EP3034452B1 - System comprising a fork shoe and at least two modules with different built-in device - Google Patents
System comprising a fork shoe and at least two modules with different built-in device Download PDFInfo
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- EP3034452B1 EP3034452B1 EP15197947.3A EP15197947A EP3034452B1 EP 3034452 B1 EP3034452 B1 EP 3034452B1 EP 15197947 A EP15197947 A EP 15197947A EP 3034452 B1 EP3034452 B1 EP 3034452B1
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- Prior art keywords
- module
- fork
- fork shoe
- shoe
- built
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Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/12—Platforms; Forks; Other load supporting or gripping members
-
- 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 of a fork shoe for a fork prong and at least one module according to the preamble of patent claim 1.
- Industrial trucks often have a load fork with two forks as load-carrying means for transporting goods stored on pallets and load carriers.
- Examples of such trucks are counterbalanced forklifts, reach trucks, but also warehouse equipment such as pallet trucks and order pickers.
- Such trucks typically use equipment that provides assistance functions to an operator or driver and supports their work.
- Example of this are camera systems, auxiliary devices for aligning a fork on a range to be approached, but also sensor devices and distance sensors that serve a driver, for example, on a monitor or display visually the orientation and distances of the fork to be accommodated charge carriers or possibly a storage space in one Shelf display.
- a disadvantage of this prior art is that the devices must be mounted as accessories individually independently of each other on the truck. This means a certain effort and in particular requires in each case an individual structural design of the truck, in which the installation space, the installation location and also connection lines as well as other required connections must be provided. In addition, the accessories often have to be protected against mechanical damage, moisture as well as dirt.
- a similar embodiment of a modified fork with a screwed to the top or protective housing with an integrated camera, such as a time-of-fight camera, is also known in the art.
- a disadvantage of the above-described prior art is that it is difficult to provide support for an operator or a driver different facilities for assistance systems that optimally support the respective work situation in the load handling.
- trucks can be unloaded on a forklift truck in the morning, and in the afternoon only internal transport in the area of a warehouse or, more generally, of a factory site can be carried out.
- the previously described prior art disadvantageously does not provide any cost-effective assistance systems which can be independently and quickly adapted by an operator or a driver by exchanging elements.
- an optically transparent window in particular a glass pane behind which the camera is arranged, is very easily damaged.
- an extension prong or a fork shoe which is open at the bottom and in which from below a tip distance sensor is attached to a housing.
- the housing of the tip distance sensor may be secured to the extension tine by welding or by screws.
- the JP 2000 191293 A discloses in Figure 12 a placed on a fork tine fork shoe at the top of which an opening is provided at the bottom, in which a light-emitting plate can be used.
- the present invention is therefore an object of the invention to provide a system of the type mentioned, which can avoid the aforementioned drawbacks and with which it is possible that an operator independently and quickly and easily adjust the assistance devices to the labor input of the truck can.
- the proposed solution is also very cost effective in that the module is integrated in a mechanically less stressed overall device, namely the fork shoe in contrast to a direct arrangement of built-in appliances in a fork tine.
- the module can be advantageously optimized for protection requirements in terms of protection against contamination as well as moisture or moisture, while high protection requirements in terms of mechanical loads and protection against damage can be ensured by the fork shoe.
- any built-in devices can be integrated into the modules, as far as this is possible by the position of the arrangement at the tip of a fork shoe and also in relation to the available space for the module.
- newer built-in appliances can be retrofitted simply by inserting a module equipped with these into the fork shoe. Since the forks have two forks and therefore usually two fork shoes are used, it is also conceivable to use different modules with different built-in devices in the two shoes.
- the Retaining elements can already be realized by inner wall surfaces of the fork shoe, where the module comes into abutment. Overall, assistance functions can be optimally used due to the high degree of flexibility in the selection of built-in appliances.
- Each module contains one or more of the following built-in devices: a headlight, in particular an LED headlight, a camera, in particular a 3-dimensional camera such as a time-of-flight camera, an optical code scanner, in particular barcode or QR code Code scanner, a flashing light, signal lights, projection lights, in particular a laser, sensors, in particular distance sensors and / or distance sensors, transmitting antennas, receiving antennas, transmitters, receivers, electronic controls and / or an environmental scanner, in particular a laser scanner.
- a headlight in particular an LED headlight
- a camera in particular a 3-dimensional camera such as a time-of-flight camera
- an optical code scanner in particular barcode or QR code Code scanner
- a flashing light signal lights
- projection lights in particular a laser
- sensors in particular distance sensors and / or distance sensors
- transmitting antennas receiving antennas, transmitters, receivers, electronic controls and / or an environmental scanner, in particular a laser scanner.
- a headlight for illuminating the load handling can be used, wherein a charge carrier space is also illuminated above the vehicle upper edge and the headlight can not be covered by a recorded load.
- a camera that also captures distances provides data to assist with the picking up of pallets or load carriers. This data can be evaluated by appropriate software or control electronics of the truck and used for assistance systems. Turn signals and signal lights can be used as a warning, for example, when a fork is raised.
- the camera can be used with the fork to monitor the space in front of the fork, which is particularly prone to damage objects. Also, a damaged camera can be easily changed.
- An optical code scanner especially a barcode or QR code scanner, enables high-performance scans to be performed even at high altitudes.
- projection lights it is conceivable, for example, color and by the shape, such as an arrow to represent a direction indicator. It can also at two forks differ in appearance between right and left.
- a laser as a projection lamp may emit a crosshair or the like to facilitate piercing into a pallet with the forks.
- Distance sensors and laterally aligned distance sensors can be used to determine how far a load fork is immersed in a pallet and if too much puncturing is indicated in the load carrier or pallet. This prevents "piercing" through the pallet and damage to underlying objects such as truck shelves or tail lifts.
- An arranged in the fork tip module is also a suitable place to arrange a Transponderlese- and receiving device and associated control electronics, for example, for communication with RFID tags.
- An example of other sensors could also be tilt sensors.
- the control electronics for sensors used elsewhere for example, a load sensor for resting on the fork weights, which is integrated in the fork shoe, in a module as a built-in device or in addition to other built-in appliances.
- an environmental scanner in particular a laser scanner, for example, the shape and size of a load can be measured.
- a type of navigation laser can be created with which persons and also objects with more complex shape can be detected, in which pure distance sensors fail, for example, when a load has a perforated grid as edge.
- an environmental scanner can also be used for personal safety and possibly warehouse navigation.
- a window opening is arranged on the front side of the fork shoe tip.
- a variety of conceivable built-in devices, such as sensors or lights of all kinds require an optically transparent opening at the tip of the fork shoe.
- the window opening can be covered by an exchangeable transparent protective element, in particular a glass pane.
- the sensors or lights in an open window opening which is aligned at the front of the tip of a fork shoe, are highly mechanical Damage endangered.
- a transparent protective element such as a transparent plastic plate or a correspondingly designed glass, for example, a suitably designed laminated safety glass pane can be used.
- damage can not be completely avoided and even if the sensors or underlying elements of the module remain undamaged, it can still cause damage or scratching of the plastic plate or glass, a possibility of easy interchangeability is advantageous.
- the insertion opening is arranged laterally on the fork shoe.
- the insertion opening may have a distance to the fork shoe tip, so that a module can be inserted obliquely and spent by screwing in its mounting position.
- connecting cables which are data lines, power supply lines, but also to other supply lines can act as a current or voltage
- damage to the connecting cables can be avoided.
- a plug connection must be connected. This can be implemented particularly advantageously in the case of a forked shoe which has elements or modules with line connections already used in a region located further back, for example a transponder transmission and reading unit, for example for RFID tags. In this case, a mechanical passage of lines through the fork shoe already exists.
- the holding elements allow assembly and disassembly of the module without tools.
- the holding elements are formed by spring-loaded snapper or the like. This achieves an even faster interchangeability.
- a replaceable transparent protective element in particular a glass pane, is arranged on a front side in the mounting position.
- a cover for the insertion of the fork shoe is present.
- an undercut in the outer wall of the module for attachment to a front edge of the insertion of the fork shoe is present.
- the module can be placed obliquely in the receiving space by the undercut abuts the front edge of the insertion and without a corresponding width of the receiving space must be present by turning in the Recording room to be moved.
- the cover member may correspond to the contour of the fork shoe and be arranged laterally in the mounting position on the module.
- the cover can be supported directly by overlapping the fork shoe and with appropriate design, such as a sheet of appropriate strength, the module is not mechanically loaded in shocks.
- An electronic control can provide identification data for the built-in appliances via a data interface, in particular a plug and play protocol.
- a fork tilt sensor may be provided.
- a remote control in particular an opener for hall gates.
- a laser is provided as a projection lamp, which projects a laser cross forward in the longitudinal direction of the fork shoe.
- Such a projected laser cross is especially advantageous in the alternative combination with a camera through which a person operating can observe this. But even independently of a camera, a driver can no longer see the pallet openings when entering at high altitude. A camera system tends here to optical distortions.
- the projection of a corresponding laser cross results in an advantageous help for a driver. Especially with the use of a red laser near the infrared range, this is very easy to detect with the additional use of a corresponding camera in infrared mode and the combined use of a laser cross with a camera thus well independent of the other lighting situation, the piercing of the tips of the fork shoes well monitored become.
- the Fig. 1 schematically shows a module 1 of a system according to the invention, for example, a non-illustrated headlight in combination with a Camera may have as built-in devices. Alternatively, however, all other, previously mentioned built-in appliances are conceivable.
- a transparent protective element 3 configured as glass pane 4 is arranged, by which the headlight and an optic of the camera are protected.
- the transparent protective element 3 is arranged on the module 1.
- the transparent protective element 3 can be easily replaced in case of damage.
- the module 1 still on a cover 5, that rests in the mounting position of the module 1 in a fork shoe on an insertion and closes it.
- the Fig. 2 schematically shows an inventive system 17 of a fork shoe 6 and the module 1 of Fig. 1 ,
- a fork tine 7 can be introduced.
- a receiving space 9 in which the module 1 is just used in the illustration.
- an undercut 10 which is attached to a front edge 11 of an insertion opening 12, it is possible to rotate the module 1 into the receiving space 9, without colliding with the insertion opening 12 opposite wall of the fork shoe 6.
- the transparent protective element 3 is moved in front of a window opening 13 on the fork shoe tip 8.
- connection line 14 with a connector 15 and a corresponding connector 16 of the module 1, the built-in devices of the module 1 can be connected electrically or in any other required manner.
- the connecting line 14 is guided in the interior of the fork shoe 6, as shown.
- the insertion opening 12 is in this case on the side of the fork shoe 6.
- the module 1 is easily replaceable in the system 17 against at least one further module.
- the Fig. 3 shows the system 17 of Fig. 2 with inserted module 1 in the mounting position.
- the in the fork shoe 6 in front of the fork tine 7 in the Receiving space 9 located module 1 closes with its transparent protective element 3, the window opening 13.
- the insertion opening 12 is closed by the cover 5.
- the connection line 14 is protected against damage, since it is completely guided inside the fork shoe 6.
- the Fig. 4 shows a perspective view of the module 1 with the cover 5. Further shown is the connector 16 of the module.
- the Fig. 5 shows a module 1 with an optical code scanner, which is read a QR code 18,
- the Fig. 6 shows a module 1 with a remote control transmitter, which can operate via a radio signal 19, for example, a hall gate.
- the Fig. 7 shows a module 1 with a laser cross 21, through the observation of which a driver or a person operating the truck can monitor the exact alignment of the fork shoe on the openings of a pallet.
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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)
Description
Die Erfindung betrifft einen System aus einem Gabelschuh für eine Gabelzinke und zumindest einem Modul nach dem Oberbegriff des Patentanspruchs 1.The invention relates to a system of a fork shoe for a fork prong and at least one module according to the preamble of
Flurförderzeuge weisen oftmals als Lastaufnahmemittel, um auf Paletten und Ladungsträgern gelagerte Waren zu transportieren, eine Lastgabel mit zwei Gabelzinken auf. Beispiele für solche Flurförderzeuge sind Gegengewichtsgabelstapler, Schubmaststapler, aber auch Lagertechnikgeräte wie beispielsweise Gabelhubwagen und Kommissionierer.Industrial trucks often have a load fork with two forks as load-carrying means for transporting goods stored on pallets and load carriers. Examples of such trucks are counterbalanced forklifts, reach trucks, but also warehouse equipment such as pallet trucks and order pickers.
Bei solchen Flurförderzeugen kommen typischerweise Einrichtungen zum Einsatz, die Assistenzfunktionen für eine Bedienperson bzw. einen Fahrer bereitstellen und dessen Arbeit unterstützen. Beispiel hierfür sind Kamerasysteme, Hilfseinrichtungen zum Ausrichten einer Lastgabel auf eine anzufahrende Palette, aber auch Sensoreinrichtungen und Abstandssensoren, die dazu dienen, einem Fahrer beispielsweise auf einem Monitor oder Display optisch die Orientierung und Abstände der Lastgabel gegenüber aufzunehmenden Ladungsträgern bzw. eventuell einem Lagerplatz in einem Regal anzuzeigen.Such trucks typically use equipment that provides assistance functions to an operator or driver and supports their work. Example of this are camera systems, auxiliary devices for aligning a fork on a range to be approached, but also sensor devices and distance sensors that serve a driver, for example, on a monitor or display visually the orientation and distances of the fork to be accommodated charge carriers or possibly a storage space in one Shelf display.
Nachteilig an diesem Stand der Technik ist, dass die Einrichtungen als Zusatzgeräte einzelnen unabhängig voneinander an dem Flurförderzeug montiert werden müssen. Dies bedeutet einen gewissen Aufwand und erfordert insbesondere jeweils eine individuelle konstruktive Ausführung des Flurförderzeugs, bei der der Einbauraum, der Einbauort und auch Anschlussleitungen wie auch sonstige erforderliche Anschlüsse vorgesehen werden müssen. Darüber hinaus müssen die Zusatzgeräte oftmals gegenüber mechanischen Beschädigungen, Feuchtigkeit wie auch Verschmutzung geschützt werden.A disadvantage of this prior art is that the devices must be mounted as accessories individually independently of each other on the truck. This means a certain effort and in particular requires in each case an individual structural design of the truck, in which the installation space, the installation location and also connection lines as well as other required connections must be provided. In addition, the accessories often have to be protected against mechanical damage, moisture as well as dirt.
Als weiteres Problem erweist sich, dass der Anbringungsort oft nicht optimal ist, beispielsweise bei einem Kamerasystem zur optischen Überwachung der Lastaufnahme. Hier wäre ein günstiger Einbauort die Spitze der Gabelzinke, jedoch müsste in diesem Fall die Kamera jeweils einzelnen aufwendig gegen Beschädigung geschützt werden. Weiterhin ist es auch nicht möglich, einen schnellen Wechsel oder Austausch dieser Zusatzeinrichtungen durchzuführen, wenn ganz unterschiedliche Aufgaben im Betrieb des Flurförderzeugs wahrgenommen werden.Another problem is that the mounting location is often not optimal, for example in a camera system for optically monitoring the load bearing. Here would be a favorable location the tip of the fork tine, however In this case, the camera would have to be individually and costly protected against damage. Furthermore, it is also not possible to carry out a quick change or replacement of these ancillary facilities when very different tasks are performed during operation of the truck.
Bekannt ist im Stand der Technik eine Anordnung einer Kamera in der Spitze der Gabelzinke. Dies zeigt beispielsweise die
Eine ähnliche Ausführung einer modifizierten Gabelzinke mit einem an die Spitze angeschraubten bzw. angesetzten Schutzgehäuse mit einer integrierten Kamera, etwa einer Time-Of-Fight Kamera, ist ebenfalls im Stand der Technik bekannt.A similar embodiment of a modified fork with a screwed to the top or protective housing with an integrated camera, such as a time-of-fight camera, is also known in the art.
Nachteilig bei dem zuvor geschilderten Stand der Technik ist, dass es nur schwer möglich ist, zur Unterstützung einer Bedienperson bzw. eines Fahrers verschiedene Einrichtungen für Assistenzsysteme zur Verfügung zu stellen, die optimal die jeweilige Arbeitssituation in der Lasthandhabung unterstützen. So können beispielsweise an einem Vormittag mit einem Gabelstapler Lastkraftwagen entladen werden und nachmittags ausschließlich innerbetriebliche Transporte im Bereich eines Lagers oder allgemeiner eines Werksgeländes durchgeführt werden. Für solche Zwecke stellt der zuvor geschilderte Stand der Technik nachteilig keine kostengünstigen, von einer Bedienperson bzw. einem Fahrer selbstständig und schnell durch Auswechseln von Elementen anpassbaren Assistenzsysteme zur Verfügung. Speziell bei Kamerasystemen im Bereich von Gabelzinken entsteht das zusätzliche Problem, dass ein optisch durchsichtiges Fenster, insbesondere eine Glasscheibe hinter der die Kamera angeordnet ist, sehr leicht beschädigt wird.A disadvantage of the above-described prior art is that it is difficult to provide support for an operator or a driver different facilities for assistance systems that optimally support the respective work situation in the load handling. Thus, for example, trucks can be unloaded on a forklift truck in the morning, and in the afternoon only internal transport in the area of a warehouse or, more generally, of a factory site can be carried out. For such purposes, the previously described prior art disadvantageously does not provide any cost-effective assistance systems which can be independently and quickly adapted by an operator or a driver by exchanging elements. Especially with camera systems in the field of forks, the additional problem arises that an optically transparent window, in particular a glass pane behind which the camera is arranged, is very easily damaged.
Aus der
Aus der
Die
Der vorliegenden Erfindung liegt daher die Aufgabe zugrunde, ein System der eingangs genannten Gattung zur Verfügung zu stellen, das die zuvor genannten Nachteile vermeiden kann und mit dem es möglich ist, dass eine Bedienperson selbstständig sowie schnell und einfach die Assistenzvorrichtungen an den Arbeitseinsatz des Flurförderzeugs anpassen kann.The present invention is therefore an object of the invention to provide a system of the type mentioned, which can avoid the aforementioned drawbacks and with which it is possible that an operator independently and quickly and easily adjust the assistance devices to the labor input of the truck can.
Diese Aufgabe wird durch ein System aus einem Gabelschuh und zumindest zwei Modulen mit den Merkmalen des Patentanspruchs 1 gelöst. Vorteilhafte Weiterbildungen der Erfindung sind in den Unteransprüchen angegeben.This object is achieved by a system comprising a fork shoe and at least two modules having the features of
Indem ein Modul leicht gegen ein anderes Modul mit abweichenden Einbaugeräten ausgetauscht werden kann, ergibt sich die Möglichkeit einer hohen Flexibilität. Die vorgeschlagene Lösung ist auch sehr kostengünstig indem das Modul in einer mechanisch wenig beanspruchte Gesamtvorrichtung, nämlich dem Gabelschuh integriert ist im Gegensatz zu einer direkten Anordnung von Einbaugeräten in einer Gabelzinke. Das Modul kann dabei vorteilhaft auf Schutzanforderungen in Hinblick auf Schutz gegenüber Verschmutzung wie auch Feuchtigkeit oder Nässe optimiert werden, während durch den Gabelschuh hohe Schutzanforderungen in Bezug auf mechanische Belastungen und Schutz gegen Beschädigungen gewährleistet werden können. Dabei können grundsätzlich beliebige Einbaugeräte in die Module integriert werden, soweit dies durch die Position der Anordnung an der Spitze eines Gabelschuhs und auch in Bezug auf den zur Verfügung stehenden Bauraum für das Modul möglich ist. So können beispielsweise auch neuere Einbaugeräte nachgerüstet werden, einfach indem ein mit diesen ausgestattetes Modul in den Gabelschuh eingesetzt wird. Da die Lastgabeln zwei Gabelzinken aufweisen und im Regelfall daher auch zwei Gabelschuhe eingesetzt werden, ist es auch denkbar, in den beiden Gabelschuhen unterschiedliche Module mit verschiedenen Einbaugeräten einzusetzen. Die Halteelemente können dabei schon durch Innenwandflächen des Gabelschuhs verwirklicht sein, an denen das Modul in Anlage kommt. Insgesamt lassen sich Assistenzfunktionen durch die hohe Flexibilität bei der Auswahl von Einbaugeräten optimiert einsetzen.By easily exchanging a module for another module with different built-in devices, there is the possibility of high flexibility. The proposed solution is also very cost effective in that the module is integrated in a mechanically less stressed overall device, namely the fork shoe in contrast to a direct arrangement of built-in appliances in a fork tine. The module can be advantageously optimized for protection requirements in terms of protection against contamination as well as moisture or moisture, while high protection requirements in terms of mechanical loads and protection against damage can be ensured by the fork shoe. Basically, any built-in devices can be integrated into the modules, as far as this is possible by the position of the arrangement at the tip of a fork shoe and also in relation to the available space for the module. For example, newer built-in appliances can be retrofitted simply by inserting a module equipped with these into the fork shoe. Since the forks have two forks and therefore usually two fork shoes are used, it is also conceivable to use different modules with different built-in devices in the two shoes. The Retaining elements can already be realized by inner wall surfaces of the fork shoe, where the module comes into abutment. Overall, assistance functions can be optimally used due to the high degree of flexibility in the selection of built-in appliances.
Jedes Modul enthält eines oder mehrere der folgenden Einbaugeräte: einen Scheinwerfer, insbesondere einen LED-Scheinwerfer, eine Kamera, insbesondere eine 3-dimensional aufnehmende Kamera wie etwa eine Time-Of-Flight Kamera, einen optischen Code-Scanner, insbesondere Barcode oder QR-Code Scanner, eine Blinkleuchte, Signalleuchten, Projektionsleuchten, insbesondere einen Laser, Sensoren, insbesondere Abstandstaster und/oder Abstandssensoren, Sendeantennen, Empfangsantennen, Sender, Empfänger, elektronische Steuerungen und/oder einen Umgebungsscanner, insbesondere ein Laserscanner.Each module contains one or more of the following built-in devices: a headlight, in particular an LED headlight, a camera, in particular a 3-dimensional camera such as a time-of-flight camera, an optical code scanner, in particular barcode or QR code Code scanner, a flashing light, signal lights, projection lights, in particular a laser, sensors, in particular distance sensors and / or distance sensors, transmitting antennas, receiving antennas, transmitters, receivers, electronic controls and / or an environmental scanner, in particular a laser scanner.
Grundsätzlich ist auch denkbar, das Modul mit anderen, von diesen abweichenden Einbaugeräten zu versehen und jegliche Art von denkbaren Einbaugeräten einzusetzen, die aufgrund der geometrischen Verhältnisse und des Einsatzortes hierfür geeignet sind. Vorteilhaft kann ein Scheinwerfer zum Beleuchten des Lasthandlings eingesetzt werden, wobei ein Ladungsträgerplatz auch oberhalb der Fahrzeugoberkante ausgeleuchtet wird und der Scheinwerfer nicht durch eine aufgenommenen Last verdeckt werden kann. Durch eine Kamera, die auch Entfernungen erfasst, stehen Daten zur Unterstützung bei der Aufnahme von Paletten oder Ladungsträgern zur Verfügung. Diese Daten können durch entsprechende Software oder eine Steuerungselektronik des Flurförderzeugs ausgewertet werden und für Assistenzsysteme benutzt werden. Blinkleuchten und Signalleuchten können zur Warnung eingesetzt werden, beispielsweise wenn eine Lastgabel angehoben ist. Trotz Verwendung eines Standardzinkens kann über den Gabelschuh eine Kamera eingesetzt werden, die den Raum vor der Gabelzinke überwacht, der für Beschädigung von Objekten besonders anfällig ist. Auch kann eine beschädigte Kamera leicht gewechselt werden. Durch einen optischen Code-Scanner, insbesondere Barcode oder QR-Code Scanner, können auch bei in großen Höhen Scans mit sehr guter Leistung durchgeführt werden. Durch Projektionsleuchten ist es zum Beispiel denkbar, farblich und durch die Form, wie etwa einen Pfeil, eine Fahrtrichtungsanzeige darzustellen. Dabei können auch bei zwei Gabelzinken sich die Darstellungen zwischen rechts und links unterscheiden. Ein Laser als Projektionsleuchte kann beispielsweise ein Fadenkreuz oder Ähnliches zum Erleichtern des Einstechens in eine Palette mit den Gabelzinken aussenden. Durch Abstandssensoren und seitlich ausgerichtete Abstandstaster kann erfasst werden, wie weit eine Lastgabel in eine Palette eingetaucht ist und ein zu starkes Einstechen in den Ladungsträger bzw. die Palette angezeigt werden. Dadurch wird ein "Durchstechen" durch die Palette und eine Beschädigung von dahinterliegenden Gegenständen wie Regalen oder Ladebordwänden von LKWs verhindert. Ein in der Gabelschuhspitze angeordnetes Modul ist auch ein geeigneter Ort, um eine Transponderlese- und Empfangseinrichtung samt zugehöriger Steuerelektronik anzuordnen, beispielsweise für eine Kommunikation mit RFID-Tags. Ein Beispiel für weitere Sensoren könnten auch Neigungssensoren sein. Darüber hinaus ist es auch möglich, die Steuerelektronik für an sonstigen Stellen eingesetzte Sensoren, beispielsweise einen Lastsensor für auf der Lastgabel aufliegenden Gewichte, der in den Gabelschuh integriert ist, in einem Modul als Einbaugerät oder zusätzlich zu weiteren Einbaugeräten anzuordnen. Durch einen Umgebungsscanner, insbesondere einen Laserscanner, kann beispielsweise die Form und Größe einer Last gemessen werden. Durch eine entsprechende Auswertung kann eine Art Navigationslaser geschaffen werden, mit dem Personen und auch Objekte mit komplexerer Form erkannt werden können, bei denen reine Abstandssensoren versagen, beispielsweise wenn eine Last als Rand ein Lochgitter aufweist. Zusätzlich zur Erfassung einer eigenen aufgenommenen Last kann ein Umgebungsscanner auch für den Personenschutz und eventuell eine Lagernavigation herangezogen werden.In principle, it is also conceivable to provide the module with other deviating built-in appliances and to use any type of conceivable built-in appliances that are suitable for this purpose due to the geometric conditions and the location. Advantageously, a headlight for illuminating the load handling can be used, wherein a charge carrier space is also illuminated above the vehicle upper edge and the headlight can not be covered by a recorded load. A camera that also captures distances provides data to assist with the picking up of pallets or load carriers. This data can be evaluated by appropriate software or control electronics of the truck and used for assistance systems. Turn signals and signal lights can be used as a warning, for example, when a fork is raised. Despite the use of standard tines, the camera can be used with the fork to monitor the space in front of the fork, which is particularly prone to damage objects. Also, a damaged camera can be easily changed. An optical code scanner, especially a barcode or QR code scanner, enables high-performance scans to be performed even at high altitudes. By projection lights, it is conceivable, for example, color and by the shape, such as an arrow to represent a direction indicator. It can also at two forks differ in appearance between right and left. For example, a laser as a projection lamp may emit a crosshair or the like to facilitate piercing into a pallet with the forks. Distance sensors and laterally aligned distance sensors can be used to determine how far a load fork is immersed in a pallet and if too much puncturing is indicated in the load carrier or pallet. This prevents "piercing" through the pallet and damage to underlying objects such as truck shelves or tail lifts. An arranged in the fork tip module is also a suitable place to arrange a Transponderlese- and receiving device and associated control electronics, for example, for communication with RFID tags. An example of other sensors could also be tilt sensors. In addition, it is also possible to arrange the control electronics for sensors used elsewhere, for example, a load sensor for resting on the fork weights, which is integrated in the fork shoe, in a module as a built-in device or in addition to other built-in appliances. By an environmental scanner, in particular a laser scanner, for example, the shape and size of a load can be measured. Through a corresponding evaluation, a type of navigation laser can be created with which persons and also objects with more complex shape can be detected, in which pure distance sensors fail, for example, when a load has a perforated grid as edge. In addition to recording your own recorded load, an environmental scanner can also be used for personal safety and possibly warehouse navigation.
Vorteilhaft ist an der Vorderseite der Gabelschuhspitze eine Fensteröffnung angeordnet.Advantageously, a window opening is arranged on the front side of the fork shoe tip.
Eine Vielzahl von denkbaren Einbaugeräten, wie etwa Sensoren oder auch Leuchten aller Art benötigen eine optisch durchsichtige Öffnung an der Spitze des Gabelschuhs.A variety of conceivable built-in devices, such as sensors or lights of all kinds require an optically transparent opening at the tip of the fork shoe.
Die Fensteröffnung kann durch ein auswechselbares transparentes Schutzelement, insbesondere eine Glasscheibe, überdeckt sein.The window opening can be covered by an exchangeable transparent protective element, in particular a glass pane.
Die Sensoren oder Leuchten in einer offenen Fensteröffnung, die nach vorne an der Spitze eines Gabelschuhs ausgerichtet ist, sind stark durch mechanische Beschädigung gefährdet. Hierfür kann ein transparentes Schutzelement, etwa eine durchsichtige Kunststoffplatte oder auch eine entsprechend ausgelegte Glasscheibe, beispielsweise eine entsprechend ausgelegte Verbund-Sicherheitsglasscheibe eingesetzt werden. Da dennoch Beschädigungen nicht vollständig vermieden werden können und auch, wenn die Sensoren oder dahinter befindliche Elemente des Moduls unbeschädigt bleiben, es dennoch zu Beschädigungen oder Verkratzungen der Kunststoffplatte oder Glasscheibe kommen kann, ist eine Möglichkeit der einfachen Auswechselbarkeit vorteilhaft.The sensors or lights in an open window opening, which is aligned at the front of the tip of a fork shoe, are highly mechanical Damage endangered. For this purpose, a transparent protective element, such as a transparent plastic plate or a correspondingly designed glass, for example, a suitably designed laminated safety glass pane can be used. However, since damage can not be completely avoided and even if the sensors or underlying elements of the module remain undamaged, it can still cause damage or scratching of the plastic plate or glass, a possibility of easy interchangeability is advantageous.
Vorteilhaft ist die Einsetzöffnung seitlich an dem Gabelschuh angeordnet.Advantageously, the insertion opening is arranged laterally on the fork shoe.
Sowohl an der Unterseite wie auch an der Oberseite des Gabelschuhs treten erhebliche mechanische Belastungen und erheblicher Verschleiß auf durch den Kontakt zu Bodenflächen, zu Regalböden oder zu einer aufzunehmenden Last. Durch eine seitliche Anordnung der Einsetzöffnung befindet sich diese außerhalb dieses Bereichs.Both at the bottom and at the top of the fork shoe significant mechanical stresses and significant wear occur through contact with floor surfaces, shelves or a load to be absorbed. By a lateral arrangement of the insertion is located outside this area.
Die Einsetzöffnung kann zur Gabelschuhspitze einen Abstand aufweisen, so dass ein Modul schräg eingesetzt und durch Hineindrehen in seine Montageposition verbracht werden kann.The insertion opening may have a distance to the fork shoe tip, so that a module can be inserted obliquely and spent by screwing in its mounting position.
Dadurch ergeben sich im Inneren des Gabelschuhs um eine vordere Abschlusswand an der Gabelschuhspitze herum an allen vier Seiten führende Flächen, die das vordere Ende des Moduls führen und ausrichten, während dieses insgesamt seitlich in den Aufnahmeraum hineingedreht werden kann. Durch eine entsprechende Ausformung bzw. Hinterschneidung in der Seitenwand des Moduls kann das Hineindrehen und Einsetzen erleichtert werden, indem die Hinterschneidung an der Vorderkante der Einsetzöffnung angesetzt wird und ein Drehen in die Montageposition ermöglicht.This results inside the fork shoe around a front end wall on the fork shoe tip around on all four sides leading surfaces that guide and align the front end of the module, while this can be screwed laterally into the receiving space. By a corresponding formation or undercut in the side wall of the module, the screwing in and insertion can be facilitated by the undercut is attached to the front edge of the insertion and allows rotation into the mounting position.
Es können Anschlussleitungen für das Modul, insbesondere Anschlussleitungen für eine Stromversorgung und/oder Datenverbindung, durch das Innere des Gabelschuhs geführt sein.It can lead lines for the module, in particular leads for a power supply and / or data connection, passed through the interior of the fork shoe.
Durch diese Führung der Anschlussleitungen, bei denen es sich um Datenleitungen, Spannungsversorgungsleitungen, aber auch um anderweitige Versorgungsleitungen als Strom oder Spannung handeln kann, können Beschädigungen der Anschlussleitungen vermieden werden. Beim Einsetzen des Moduls muss lediglich eine Steckverbindung verbunden werden. Besonders vorteilhaft kann dies bei einem Gabelschuh umgesetzt werden, der in einem weiter hinten gelegenen Bereich bereits eingesetzte Elemente oder Module mit Leitungsanschlüssen aufweist, beispielsweise einer Transpondersende- und -leseeinheit, etwa für RFID-Tags. In diesem Fall ist eine mechanische Durchführung von Leitungen durch den Gabelschuh bereits vorhanden.Through this leadership of the connecting cables, which are data lines, power supply lines, but also to other supply lines can act as a current or voltage, damage to the connecting cables can be avoided. When inserting the module only a plug connection must be connected. This can be implemented particularly advantageously in the case of a forked shoe which has elements or modules with line connections already used in a region located further back, for example a transponder transmission and reading unit, for example for RFID tags. In this case, a mechanical passage of lines through the fork shoe already exists.
In einer vorteilhaften Weiterbildung ermöglichen die Halteelemente eine Montage und Demontage des Moduls ohne Werkzeug.In an advantageous development, the holding elements allow assembly and disassembly of the module without tools.
Dies ist beispielsweise denkbar, wenn die Halteelemente durch federbelastete Schnapper oder Ähnliches ausgebildet sind. Dadurch wird eine noch schnellere Auswechselbarkeit erreicht.This is conceivable, for example, if the holding elements are formed by spring-loaded snapper or the like. This achieves an even faster interchangeability.
Vorteilhaft ist an einer Vorderseite in der Montageposition ein auswechselbares transparentes Schutzelement, insbesondere eine Glasscheibe, angeordnet.Advantageously, a replaceable transparent protective element, in particular a glass pane, is arranged on a front side in the mounting position.
Es ergeben sich die bereits zuvor genannten Vorteile, wobei durch die Anordnung an dem Modul das Auswechseln des transparenten Schutzelementes außerhalb des Gabelschuhs an dem ausgebauten Modul vorgenommen werden kann.This results in the advantages mentioned above, wherein the arrangement on the module, the replacement of the transparent protective element outside of the fork shoe can be made to the removed module.
In einer weiteren Ausgestaltung des Moduls ist ein Abdeckelement für die Einsetzöffnung des Gabelschuhs vorhanden.In a further embodiment of the module, a cover for the insertion of the fork shoe is present.
Es ist möglich, dass an dem Modul durch das Abdeckelement ein Teil der Verkleidung angeordnet ist, durch den die Einsetzöffnung in dem Gabelschuh verschlossen wird.It is possible that on the module by the cover member, a part of the lining is arranged, through which the insertion opening is closed in the fork shoe.
In einer weiteren Ausgestaltung des Moduls ist eine Hinterschneidung in der Außenwand des Moduls zum Ansetzen an einer vorderen Kante der Einsetzöffnung des Gabelschuhs vorhanden.In a further embodiment of the module, an undercut in the outer wall of the module for attachment to a front edge of the insertion of the fork shoe is present.
Dadurch kann das Modul schräg in den Aufnahmeraum angesetzt werden, indem die Hinterschneidung an der vorderen Kante der Einsetzöffnung anliegt und ohne dass ein entsprechende Breite des Aufnahmeraums vorhanden sein muss durch Drehen in den Aufnahmeraum bewegt werden.As a result, the module can be placed obliquely in the receiving space by the undercut abuts the front edge of the insertion and without a corresponding width of the receiving space must be present by turning in the Recording room to be moved.
Das Abdeckelement kann der Kontur des Gabelschuhs entsprechen und seitlich in der Montageposition an dem Modul angeordnet sein.The cover member may correspond to the contour of the fork shoe and be arranged laterally in the mounting position on the module.
Dabei kann sich das Abdeckelement direkt durch Überlappung an dem Gabelschuh abstützen und bei entsprechender Auslegung, etwa als Blech entsprechender Stärke, wird das Modul nicht mechanisch belastet bei Stößen.In this case, the cover can be supported directly by overlapping the fork shoe and with appropriate design, such as a sheet of appropriate strength, the module is not mechanically loaded in shocks.
Eine elektronische Steuerung kann über eine Datenschnittstelle Identifizierungsdaten für die Einbaugeräte bereitstellen, insbesondere ein Plug and Play Protokoll.An electronic control can provide identification data for the built-in appliances via a data interface, in particular a plug and play protocol.
Dadurch kann eine in Verbindung stehende Steuerung eines Flurförderzeugs die eingebauten Einbaugeräte automatisch erkennen und entsprechend reagieren. Beispielsweise kann bei Anschluss eines Scheinwerfers über ein Modul als Einbaugerät ein Scheinwerfersymbol in einem Display eingeblendet werden und ein schnelles Umschalten der gewünschten Helligkeit durch einen Tastendruck ermöglicht werden. Durch eine solche kontextsensitive Menüsteuerung, die durch die Erkennung des Einbaugeräts ausgelöst wird, wird die Bedienerfreundlichkeit erhöht.This allows a related control of a truck to automatically detect the built-in devices and respond accordingly. For example, when a headlamp is connected via a module as a built-in device, a headlamp symbol can be displayed and a quick changeover of the desired brightness by pressing a button is enabled. Such a context-sensitive menu control, which is triggered by the detection of the built-in device, the user-friendliness is increased.
Als Sensor kann ein Gabelneigungssensor vorgesehen sein.As sensor, a fork tilt sensor may be provided.
Bei einem Defekt besteht dadurch eine leichte Möglichkeit des Auswechselns. Ein an dieser Position angeordneter Gabelneigungssensor zeigt auch die wahre Neigung der Last, da eine Durchbiegung des Mastes bzw. ein Spiel in den Führungssystemen des Mastes sich nicht auswirkt.In the case of a defect, this makes it easy to replace. An arranged at this position fork tilt sensor also shows the true inclination of the load, as a deflection of the mast or a game in the guidance systems of the mast does not affect.
Es kann als Sender eine Fernbedienung vorgesehen ist, insbesondere ein Öffner für Hallentore.It can be provided as a transmitter, a remote control, in particular an opener for hall gates.
Durch automatisches oder halbautomatisches Öffnen von Hallentoren ergibt sich eine Leistungsverbesserung des betrieblichen Ablaufs. Dabei ist der Einbauort in der Spitze des Gabelschuhs besonders wirtschaftlich günstig.Automatic or semi-automatic opening of hall doors results in a performance improvement of the operational procedure. The installation location in the tip of the fork shoe is particularly economically favorable.
Vorteilhaft ist als Projektionsleuchte ein Laser vorgesehen, der ein Laserkreuz nach vorne in Längsrichtung des Gabelschuhs projiziert.Advantageously, a laser is provided as a projection lamp, which projects a laser cross forward in the longitudinal direction of the fork shoe.
Ein solches projiziertes Laserkreuz ist vor allem in der Alternative einer Kombination mit einer Kamera besonders vorteilhaft, durch die eine bedienende Person dieses beobachten kann. Aber auch unabhängig von einer Kamera kann ein Fahrer die Palettenöffnungen beim Einstechen in großer Höhe nicht mehr gut sehen. Ein Kamerasystem neigt hier zu optischen Verzerrungen. Durch die Projektion eines entsprechenden Laserkreuzes ergibt sich eine vorteilhafte Hilfe für einen Fahrer. Speziell bei Verwendung eines roten Lasers nahe dem Infrarotbereich ist dies bei zusätzlicher Verwendung einer entsprechenden Kamera im Infrarotmodus sehr gut zu erkennen und bei der kombinierten Verwendung eines Laserkreuzes mit einer Kamera kann somit auch relativ unabhängig von der sonstigen Beleuchtungssituation das Einstechen der Spitzen der Gabelschuhe gut überwacht werden.Such a projected laser cross is especially advantageous in the alternative combination with a camera through which a person operating can observe this. But even independently of a camera, a driver can no longer see the pallet openings when entering at high altitude. A camera system tends here to optical distortions. The projection of a corresponding laser cross results in an advantageous help for a driver. Especially with the use of a red laser near the infrared range, this is very easy to detect with the additional use of a corresponding camera in infrared mode and the combined use of a laser cross with a camera thus well independent of the other lighting situation, the piercing of the tips of the fork shoes well monitored become.
Weitere Vorteile und Einzelheiten der Erfindung werden anhand des in den schematischen Figuren dargestellten Ausführungsbeispiels näher erläutert. Hierbei zeigt
- Fig. 1
- schematisch ein Modul,
- Fig. 2
- schematisch ein System aus einem Gabelschuh sowie einem Modul,
- Fig. 3
- das System der
Fig. 2 mit eingesetztem Modul, - Fig. 4
- eine Perspektivansicht des Moduls,
- Fig. 5
- ein Modul mit einem optischen Code-Scanner,
- Fig. 6
- ein Modul mit einem Fernbedienungssender und
- Fig. 7
- ein Modul mit einem Laserfadenkreuz,
- Fig. 1
- schematically a module,
- Fig. 2
- schematically a system of a fork shoe and a module,
- Fig. 3
- the system of
Fig. 2 with inserted module, - Fig. 4
- a perspective view of the module,
- Fig. 5
- a module with an optical code scanner,
- Fig. 6
- a module with a remote control transmitter and
- Fig. 7
- a module with a laser cross hair,
Die
Die
Die
Die
Die
Die
Die
Claims (15)
- System comprising a fork shoe (6) for a fork prong (7) of an industrial truck, wherein the fork shoe (6) contains a receptacle space (9) for built-in devices, which receptacle space (9) is arranged at the tip (8) of the fork shoe, and an insertion opening (12) for a module (1) is provided in the region of the tip (8) of the fork shoe, which module (1) contains the built-in devices, wherein the system contains at least one module (1) which can be inserted into the receptacle space (9) of the fork shoe (6), wherein the module (1) contains one or more of the following built-in devices:- a headlight, in particular an LED headlight,- a camera, in particular a camera which records in a 3-dimensional fashion, such as for example a time-of-flight camera,- an optical code scanner, in particular barcode or QR code scanner,- a flashing indicator light,- signalling lights,- projection lights, in particular a laser,- sensors, in particular distance probes and/or distance sensors,- transmission antennas,- reception antennas,- transmitters,- receivers,- electronic controllers,- a surroundings scanner, in particular a laser scanner;characterized
in that the system contains at least two modules (1) which can each be inserted into the receptacle space (9) of the fork shoe (6), wherein at least two modules (1) which contain the differing built-in devices can be interchanged one for the other, wherein uniform mounting elements are provided for a multiplicity of modules (1). - System according to Claim 1,
characterized
in that a window opening (13) is arranged on the front side of the tip (8) of the fork shoe. - System according to Claim 2,
characterized
in that the window opening (13) is covered by a replaceable transparent protective element (3), in particular a glass pane (4). - System according to one of Claims 1 to 3,
characterized
in that the insertion opening (12) is arranged laterally on the fork shoe (6). - System according to Claim 4,
characterized
in that the insertion opening (12) is at a distance from the tip (8) of the fork shoe, with the result that a module (1) can be inserted obliquely and moved into its mounting position by turning in. - System according to one of Claims 1 to 5,
characterized
in that connecting lines (14) for the module (1), in particular connecting lines (14) for a power supply and/or data connection, are guided through the interior of the fork shoe (6). - System according to one of Claims 1 to 6,
characterized
in that the mounting elements permit the module (1) to be mounted and dismounted without a tool. - System according to one of Claims 1 to 7,
characterized
in that a exchangeable transparent protective element (3), in particular a glass pane (4), is arranged on the front side of the module (1) in the mounting position. - System according to one of Claims 1 to 8,
characterized
in that the module (1) has a cover element (5) for the insertion opening (12) of the fork shoe (6). - System according to Claim 9,
characterized
in that the cover element (5) corresponds to the contour of the fork shoe (6) and in the mounting position is arranged laterally on the module (1). - System according to one of Claims 1 to 10,
characterized
in that an undercut (10) is present in the external wall of the module (1) for fitting onto a front edge (11) of the insertion opening (12) of the fork shoe (6). - System according to one of Claims 1 to 11,
characterized
in that an electronic controller makes available identification data for the built-in devices, in particular a plug and play protocol, via a data interface. - System according to one of Claims 1 to 12,
characterized
in that a fork inclination sensor is provided as a sensor. - System according to one of Claims 1 to 13,
characterized
in that a remote control, in particular an opener for hall doors, is provided as a a transmitter. - System according to one of Claims 1 to 14,
characterized
in that a laser is provided as a projection light, which laser projects a laser cross forwards in the longitudinal direction of the fork shoe.
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102014118647 | 2014-12-15 | ||
DE102015118634.9A DE102015118634A1 (en) | 2014-12-15 | 2015-10-30 | Fork shoe, module and associated system for a truck |
Publications (3)
Publication Number | Publication Date |
---|---|
EP3034452A1 EP3034452A1 (en) | 2016-06-22 |
EP3034452B1 true EP3034452B1 (en) | 2017-08-16 |
EP3034452B9 EP3034452B9 (en) | 2017-11-08 |
Family
ID=54782591
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP15197947.3A Not-in-force EP3034452B9 (en) | 2014-12-15 | 2015-12-04 | System comprising a fork shoe and at least two modules with different built-in device |
Country Status (1)
Country | Link |
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EP (1) | EP3034452B9 (en) |
Families Citing this family (4)
Publication number | Priority date | Publication date | Assignee | Title |
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DE102018110915A1 (en) * | 2018-05-07 | 2019-11-07 | Jungheinrich Ag | Fork, truck and method for operating a truck and a line laser |
DE102018122752A1 (en) * | 2018-09-17 | 2020-03-19 | Jungheinrich Aktiengesellschaft | Industrial truck with initial lift |
DE102021103799A1 (en) | 2021-02-18 | 2022-08-18 | Jungheinrich Aktiengesellschaft | INDUSTRIAL TRUCK WITH DETECTION DEVICES ON THE FORKS |
CZ35380U1 (en) * | 2021-06-08 | 2021-09-07 | Marek Ing. Zábrodský | Equipment for optimizing the process of handling pallet-type packaging |
Family Cites Families (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3672470A (en) * | 1969-11-26 | 1972-06-27 | Eaton Yale & Towne | Photoelectric control for load handling device |
DE19609007A1 (en) * | 1996-03-08 | 1997-09-11 | Wada Foerdertechnik Entwicklun | Feed motion stopping control unit for load pick-up fork of fork-lift truck |
DE29708980U1 (en) * | 1997-05-22 | 1997-07-17 | Gräf, Ferdinand, 65589 Hadamar | Monitoring device for industrial trucks |
JP2000191293A (en) * | 1998-12-25 | 2000-07-11 | Nippon Yusoki Co Ltd | Fork lift |
FI20075376A0 (en) * | 2007-05-25 | 2007-05-25 | Jyri Vaherto | System for aligning a forklift relative to obstacles, method for aligning the position of a forklift relative to an obstacle and extension nail to be placed adjacent to the forks of the forklifts |
DE102010055774A1 (en) | 2010-12-23 | 2012-06-28 | Jungheinrich Aktiengesellschaft | Industrial truck with a sensor for detecting a spatial environment and method for operating such a truck |
-
2015
- 2015-12-04 EP EP15197947.3A patent/EP3034452B9/en not_active Not-in-force
Non-Patent Citations (1)
Title |
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EP3034452A1 (en) | 2016-06-22 |
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