EP3216746B1 - Industrial truck with ambient sensors - Google Patents

Industrial truck with ambient sensors Download PDF

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Publication number
EP3216746B1
EP3216746B1 EP17159063.1A EP17159063A EP3216746B1 EP 3216746 B1 EP3216746 B1 EP 3216746B1 EP 17159063 A EP17159063 A EP 17159063A EP 3216746 B1 EP3216746 B1 EP 3216746B1
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EP
European Patent Office
Prior art keywords
industrial truck
sensors
picking
order
surroundings
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EP17159063.1A
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German (de)
French (fr)
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EP3216746A1 (en
Inventor
Volker Viereck
Tino Krüger-Basjmeleh
Thomas Wittmann
Christian Fischer
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STILL GmbH
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STILL GmbH
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Priority claimed from DE102016108308.9A external-priority patent/DE102016108308A1/en
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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
    • B66F9/063—Automatically guided
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/0755—Position control; Position detectors

Definitions

  • the invention relates to an industrial truck, which is designed as an order-picking industrial truck, with at least one surroundings sensor for detecting an operating person in the surroundings of the industrial truck.
  • a known embodiment of such an order-picking industrial truck has a drive part with a drive wheel that is usually driven by an electric motor and that can be steered at the same time.
  • This drive part is followed by a driver's workplace, which is provided as a workplace for a standing operator with a steering device or short drawbar arranged above the drive part.
  • a load part usually with a partition wall or a unit area, in which a lifting device for the load arms is accommodated, and load arms arranged on the partition wall or the unit area.
  • a pallet can be picked up with the load arms.
  • Optical environment sensors are known for such industrial trucks, with which the environment of the industrial truck is detected. These can be, for example, two-dimensional laser scanners (2-D laser scanners) or also three-dimensional laser scanners (3-D laser scanners), as well as distance-detecting optical sensors, such as a time-of-flight camera. It is also conceivable to use ultrasonic sensors, for example, as environment sensors. With the help of such environment sensors, obstacles in the environment, routes, positions of pallets and, particularly in the case of order-picking industrial trucks, the position of the industrial truck relative to a load shelf are also detected. For example, a laser scanner can be used for this, which scans the environment orthogonally to a Missing mirror rotation axis.
  • a storage technology device or industrial truck can be moved by remote control, for example by pressing a button via a remote control and as long as this signal is given, the industrial truck continues to move. That reacts Industrial truck using the previously described optical environment sensors automatically to changing distances to the load shelf and automatically avoids obstacles during travel. The industrial truck automatically stays on track in the aisle of a load rack.
  • a disadvantage of this prior art is that the surroundings sensor often has non-detectable areas that are blanked out by parts of the industrial truck itself. Due to the positioning of the sensor, but also possibly multiple sensors, there is only limited detection of the surroundings.
  • the object of the present invention is to provide an industrial truck with which an improved detection of the surroundings is possible.
  • the object is achieved in that in an industrial truck designed as an order-picking industrial truck with at least one environmental sensor for detecting an operator in the area surrounding the industrial truck, the environmental sensor is arranged in the area of an outer contour of the industrial truck.
  • the picking truck has two environment sensors, which are arranged on the right side on the outer contour, on the top of the truck and on the left side on the outer contour, on the top of the truck.
  • the environment sensor can be arranged on the drive part on the top and/or on the load part.
  • the outer contour means the entire area on the surface, on the edge, on the sides, and in particular on the top of the industrial truck.
  • the environment sensor can be arranged laterally and have at least 180° detection angle in relation to a vertical axis.
  • the environment sensor is located on the top of the truck.
  • the industrial truck designed as an order-picking industrial truck is advantageously provided with a drive part, a driver's workplace and a load part, and the environment sensor is arranged on the upper side of the drive part and/or the load part.
  • the industrial truck can have two environment sensors, which are arranged at mirror-symmetrical positions in relation to a longitudinal axis.
  • the environmental sensors can then complement each other, creating the effect of two eyes with a distance between them.
  • one environment sensor on each side of the industrial truck can cover the environment. If the two environment sensors are arranged on the top of the industrial truck and have a very wide detection range, ideally around 360°, at least one of the sensors can always detect the environment.
  • mounting elements can also be arranged between the two sensors and thus within the base area of the industrial truck. The only hidden area is then the direct line to the second sensor across the truck. Ultimately, however, this is not relevant for capturing the environment.
  • the environment sensors can be arranged on the upper side on support elements.
  • the environment sensors can be arranged hanging on the support elements.
  • the carrying elements are advantageously arranged on the load part or the drive part.
  • the support elements are formed by a bridge girder running across the top of the industrial truck.
  • the environmental sensors can in particular be a camera and/or a stereo camera and/or a monocular camera and/or an ultrasonic sensor and/or a 3D camera.
  • two-dimensional laser scanners (2-D laser scanners) and/or three-dimensional laser scanners (3-D laser scanners) can also be used, as well as distance-detecting optical sensors, such as a time-of-flight camera.
  • the data from several environmental sensors can be summarized or fused to form an overall picture before the data is used.
  • the 1 shows an industrial truck 1 with two environment sensors 2.
  • the industrial truck 1 is an order-picking vehicle 11 with a drive part 3, a driver's cab 4 and load arms 5 on a load part 8 for receiving a pallet.
  • the environment sensors 2 are arranged on a bridge girder 6, which forms and represents supporting elements 13, above the drive part 3 and the driver's cab 4, so that they have a detection environment in all directions, except for a possible covering by vertical girders 7 of the bridge girder 6.
  • the environmental sensors 2 are all-round scanning laser scanners, which can be two-dimensional or three-dimensional.
  • the environment sensors 2 are arranged mirror-symmetrically in relation to a longitudinal axis of the picking vehicle 11, ie in the same longitudinal position and height position on each side.
  • the 2 shows another industrial truck 1 with environmental sensors 2 arranged on the side, in which shadowing 12 occurs due to a load 10 lying on it.
  • the 3 shows a third industrial truck 1 with environmental sensors 2 arranged on the side in a more favorable, freely selected position, in which the shadowed area 12 by the load 10 is smaller, since the environmental sensors 2 are arranged in the outer contour in such a way that they unite along the entire side surface without shadowing Have detection range.

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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 ein Flurförderzeug, das als Kommissionierflurförderzeug ausgebildet ist, mit mindestens einem Umgebungssensor zur Erfassung einer bedienenden Person in der Umgebung des Flurförderzeugs.The invention relates to an industrial truck, which is designed as an order-picking industrial truck, with at least one surroundings sensor for detecting an operating person in the surroundings of the industrial truck.

Bei Flurförderzeugen, insbesondere Lagertechnikgeräten, die für das Kommissionieren eingesetzt werden sollen, sind reine Mitgängerfahrzeuge bekannt, bei denen der Bediener neben dem Fahrzeug herläuft, beispielsweise einem Gabelhubwagen. Daneben sind auch Fahrzeuge bekannt, die einen Fahrerplatz zum Mitfahren aufweisen. Beim eigentlichen Kommissionieren kann dieser Fahrerplatz leicht verlassen werden, um Waren aufzunehmen und beispielsweise auf einer Palette abzulegen, die auf einer Lastgabel liegt. Eine bekannte Ausführungsform eines solchen Kommissionierflurförderzeugs weist einen Antriebsteil auf mit einem im Regelfall durch einen Elektromotor angetriebenen Antriebsrad, das zugleich gelenkt werden kann. An diesen Antriebsteil schließt sich ein Fahrerarbeitsplatz an, der als Arbeitsplatz für einen stehenden Bediener vorgesehen ist mit einer über dem Antriebsteil angeordneten Lenkvorrichtung bzw. Kurzdeichsel. Es schließt sich ein Lastteil mit üblicherweise einer Trennwand bzw. einem Aggregatebereich an, in dem eine Hubvorrichtung für die Lastarme untergebracht ist, und an der Trennwand bzw. dem Aggregatebereich angeordnete Lastarme. Mit den Lastarmen kann eine Palette aufgenommen werden.In the case of industrial trucks, in particular storage technology devices, which are to be used for order picking, pure pedestrian vehicles are known in which the operator walks alongside the vehicle, for example a pallet truck. In addition, vehicles are also known that have a driver's seat for passengers. During actual order picking, this driver's seat can easily be left in order to pick up goods and place them, for example, on a pallet that lies on a fork. A known embodiment of such an order-picking industrial truck has a drive part with a drive wheel that is usually driven by an electric motor and that can be steered at the same time. This drive part is followed by a driver's workplace, which is provided as a workplace for a standing operator with a steering device or short drawbar arranged above the drive part. This is followed by a load part, usually with a partition wall or a unit area, in which a lifting device for the load arms is accommodated, and load arms arranged on the partition wall or the unit area. A pallet can be picked up with the load arms.

Für solche Flurförderzeuge sind optische Umgebungssensoren bekannt, mit denen die Umgebung des Flurförderzeugs erfasst wird. Dies können beispielsweise zweidimensionale Laserscanner (2-D Laserscanner) oder auch dreidimensionale Laserscanner (3-D Laserscanner), ebenso wie Distanzen erfassende optische Sensoren sein, wie beispielsweise eine Time Of Flight Kamera. Es ist auch denkbar, als Umgebungssensoren beispielsweise Ultraschallsensoren einzusetzen. Mithilfe solcher Umgebungssensoren werden Hindernisse in der Umgebung, Fahrwege, Positionen von Paletten und insbesondere bei Kommissionierflurförderzeugen auch die Lage des Flurförderzeugs relativ zu einem Lastregal erfasst. Beispielsweise kann hierfür ein Laserscanner verwendet werden, der die Umgebung orthogonal zu einer Spiegelrotationsachse vermisst.Optical environment sensors are known for such industrial trucks, with which the environment of the industrial truck is detected. These can be, for example, two-dimensional laser scanners (2-D laser scanners) or also three-dimensional laser scanners (3-D laser scanners), as well as distance-detecting optical sensors, such as a time-of-flight camera. It is also conceivable to use ultrasonic sensors, for example, as environment sensors. With the help of such environment sensors, obstacles in the environment, routes, positions of pallets and, particularly in the case of order-picking industrial trucks, the position of the industrial truck relative to a load shelf are also detected. For example, a laser scanner can be used for this, which scans the environment orthogonally to a Missing mirror rotation axis.

Aus DE 10 2012 109 530 A1 ist eine Lastschwerpunktbestimmung bei einem Flurförderzeug mit mindestens einer auf den Bereich eines Lastaufnahmemittels ausgerichteten Kamera bekannt.Out of DE 10 2012 109 530 A1 a load center determination in an industrial truck with at least one camera aligned to the area of a load handling device is known.

Aus US 6 194 860 B1 ist ein mit einem Roboterarm ausgestatteter Gabelstapler bekannt, wobei in einem mobile camera-space manipulation Prozess, das ohne menschliche Beteiligung funktioniert, Videoproben in jeder der Kameras aufgenommen werden, um Merkmale auf dem Gabelstapler zu ermitteln.Out of U.S. 6,194,860 B1 a forklift equipped with a robotic arm is known, in which video samples are taken in each of the cameras in a mobile camera-space manipulation process that works without human participation in order to determine features on the forklift.

Aus EP 2 851 331 A1 ist eine Steuerung eines Flurförderzeugs bekannt, insbesondere bei der Kommissionierung, wobei das Flurförderzeug einen optischen Sensor mit einem Überwachungsbereich aufweist.Out of EP 2 851 331 A1 a control of an industrial truck is known, in particular for order picking, the industrial truck having an optical sensor with a monitoring area.

Aus DE 10 2008 008 922 A1 ist ein Flurförderzeug mit zumindest einem sich in Fahrzeuglängsrichtung erstreckenden Radarm und mit einem im Bereich des Radarms angeordneten Lasersensor bekannt.Out of DE 10 2008 008 922 A1 discloses an industrial truck with at least one wheel arm extending in the longitudinal direction of the vehicle and with a laser sensor arranged in the area of the wheel arm.

Aus DE 10 2012 106 988 A1 ist eine Steuerung eines Flurförderzeugs bekannt, das Abstandssensoren an einem Fahrzeugheck aufweist, um eine Überwachungszone auf Hindernisse zu überwachen.Out of DE 10 2012 106 988 A1 a control of an industrial truck is known, which has distance sensors on a vehicle rear in order to monitor a monitoring zone for obstacles.

Aus EP 3 410 248 A1 ist ein Flurförderzeug bekannt, wobei in einem Bodenbereich des Fahrerplatzes Anwesenheitssensoren und in einem unteren Bereich des Flurförderzeugs Hindernissensoren angeordnet sind.Out of EP 3 410 248 A1 an industrial truck is known, presence sensors being arranged in a floor area of the driver's seat and obstacle sensors being arranged in a lower area of the industrial truck.

Aus EP 0 800 129 A1 ist ein Flurförderzeug bekannt, wobei front- und heckseitig in beiden Fahrtrichtungen wirksame Infrarotsensoren vorgesehen sind, um Bereiche in beiden Fahrtrichtungen zu überwachen, sowie im Oberbegriff des Anspruchs 1 beansprucht.Out of EP 0 800 129 A1 an industrial truck is known, with infrared sensors effective in both directions of travel being provided at the front and rear in order to monitor areas in both directions of travel, as claimed in the preamble of claim 1.

Es ist weiterhin bekannt, dass zur Arbeitserleichterung beim Kommissionieren ein Lagertechnikgerät bzw. Flurförderzeug ferngesteuert bewegt werden kann, beispielsweise indem über eine Fernbedienung ein Knopf gedrückt wird und, solange dieses Signal erfolgt, das Flurförderzeug sich weiter bewegt. Dabei reagiert das Flurförderzeug mithilfe der zuvor beschriebenen optischen Umgebungssensoren automatisch auf sich verändernde Abstände zu dem Lastregal und weicht während der Fahrbewegung automatisch Hindernissen aus. Das Flurförderzeug hält die Spur im Gang eines Lastregals automatisch.It is also known that to make work easier when order picking, a storage technology device or industrial truck can be moved by remote control, for example by pressing a button via a remote control and as long as this signal is given, the industrial truck continues to move. That reacts Industrial truck using the previously described optical environment sensors automatically to changing distances to the load shelf and automatically avoids obstacles during travel. The industrial truck automatically stays on track in the aisle of a load rack.

Nachteilig an diesem Stand der Technik ist, dass der Umgebungssensor oftmals durch Teile des Flurförderzeugs selbst ausgeblendete, nicht erfassbare Bereiche aufweist. Es ergibt sich aufgrund der Positionierung des Sensors, aber auch selbst eventuell mehrerer Sensoren, nur eine begrenzte Erfassung der Umgebung.A disadvantage of this prior art is that the surroundings sensor often has non-detectable areas that are blanked out by parts of the industrial truck itself. Due to the positioning of the sensor, but also possibly multiple sensors, there is only limited detection of the surroundings.

Der vorliegenden Erfindung liegt die Aufgabe zugrunde, ein Flurförderzeug zur Verfügung zu stellen, mit dem eine verbesserte Erfassung der Umgebung möglich ist.The object of the present invention is to provide an industrial truck with which an improved detection of the surroundings is possible.

Diese Aufgabe wird durch ein Flurförderzeug mit den Merkmalen des unabhängigen Patentanspruchs 1 gelöst. Vorteilhafte Weiterbildungen der Erfindung sind in den Unteransprüchen angegeben.This object is achieved by an industrial truck with the features of independent patent claim 1 . Advantageous developments of the invention are specified in the dependent claims.

Die Aufgabe wird erfindungsgemäß dadurch gelöst, dass bei einem Flurförderzeug, das als Kommissionierflurförderzeug mit mindestens einem Umgebungssensor zur Erfassung einer bedienenden Person in der Umgebung des Flurförderzeugs ausgebildet ist, der Umgebungssensor im Bereich einer Außenkontur des Flurförderzeugs angeordnet ist.The object is achieved in that in an industrial truck designed as an order-picking industrial truck with at least one environmental sensor for detecting an operator in the area surrounding the industrial truck, the environmental sensor is arranged in the area of an outer contour of the industrial truck.

Das Kommissionierflurförderzeug weist zwei Umgebungssensoren auf, die auf der rechten Seite an der Außenkontur, an der Oberseite des Flurförderzeugs und an der linken Seite an der Außenkontur, an der Oberseite des Flurförderzeugs angeordnet sind. So kann der Umgebungssensor an dem Antriebsteil an der Oberseite angeordnet sein und/oder an dem Lastteil.The picking truck has two environment sensors, which are arranged on the right side on the outer contour, on the top of the truck and on the left side on the outer contour, on the top of the truck. The environment sensor can be arranged on the drive part on the top and/or on the load part.

Wenn die Umgebungssensoren möglichst in der Außenkontur des Flurförderzeugs angeordnet sind, eventuell sogar etwas über diese hinweg stehen, entstehen nur geringe Abschattungsbereiche. Unter Außenkontur ist hier der gesamte Bereich an der Oberfläche, am Rand, an den Seiten wir auch insbesondere auf der Oberseite des Flurförderzeugs zu verstehen.If the environmental sensors are arranged as far as possible in the outer contour of the industrial truck, possibly even projecting slightly beyond this, only small shadowing areas arise. The outer contour here means the entire area on the surface, on the edge, on the sides, and in particular on the top of the industrial truck.

Der Umgebungssensor kann seitlich angeordnet sein und mindestens 180° Erfassungswinkel aufweisen in Bezug auf eine Hochachse.The environment sensor can be arranged laterally and have at least 180° detection angle in relation to a vertical axis.

Der Umgebungssensor ist an der Oberseite des Flurförderzeugs angeordnet.The environment sensor is located on the top of the truck.

Vor allem bei Gabelhubwagen, Kommissionierfahrzeugen und ähnlichen Flurförderzeugen kann dann über eine eventuelle Last hinweg die Umgebung erfasst werden und es entstehen weniger Abschattung.In the case of fork lift trucks, picking vehicles and similar industrial trucks in particular, the surroundings can then be detected over a possible load and there is less shadowing.

Vorteilhaft ist das als Kommissionierflurförderzeug ausgebildete Flurförderzeug mit einem Antriebsteil, einem Fahrerarbeitsplatz sowie einem Lastteil versehen und der Umgebungssensor an der Oberseite des Antriebsteils und/oder des Lastteils angeordnet.The industrial truck designed as an order-picking industrial truck is advantageously provided with a drive part, a driver's workplace and a load part, and the environment sensor is arranged on the upper side of the drive part and/or the load part.

Das Flurförderzeug kann zwei Umgebungssensoren aufweisen, die in Bezug auf eine Längsachse an spiegelsymmetrischen Positionen angeordnet sind.The industrial truck can have two environment sensors, which are arranged at mirror-symmetrical positions in relation to a longitudinal axis.

Die Umgebungssensoren können sich dann ergänzen und es entsteht der Effekt wie bei zwei Augen mit einem Abstand dazwischen. Insbesondere kann je ein Umgebungssensor auf einer Seite des Flurförderzeugs die Umgebung abdecken. Wenn die zwei Umgebungssensoren an der Oberseite des Flurförderzeugs angeordnet sind und einen sehr weiten Erfassungsbereich, im Optimalfall rundum 360°, aufweisen, kann zumindest einer der Sensoren immer die Umgebung erfassen. Beispielsweise können auch Montageelemente zwischen den beiden Sensoren und somit innerhalb der Grundfläche des Flurförderzeugs angeordnet sein. Der einzige ausgeblendete Bereich ist dann die direkte Linie zu dem zweiten Sensor quer über das Flurförderzeug. Dieser ist jedoch letztlich für die Erfassung der Umgebung nicht relevant.The environmental sensors can then complement each other, creating the effect of two eyes with a distance between them. In particular, one environment sensor on each side of the industrial truck can cover the environment. If the two environment sensors are arranged on the top of the industrial truck and have a very wide detection range, ideally around 360°, at least one of the sensors can always detect the environment. For example, mounting elements can also be arranged between the two sensors and thus within the base area of the industrial truck. The only hidden area is then the direct line to the second sensor across the truck. Ultimately, however, this is not relevant for capturing the environment.

Die Umgebungssensoren können an der Oberseite an Tragelementen angeordnet sein.The environment sensors can be arranged on the upper side on support elements.

Die Umgebungssensoren können an den Tragelementen hängend angeordnet sein.The environment sensors can be arranged hanging on the support elements.

Dadurch sind die Umgebungssensoren geschützt durch Beschädigungen durch herabfallende Gegenstände wie auch bei einem zu nahen Heranfahren beispielsweise an ein Lastregal, wenn von der Oberseite ein Hindernis kommt. Bei einer Kollision mit einem Hindernis wird es auch zunächst im Regelfall zu einem Zusammenstoß mit dem Tragelement kommen und der darunter hängende Umgebungssensor ist dadurch geschützt.This protects the environmental sensors from damage from falling objects, as well as from driving too close to a load shelf, for example, when an obstacle comes from the top. In the event of a collision with an obstacle, there will usually be a collision with the support element first, and the environment sensor hanging underneath is protected as a result.

Vorteilhaft sind die Tragelemente auf dem Lastteil oder dem Antriebsteil angeordnet.The carrying elements are advantageously arranged on the load part or the drive part.

In einer weiteren Ausgestaltung werden die Tragelemente durch einen quer über die Oberseite des Flurförderzeugs verlaufenden Brückenträger gebildet.In a further embodiment, the support elements are formed by a bridge girder running across the top of the industrial truck.

Es ist möglich, Sensoren und insbesondere Umgebungssensoren, völlig frei zu positionieren. Dabei können ein, zwei oder auch mehrere Umgebungssensoren angeordnet werden. Dies kann beispielsweise auf der linken und rechten Seite des Flurförderzeugs geschehen, insbesondere ganz außen. Es sind auch weitere beliebige, sinnvolle Sensorpositionen möglich.It is possible to position sensors, and in particular environmental sensors, completely freely. One, two or more environmental sensors can be arranged. This can happen, for example, on the left and right side of the industrial truck, especially on the very outside. Any other sensible sensor positions are also possible.

Bei den Umgebungssensoren kann es sich insbesondere um eine Kamera und/oder eine Stereokamera und/oder eine Monokularkamera und/oder einen Ultraschallsensor und/oder eine 3D-Kamera handeln. Auch können beispielsweise zweidimensionale Laserscanner (2-D Laserscanner) und/oder dreidimensionale Laserscanner (3-D Laserscanner) ebenso wie Distanzen erfassende optische Sensoren eingesetzt werden, wie beispielsweise eine Time Of Flight Kamera.The environmental sensors can in particular be a camera and/or a stereo camera and/or a monocular camera and/or an ultrasonic sensor and/or a 3D camera. For example, two-dimensional laser scanners (2-D laser scanners) and/or three-dimensional laser scanners (3-D laser scanners) can also be used, as well as distance-detecting optical sensors, such as a time-of-flight camera.

Es können die Daten mehrerer Umgebungssensoren zu einem Gesamtbild zusammengefasst bzw. fusioniert werden, bevor die Daten verwendet werden.The data from several environmental sensors can be summarized or fused to form an overall picture before the data is used.

Weitere Vorteile und Einzelheiten der Erfindung werden anhand der in den schematischen Figuren dargestellten Ausführungsbeispiele näher erläutert. Hierbei zeigt

Fig. 1
ein Flurförderzeug mit zwei jeweils seitlich angeordneten Umgebungssensoren,
Fig. 2
ein weiteres Flurförderzeug mit seitlich angeordnet Umgebungssensoren und,
Fig. 3
ein drittes Flurförderzeug mit seitlich angeordneten Umgebungssensoren.
Further advantages and details of the invention are explained in more detail with reference to the exemplary embodiments illustrated in the schematic figures. Here shows
1
an industrial truck with two environmental sensors arranged on the side,
2
another industrial truck with environment sensors arranged on the side and,
3
a third industrial truck with environmental sensors arranged on the side.

Die Fig. 1 zeigt ein Flurförderzeug 1 mit zwei Umgebungssensoren 2. Das Flurförderzeug 1 ist ein Kommissionierfahrzeug 11 mit einem Antriebsteil 3, einem Fahrerstand 4 und Lastarmen 5 an einen Lastteil 8 zur Aufnahme einer Palette. Die Umgebungssensoren 2 sind an einem Brückenträger 6, der Tragelemente 13 bildet und darstellt, oberhalb des Antriebsteils 3 und des Fahrerstands 4 angeordnet, sodass diese bis auf eine eventuelle Verdeckung durch senkrechte Träger 7 des Brückenträgers 6, ein Erfassungsumfeld in alle Richtungen haben. Dadurch können, wie an dem auf der linken Seite angeordneten Umgebungssensor 2 durch die angedeuteten Strahlen dargestellt, ein Bediener 9, ein Hindernis oder auch eine sonstige, beliebige Person gut erfasst werden. Die Umgebungssensoren 2 sind in dem hier vorliegenden Beispiel rundum scannende Laserscanner, die zweidimensional oder dreidimensional ausgeführt werden können. Dabei sind die Umgebungssensoren 2 in Bezug auf eine Längsachse des Kommissionierfahrzeugs 11 spiegelsymmetrisch angeordnet, d.h. in derselben Längsposition und Höhenposition an jeder Seite.the 1 shows an industrial truck 1 with two environment sensors 2. The industrial truck 1 is an order-picking vehicle 11 with a drive part 3, a driver's cab 4 and load arms 5 on a load part 8 for receiving a pallet. The environment sensors 2 are arranged on a bridge girder 6, which forms and represents supporting elements 13, above the drive part 3 and the driver's cab 4, so that they have a detection environment in all directions, except for a possible covering by vertical girders 7 of the bridge girder 6. As a result, an operator 9, an obstacle or any other person can be easily detected, as is shown by the indicated rays on the surroundings sensor 2 arranged on the left-hand side. In the present example, the environmental sensors 2 are all-round scanning laser scanners, which can be two-dimensional or three-dimensional. In this case, the environment sensors 2 are arranged mirror-symmetrically in relation to a longitudinal axis of the picking vehicle 11, ie in the same longitudinal position and height position on each side.

Die Fig. 2 zeigt ein weiteres Flurförderzeug 1 mit seitlich angeordnet Umgebungssensoren 2, bei denen es zu einer Abschattung 12 durch eine aufliegende Last 10 kommt.the 2 shows another industrial truck 1 with environmental sensors 2 arranged on the side, in which shadowing 12 occurs due to a load 10 lying on it.

Die Fig. 3 zeigt ein drittes Flurförderzeug 1 mit seitlich angeordneten Umgebungssensoren 2 in einer günstigeren, frei gewählten Position, bei der der Abschattungsbereich 12 durch die Last 10 kleiner ist, da die Umgebungssensoren 2 so in der Außenkontur angeordnet sind, dass sie entlang der gesamten Seitenfläche ohne Abschattungen einen Erfassungsbereich aufweisen.the 3 shows a third industrial truck 1 with environmental sensors 2 arranged on the side in a more favorable, freely selected position, in which the shadowed area 12 by the load 10 is smaller, since the environmental sensors 2 are arranged in the outer contour in such a way that they unite along the entire side surface without shadowing Have detection range.

Claims (8)

  1. Industrial truck configured as an order-picking industrial truck, having at least one surroundings sensor (2) for detecting an operator (9) in the surrounding area of the industrial truck (1),
    characterized
    in that the order-picking industrial truck has two surroundings sensors (2) which are arranged on an outer contour on the right-hand side, on the upper side of the order-picking industrial truck (1), and on the outer contour on the left-hand side, on the upper side of the order-picking industrial truck (1).
  2. Industrial truck according to Claim 1, characterized
    in that the surroundings sensor (2) is arranged laterally and has a capture angle of at least 180° with respect to a vertical axis.
  3. Industrial truck according to Claim 1 or 2, characterized
    in that the industrial truck (1), which is configured as an order-picking industrial truck, is provided with a drive unit (3), a driver's workplace (4) and a load unit (8) and the surroundings sensor (2) is arranged on the upper side of the drive unit (3) and/or of the load unit (8) .
  4. Industrial truck according to any of Claims 1 to 3, characterized
    in that the industrial truck (1) has two surroundings sensors (2) which are arranged at mirror-symmetric positions with respect to a longitudinal axis.
  5. Industrial truck according to any of Claims 1 to 4, characterized
    in that the surroundings sensors (2) are arranged on the upper side on carrying elements (13).
  6. Industrial truck according to Claim 5, characterized
    in that the surroundings sensors (2) are arranged suspended on the carrying elements (13).
  7. Industrial truck according to Claim 5 or 6 and according to Claim 3,
    characterized
    in that the carrying elements (13) are arranged on the load unit (8) or the drive unit (3).
  8. Industrial truck according to any of Claims 5 to 7, characterized
    in that the carrying elements (13) are formed by a bridge carrier (6) extending transversely across the upper side of the industrial truck (1).
EP17159063.1A 2016-03-07 2017-03-03 Industrial truck with ambient sensors Active EP3216746B1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102016104132 2016-03-07
DE102016108308.9A DE102016108308A1 (en) 2016-03-07 2016-05-04 Truck with environmental sensors

Publications (2)

Publication Number Publication Date
EP3216746A1 EP3216746A1 (en) 2017-09-13
EP3216746B1 true EP3216746B1 (en) 2022-11-23

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Application Number Title Priority Date Filing Date
EP17159063.1A Active EP3216746B1 (en) 2016-03-07 2017-03-03 Industrial truck with ambient sensors

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EP (1) EP3216746B1 (en)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20200019192A1 (en) * 2018-07-13 2020-01-16 Caterpillar Paving Products Inc. Object detection and implement position detection system

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6194860B1 (en) * 1999-11-01 2001-02-27 Yoder Software, Inc. Mobile camera-space manipulation
DE102008008922B4 (en) * 2008-02-13 2023-07-06 Still Gesellschaft Mit Beschränkter Haftung Industrial truck with environment sensor
DE102012106988B4 (en) * 2012-07-31 2024-07-18 Linde Material Handling Gmbh Method for controlling an industrial truck
DE102012109530A1 (en) * 2012-10-08 2014-04-10 Still Gmbh Method for center of gravity determination in industrial truck, involves detecting load applied on load receiving unit by image processing method through evaluation computer from camera image, such as pattern- or object recognition
DE102013110456A1 (en) * 2013-09-21 2015-03-26 Still Gmbh Method for controlling a picking truck

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