored across an entire truck fleet.
  • the present invention is therefore an object of the invention to provide a method for Hubtownnvorines in a truck available, which avoids the aforementioned disadvantages and with which the cargo handling capacity can be increased and by the operation of the truck for the driver is simplified.
  • the object is achieved in that in a method for Hubtownnvorines in an industrial truck with a controller, a mast on which a load handling device is guided vertically movable and optical sensor means for detecting an area in front of the load handling device and image processing means for the data of the optical sensor means the sensor means a shelf located in front of the truck is detected and the image processing means determines a structure of the shelf with respect to shelf levels and resulting lift heights to be approached.
  • this requires no time-consuming manual input of approachable lifting heights for a Hubtownnvorines, but the truck detects the lifting heights automatically as soon as it is in front of a shelf.
  • These detected lift heights can also be stored for later use, for example, and it is conceivable to use the method described only in a special operating mode for detecting the lift heights to be approached.
  • Image processing means can well analyze an image of a shelf with respect to the shelf level and the respective lift heights to be approached due to the typical edges of the vertical support members and the transverse traverses of the shelf. Since the sensor means are arranged on the truck and the relative height of the detected shed levels relative to this mounting point of the Sensor means can be determined, and the relative lifting height of the lifting device relative to this mounting point can also be well defined, no determination of the absolute lifting height relative to the ground is required. It also eliminates the implementation of data from a warehouse management system in actual physical lift heights. This results in an automatic compensation of tolerances, such as vehicle differences, tire wear or different ground conditions. Furthermore, it is also conceivable to have to use any sensor for a lifting height of the truck, if at the same time the lifting height of the load-receiving means is detected by the sensor means.
  • the sensor means are attached to the load receiving means or a support structure of the load receiving means and guided vertically movable with the load receiving means.
  • the lifting height is always known by the mounting position in relation to the detected by the sensor means shelf levels, since the sensor means are raised with
  • the compartment levels reaching the sensor means are detected in a detection area.
  • the detection range of the sensor means is so large that a level is detected before the required to be approached for this lifting height is achieved by the load receiving means.
  • an approaching level can be detected continuously during a stroke movement. For example, due to the detected lifting heights to be approached without specifying a specific lifting height value, a certain operating level or the next operating level can each be approached safely.
  • the sensor means may comprise a two-dimensional or three-dimensional laser scanner
  • a three-dimensional laser scanner captures not only an object in a certain direction, but also its distance.
  • the resulting three-dimensional image makes it easier to evaluate the structure of a shelf.
  • the sensor means comprise a camera, in particular a three-dimensionally receiving camera.
  • Examples of cameras that capture a three-dimensional image are, for example, stereo cameras or time-of-flight cameras, which also determine a distance for each pixel.
  • the image processing means detect a level of detail on the basis of traverses of a shelf and / or free spaces of the shelf.
  • the image processing means can detect a level of detail on the basis of a charge carrier lying in the rack, in particular a pallet.
  • Load carriers which are intended for a load fork as load-carrying means, have typical openings for the forks of a fork.
  • a pallet has a distinctive shape and can therefore be easily recognized by image processing means. Due to the position of the pallet or, more generally, of a load carrier in a rack, the upper edge of a compartment level can also be determined at the same time.
  • Shelves usually have even spacing of the shelf levels. From a sequence of several detected compartment levels from the ground it can therefore be approximated at which positions there are further compartmentalities and thus lift heights. In this case, a restriction can be made to a maximum number of assumed further shed levels or, for example, a restriction based on the known maximum height of shelves used.
  • a controller uses the lifting heights to be approached for a stroke height preselection.
  • a user can specify the lifting height by repeated operation of a switch, according to the number of lifting heights to be approached from the ground.
  • an input element for example in the form of a push-button, can be selected in a very simple way a certain level of a shelf shelf. In this case, for example, each time when reaching a subject level by an operator continue to be switched until the desired tray is reached, then takes place at the exact stop.
  • the approach to a desired level can also be fully automatic or as an assistance system in which the lifting movement is controlled by an operator, but an automated stop at the exact position.
  • the method described is particularly advantageous to implement a Hubtownnvor angles also in the case of counterbalance forklifts, which are used under less well-defined conditions of use, such as high bay narrow aisle truck.
  • the figure shows schematically an industrial truck 1 in the form of a counterbalance forklift 2 in front of a shelf 3, in the goods using the counterbalance forklift 2 5 stored in storage levels 4 or outsourced.
  • the counterbalance forklift 2 has a mast 6, on which a load-receiving means 7 in the form of a fork 8 is guided vertically movable.
  • optical sensor means 10 are arranged, which are guided together with the load receiving means 7 vertically movable on the lifting mast 6.
  • the optical sensor means 10 consist of a camera 11, for example a time-of-flight camera 12.
  • a pallet 13 is located on the lower level of the subjects 4.
  • the load-receiving means 7 When the counterbalance forklift 2 moves up to the shelf 3 and the load-receiving means 7 is raised on the mast 6, then detect the optical Sensor means 10 in the movement, the structure of the shelf 3 and in particular the standing in the figure and perpendicular to the image planes traverses of the shelf 3 at the level of the shed levels 4.
  • the load fork 8 can be inserted into the corresponding openings of the pallet 13, or the goods 5 can be placed on a free shelf space as on the upper compartment level 4.

Landscapes

  • 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)
EP15192550.0A 2014-11-17 2015-11-02 Procede de preselection de la hauteur de levage pour un chariot de manutention Active EP3020677B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102014116780.5A DE102014116780A1 (de) 2014-11-17 2014-11-17 Verfahren zur Hubhöhenvorwahl bei einem Flurförderzeug

Publications (2)

Publication Number Publication Date
EP3020677A1 true EP3020677A1 (fr) 2016-05-18
EP3020677B1 EP3020677B1 (fr) 2020-01-15

Family

ID=54365138

Family Applications (1)

Application Number Title Priority Date Filing Date
EP15192550.0A Active EP3020677B1 (fr) 2014-11-17 2015-11-02 Procede de preselection de la hauteur de levage pour un chariot de manutention

Country Status (2)

Country Link
EP (1) EP3020677B1 (fr)
DE (1) DE102014116780A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11542134B2 (en) * 2019-05-27 2023-01-03 Kabushiki Kaisha Toyota Jidoshokki Cargo handling control unit of forklift

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102016119402A1 (de) * 2016-10-12 2018-04-12 Jungheinrich Aktiengesellschaft Flurförderzeug mit einer 3D-Kamera

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH09278397A (ja) * 1996-04-10 1997-10-28 Sumitomo Heavy Ind Ltd 無人フォ−クリフトにおける多段棚への安定格納装置
EP1361190A1 (fr) * 2001-02-16 2003-11-12 Kabushiki Kaisha Toyoda Jidoshokki Dispositif de levage d'appareil photographique et dispositif support pour manipulation de charge d'un vehicule industriel et vehicule industriel associe
US20130101202A1 (en) * 2011-10-19 2013-04-25 Lee F. Holeva Identifying, evaluating and selecting possible pallet board lines in an image scene

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH09278397A (ja) * 1996-04-10 1997-10-28 Sumitomo Heavy Ind Ltd 無人フォ−クリフトにおける多段棚への安定格納装置
EP1361190A1 (fr) * 2001-02-16 2003-11-12 Kabushiki Kaisha Toyoda Jidoshokki Dispositif de levage d'appareil photographique et dispositif support pour manipulation de charge d'un vehicule industriel et vehicule industriel associe
US20130101202A1 (en) * 2011-10-19 2013-04-25 Lee F. Holeva Identifying, evaluating and selecting possible pallet board lines in an image scene

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
RITA CUCCHIARA ET AL: "Focus based Feature Extraction for Pallets Recognition", BMVC 2000, 1 January 2000 (2000-01-01), pages 1 - 10, XP055045394, Retrieved from the Internet <URL:http://www.bmva.org/bmvc/2000/papers/p70.pdf> [retrieved on 20121123] *

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11542134B2 (en) * 2019-05-27 2023-01-03 Kabushiki Kaisha Toyota Jidoshokki Cargo handling control unit of forklift

Also Published As

Publication number Publication date
EP3020677B1 (fr) 2020-01-15
DE102014116780A1 (de) 2016-05-19

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