EP3514103B1 - Chariot de manutention - Google Patents

Chariot de manutention Download PDF

Info

Publication number
EP3514103B1
EP3514103B1 EP18181069.8A EP18181069A EP3514103B1 EP 3514103 B1 EP3514103 B1 EP 3514103B1 EP 18181069 A EP18181069 A EP 18181069A EP 3514103 B1 EP3514103 B1 EP 3514103B1
Authority
EP
European Patent Office
Prior art keywords
fork
load
industrial truck
receiving opening
driver
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.)
Active
Application number
EP18181069.8A
Other languages
German (de)
English (en)
Other versions
EP3514103A1 (fr
Inventor
Björn Bullermann
Michael Voss
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
STILL GmbH
Original Assignee
STILL GmbH
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by STILL GmbH filed Critical STILL GmbH
Publication of EP3514103A1 publication Critical patent/EP3514103A1/fr
Application granted granted Critical
Publication of EP3514103B1 publication Critical patent/EP3514103B1/fr
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

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 an industrial truck with a load handling device, which has a mast with a fork carriage that can be moved on the mast, with a load fork being arranged on the fork carriage, a vehicle body and a driver's workplace for a driver, with the industrial truck comprising a position detection device which is designed detect a lateral offset of the load fork in relation to a receiving opening of a load means, and comprises a control device which is designed to generate movement information based on the determined lateral offset of the load fork in relation to the receiving opening of the load means, which indicates in which direction of movement the load fork is to be moved laterally so that the load fork can be positioned essentially in the middle of the receiving opening of the load means.
  • the mast system includes a mast.
  • a fork carrier that can be raised and lowered on the lifting frame is moved in the vertical direction via the mast system, via which a load is moved to a corresponding height and to a corresponding position.
  • a load fork with two forks is usually arranged on the fork carriage. The load, for example over a pallet, is picked up on the forks of the load fork.
  • the above-mentioned industrial trucks must be positioned by means of a travel drive in such a way that the fork, seen from the side, is centered in relation to the receiving openings of the load or the pallet or, more generally, a load means.
  • Modern industrial trucks have a fork side shift or a mast cross shift. These functions can be used to laterally adjust the load fork horizontally. Furthermore, industrial trucks equipped with such a function can be positioned to pick up the load by means of working hydraulics in such a way that the load fork is centered in relation to the receiving opening of the load or pallet when viewed from the side. The lateral positioning must be carried out by the driver of the industrial truck by actuating the fork side shift or mast cross shift. The fork side shift or the mast transverse shift thus enables a driver of the industrial truck to carry out precise positioning of the fork at great heights.
  • the disadvantage of using the fork side shift or the mast transverse shift is that the movement of the fork side shift or the mast transverse shift is mechanically limited and must be set in advance by the driver in such a way that a corresponding corrective movement is possible. Furthermore, there is the problem that during these processes the fork and the lateral position of the fork in relation to the receiving opening of the load means, for example the pallet, cannot be seen by the driver. The driver is only able to carry out such a positioning movement properly if he has appropriate knowledge or experience.
  • the above-mentioned positioning of the fork of an industrial truck can also be carried out if the fork of an industrial truck is equipped with a fork camera system.
  • a fork camera system enables a 2D visualization of the optical objects in front of the fork, for example a load on a pallet, in relation to the fork.
  • the problem can be countered that, in the case of operations at great heights, for example, the load fork and the lateral position in relation to the receiving opening of the load means cannot be seen.
  • the driver of the industrial truck must carry out the fine positioning of the load fork independently, which requires knowledge and experience on the part of the driver. Because an assistance function for fine positioning is also not available.
  • a generic industrial truck according to the preamble of claim 1 is known with an assistance system for storing or retrieving loads/pallets.
  • time-of-flight cameras are arranged as a position detection device, which detect the entry openings of the pallet when retrieving, ie when picking up a pallet. Movement information is displayed to the driver of the industrial truck on a display device with corresponding displays, showing how he must move the forks in order to be able to drive into the pallet without colliding. If the driver has not yet positioned the forks correctly, a red lamp lights up on the display device. If the fork tines are correctly positioned, a green lamp lights up on the display device.
  • the U.S. 5,208,753 A discloses an industrial truck with a driver assistance system in which the fine positioning of the forks to the pallet receiving openings is carried out automatically. After manually aligning the fork tines with the pallet receiving openings, a reference image is taken with a camera and stored ("calibration image") and during the automated fine positioning of the fork tines, the current alignment of the fork tines to the pallet receiving openings is recorded with a camera and compared with the stored reference image and the fork tines are automatically moved in the vertical and lateral direction until the detected current alignment matches the stored reference image.
  • the U.S. 2004/0073359 A1 discloses an industrial truck with a driver assistance system in which the fine positioning of the forks to the pallet receiving openings is carried out automatically. A marking on the pallet is recorded with a camera and corresponding movements of the fork arms are automatically generated in order to automatically align the fork arms with the pallet mounting openings.
  • the EP 2 653 429 A1 discloses an industrial truck with a driver assistance system for aligning the forks with the pallet receiving openings.
  • a camera detects the receiving openings of the pallet and then those vehicle movements that can be automated are carried out automatically and the driver is given appropriate instructions on a display for those vehicle movements that cannot be automated, eg steering.
  • the present invention is based on the object of further developing an industrial truck with a load handling device in such a way that the above-mentioned disadvantages are avoided or at least reduced and with which a driver is able to position the load fork of the industrial truck quickly and without much knowledge or experience to take up a load in such a way that the load forks of the industrial truck are positioned essentially laterally in the middle of a receiving opening of a load means.
  • an industrial truck with a load handling device which has a mast with a fork carriage that can be moved on the mast, a load fork being arranged on the fork carriage, a vehicle body and a driver's workplace for a driver, comprising a Position detection device which is designed to detect a lateral offset of the load fork in relation to a receiving opening of a load means, a control device which is designed to generate movement information based on the determined lateral offset of the load fork in relation to the receiving opening of the load means , in which direction of movement the load fork is to be shifted laterally, so that the load fork can be positioned essentially in the middle of the receiving opening of the load means, the control device being designed, based on the generated movement information, to transmit a control signal to a drive device of the industrial truck, which has a controllable movement or a controllable range of motion of the truck and / or the fork and / or the fork carriage is limited, the direction of movement in which the
  • the lateral offset of the load fork to the receiving opening of the load means is determined and thus recognized whether or not the load fork is positioned laterally in the middle of the receiving opening of the load means.
  • the control device the movement information and direction of movement is generated to assist the driver of the industrial truck in order to make it easier for the driver to fine-tune the positioning of the fork laterally in the middle of the receiving opening of the load means.
  • An assistance function is thus formed by the position detection device and the control device, which enables the driver of the industrial truck to carry out the fine positioning of the fork laterally in the middle of the receiving opening of the load means with assistance.
  • the industrial truck according to the invention has the advantage that the industrial truck and/or the fork of the industrial truck is optimally finely positioned in relation to a load to be picked up, so that the load, for example a pallet, can be picked up efficiently and quickly by the fork of the industrial truck.
  • This is achieved by the movement information generated by the control device, which specifies exactly, i.e. in a targeted manner, how the industrial truck and thus also its fork must be positioned so that the fork can be positioned centrally at the side in the receiving opening or openings of the load means quickly and easily Collision with the load can be introduced.
  • the industrial truck according to the invention also achieves the further advantage that rapid and collision-free picking up of a load by the load fork of the industrial truck is no longer exclusively dependent on the respective experience and skill of the driver of the industrial truck.
  • the industrial truck according to the invention achieves the advantage that a driver can reach his required handling targets for the load to be transported more quickly or his handling capacity increases. This is because the driver no longer has to maneuver the industrial truck particularly slowly to pick up a load and possibly make time-consuming and repeated trial and error approach and positioning attempts to bring the industrial truck and the forks into an optimal starting position or starting position so that he can Load fork can insert into the receiving openings of the load device without collision.
  • a further advantage of the industrial truck according to the invention is that a driver of the industrial truck is supported when laterally positioning the fork in relation to the receiving opening of the load means or when finely positioning the fork essentially laterally centrally to the receiving opening of the load means. Fine positioning of the fork means precise positioning of the fork in relation to the receiving opening of a load before the driver moves the fork of the industrial truck into the receiving opening of the load. This eliminates the need to repeatedly align the industrial truck and/or the load fork, which reduces the time required to pick up the load. This achieves a higher handling capacity.
  • a further advantage of the industrial truck according to the invention is that a comprehensive complete solution for positioning at great heights is available.
  • the position detection device comprises a non-contact distance sensor.
  • the distance sensor can be arranged on the fork carrier or on the load fork with alignment and orientation to a load means to be picked up. This achieves the advantage that a distance measurement can be carried out easily and efficiently.
  • the non-contact distance sensor is configured as a laser sensor and/or as a 2D line sensor and/or as a 2D distance camera system and/or as a 2D camera system and/or as a 3D distance camera system and/or as a 3D camera system trained. This has the advantage that the quality of the distance measurement can be adjusted according to technical specifications.
  • the industrial truck includes a display device which is designed to display the movement information generated.
  • a display device which is designed to display the movement information generated. This achieves the advantage that the driver is shown efficiently how to move the industrial truck and/or the load fork and/or the fork carriage accordingly and in particular has to move laterally.
  • the direction of movement in which the fork must be moved in order to be positioned laterally in the middle of the receiving opening of the load means is preferably displayed as movement information on the display device. This is particularly helpful for the driver to efficiently and quickly fine-tune the positioning of the industrial truck and/or the forks if the driver has no or only a limited view of the forks and/or the receiving opening of the load means into which the forks are to be inserted. to pick up the load.
  • the display device comprises at least one display.
  • This has the advantage that the driver can see the movement information displayed on it, in which direction of movement the industrial truck and/or the fork carriage and/or the load fork must be moved laterally in relation to the receiving opening, even while the industrial truck is being controlled in order to carry out a corresponding movement fine positioning of the industrial truck and/or the fork carriage and/or the forks of the industrial truck is always in his field of vision and can, if necessary, make quick and immediate corrections to the fine positioning if the movement of the industrial truck and/or the fork carriage and/or the forks he is making deviates from the particular lateral movement or movement direction of the industrial truck and/or the fork carriage and/or the load fork specified or suggested by the movement information in relation to the receiving opening of the load means.
  • the control device is designed to store the generated movement information as a retrievable control command in the industrial truck, and triggering the control command results in the control device controlling the drive device of the industrial truck in such a way that, based on the generated movement information, the fork and/or the fork carriage and/or the industrial truck can be automatically moved from a first current actual position to a second target position, in which the load fork is located laterally in the center of the receiving opening of the load means.
  • the industrial truck via the stored and retrievable control command in the industrial truck, is equipped with an assistance function for automated and efficient positioning of the industrial truck and/or the load forks and/or the fork carriage in relation to the receiving opening of the load means can be expanded, which can be called up in a simple manner, for example by a driver of the industrial truck.
  • the movement that is automatically executed when this assistance function is called up is stopped when the load fork is finely positioned in relation to the opening of the load device.
  • control command in the industrial truck can be triggered by the driver by actuating an operating element, for example an operating button.
  • an operating element for example an operating button.
  • the movement information includes information about an actual distance of the load fork to the receiving opening of the load means.
  • the actual distance of the load fork comprises a distance between an outer fork edge of the load fork and a vertical contour edge and/or a distance between an outer fork edge of the load fork and a horizontal contour edge of the receiving opening.
  • FIG. 1 shows a schematic illustration of an industrial truck 1 with a load handling device 2, which has a mast 2a with a fork carriage 2b that can be raised and lowered on the mast 2a, a load fork 2c being arranged on the fork carriage 2b.
  • the industrial truck 1 has a vehicle body 3 and a driver's workplace 5 for a driver 6 .
  • the truck 1 includes according to 1 a position detection device 7, which is designed, a lateral offset of the fork 2c in relation to one in the Figure 2a shown receiving opening 8 also in the Figure 2a to detect load means 9 shown.
  • the position detection device 7 can be designed as a sensor system.
  • the position detection device 7 can include a non-contact distance sensor.
  • the non-contact distance sensor can be designed as a laser sensor and/or as a 2D line sensor and/or as a 2D distance camera system and/or as a 2D camera system and/or as a 3D distance camera system and/or as a 3D camera system .
  • the position detection device 7 is positioned on the industrial truck 1 in such a way that the sensing of the distance A of a surface F or of surface points parallel to the mast 2a, particularly in the area of the forks of the load fork 2c, is made possible and reliably guaranteed.
  • the load means 9 can, as in the Figure 2a and the Figure 2b shown, be a pallet on which a load can be placed.
  • the palette can, as in the Figure 2a and the Figure 2b represents, have two receiving openings 8a, 8b, in which the load fork 2c can be inserted.
  • the load fork 2c can consist of two individual forks 2c1, 2c2, each of which can be inserted into one of the receiving openings 8a, 8b of the load means 9, which is designed as a pallet, in the direction of the movement arrow 18 and can be guided out again.
  • the truck 1 includes according to 1 also a control device 10, which is designed on the basis of the determined lateral offset of the fork 2c in Relative to the receiving opening 8, 8a, 8b of the load means 9 to generate movement information that indicates the direction of movement, shown as a movement arrow 19 in the Figure 2a , the fork 2c is to be moved laterally so that the fork 2c can be positioned essentially in the center of the receiving opening 8, 8a, 8b of the load means 9.
  • a control device 10 which is designed on the basis of the determined lateral offset of the fork 2c in Relative to the receiving opening 8, 8a, 8b of the load means 9 to generate movement information that indicates the direction of movement, shown as a movement arrow 19 in the Figure 2a , the fork 2c is to be moved laterally so that the fork 2c can be positioned essentially in the center of the receiving opening 8, 8a, 8b of the load means 9.
  • the truck 1 according to 1 may comprise a display device 12 which is designed to display the generated movement information.
  • the display device 12 can comprise at least one display 12a.
  • the movement information and movement direction of the fork 2c generated by the control device 10 can be displayed and visualized for the driver 6 of the industrial truck 1 on the display 12a.
  • the driver 6 knows at all times how he (still) has to position or align the industrial truck 1 and/or the load forks 2c and/or the fork carriage 2b in relation to the receiving opening 10 of the load means 9 if there are deviations from the set alignment of the Load fork 2c and/or the fork carriage 2b and/or the industrial truck 1 comes from the direction of movement specified by the movement information for fine positioning, for example as a result of a change in position of the industrial truck 1.
  • the display 12a can be installed in a cockpit of the driver's workplace 5 .
  • the display device 12 is used to show the driver the direction of movement in which the load fork 2c must be moved so that it is laterally centered on the receiving opening 8, 8a, 8c of the load means 9.
  • the control device 10 of the industrial truck 1 according to the 1 is designed, based on the generated movement information, to transmit a control signal to a drive device 13 of the industrial truck 1 in order to limit a controllable movement or a controllable range of movement of the industrial truck 1 and/or the load fork 2c and/or the fork carriage 2b.
  • a controllable movement or a controllable range of movement of the industrial truck 1 and/or the load fork 2c and/or the fork carriage 2b is limited with the assistance of the control device 10.
  • the driver of the industrial truck can hereby start the fine positioning of the load fork 2c laterally in the center of the receiving opening 8, 8a, 8b of the load means 9 by actuating the drive device 13.
  • control device 10 can be designed, the movement information generated as a retrievable control command in the industrial truck 1 in a designated, but not in the 1 store storage device shown. If the control command is triggered, the control device 10 controls the drive device 13 of the industrial truck 1 in such a way that, based on the generated movement information, the load fork 2c and/or the fork carriage 2b and/or the industrial truck 1 moves from a first current actual position in a second target position in the direction of through the in the Figure 2a shown movement arrow 19 is automatically movable, in which the load fork 2c is laterally centered to the receiving opening 8, 8a, 8b of the load means 9.
  • the control command in the truck 1 can by the in the 1 shown driver 6 are triggered by actuating a control element 14.
  • the operating element 14 can be designed as a button, for example.
  • the system of the industrial truck 1 in the form of the control device 10 then takes over the automated positioning of the industrial truck 1 and/or the fork carriage 2b and/or the load fork 2c - without the driver having to intervene directly - in the corresponding direction of movement to be executed on the basis of the movement information determined, so that the load fork 2c can be moved or moved laterally in the middle in relation to the receiving opening 10 of the load means 9.
  • the movement or the alignment of the industrial truck 1 and/or the fork carriage 2b and/or the fork 2c is automatically terminated when the industrial truck 1 and/or the fork carriage 2b and/or the fork 2c in relation to the receiving opening 8, 8a, 8b of the load means 9 is finely positioned or aligned by the specified movement information.
  • the fine positioning of the load fork 2c laterally in the middle of the receiving opening 8, 8a, 8b of the load means 9 is carried out automatically after the driver has actuated the operating element 14.
  • the industrial truck 1 according to the invention can be combined with a so-called lifting height preselection assistant for the fork 2c.
  • the assistance function described above for aligning the load fork 2c laterally in the middle in relation to the receiving opening 8, 8a, 8b of the load means 9 can be activated by actuating an operating element, a button, for example, can be operated in parallel with the rack height preselection assistant.
  • a button for example, can be operated in parallel with the rack height preselection assistant.
  • Figure 2a shows a schematic representation of a section of a load fork 2c, shown in plan view, of an industrial truck 1, shown only schematically, in relation to a load means 9 to be picked up, which is shown as a pallet.
  • the load fork 2c is mounted on a fork carrier 2b and includes two forks 2c1, 2c2. These show in the Figure 2a an actual distance 15 from the load means 9.
  • the movement information generated by the control device 10 can be information about one, as in FIG Figure 2a shown, actual distance 15 of the load fork 2c to the receiving opening 8, 8a, 8b of the load means 9 include. This actual distance 15 is in the Figure 2a shown as corresponding arrow 15.
  • Figure 2b shows a schematic representation of a load device 9 and the two forks of a load fork 2c, 2c1, 2c2, which are either arranged in front of the load device 9 or have already been inserted into the receiving openings 8a, 8b of the load device 9 in a side view.
  • the actual distance 15 of the fork 2c can alternatively or additionally be a distance 15a between an outer fork edge 11b of the fork 2c, 2c1 and a vertical outline edge 8d and/or a distance 15b between an outer fork edge 11a of the fork 2c, 2c1 include a horizontal outline edge 8c of the receiving opening 8, 8a, 8b.
  • the distances 15a, 15b of the actual distance 15 can be part of the movement information generated by the control device 10.
  • the two forks 2c1, 2c2 are positioned laterally in the middle in relation to the receiving openings 8a, 8b of the load means 9, which can be achieved with the assistance function according to the invention.

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)

Claims (9)

  1. Chariot de manutention (1), comprenant un moyen de réception de charge (2) qui présente un mât de levage (2a) pourvu d'un tablier porte-fourche (2b) mobile sur le mât de levage (2a), une fourche de levage (2c) étant disposée sur le tablier porte-fourche (2b), un corps de véhicule (3) et un poste de travail de conducteur (5) pour un conducteur (6), comprenant :
    - un dispositif de détection de position (7) qui est réalisé pour détecter un décalage latéral de la fourche de levage (2c) par rapport à une ouverture de réception (8, 8a, 8b) d'un moyen de charge (9) ;
    - un dispositif de commande (10) qui est réalisé pour générer, sur la base du décalage latéral établi de la fourche de levage (2c) par rapport à l'ouverture de réception (8, 8a, 8b) du moyen de charge (9), une information de mouvement qui indique dans quelle direction de mouvement il faut latéralement décaler la fourche de levage (2c) de sorte que la fourche de levage (2c) puisse être positionnée de manière substantiellement centrée par rapport à l'ouverture de réception (8, 8a, 8b) du moyen de charge,
    caractérisé en ce que le dispositif de commande (10) est réalisé pour transmettre, sur la base de l'information de mouvement générée, un signal de commande à un dispositif d'entraînement (13) du chariot de manutention (1) qui limite un mouvement pouvant être commandé ou une marge de manoeuvre pouvant être commandée du chariot de manutention (1) et/ou de la fourche de levage (2c) et/ou du tablier porte-fourche (2b),
    dans lequel la direction de mouvement, dans laquelle il faut latéralement déplacer la fourche de levage (2c) de sorte que la fourche de levage (2c) soit latéralement centrée par rapport à l'ouverture de réception (8, 8a, 8c) du moyen de charge (9), est limitée par le dispositif de commande (10) de sorte qu'un conducteur du chariot de manutention (1) peut s'approcher du positionnement précis de la fourche de levage (2c) de manière latéralement centrée par rapport à l'ouverture de réception (8, 8a, 8b) du moyen de charge (9) et de manière assistée par l'actionnement du dispositif d'entraînement (13).
  2. Chariot de manutention (1) selon la revendication 1, caractérisé en ce que le dispositif de détection de position (7) comprend un capteur de distance sans contact.
  3. Chariot de manutention (1) selon la revendication 2, caractérisé en ce que le capteur de distance sans contact est réalisé sous la forme d'un capteur laser et/ou d'un capteur linéaire 2D et/ou d'un système de caméra de mesure de distance 2D et/ou d'un système de caméra 2D et/ou d'un système de caméra de mesure de distance 3D et/ou d'un système de caméra 3D.
  4. Chariot de manutention (1) selon l'une quelconque des revendications précédentes, caractérisé en ce qu'un dispositif d'affichage (12) est inclus qui est réalisé pour afficher l'information de mouvement générée.
  5. Chariot de manutention (1) selon la revendication 4, caractérisé en ce que le dispositif d'affichage (12) comprend au moins un affichage (12a).
  6. Chariot de manutention (1) selon l'une quelconque des revendications précédentes 1 à 5, caractérisé en ce que le dispositif de commande (10) est réalisé pour mémoriser l'information de mouvement générée sous la forme d'une instruction de commande dans le chariot de manutention (1), et dans lequel un déclenchement de l'instruction de commande fait que le dispositif de commande (10) pilote le dispositif d'entraînement (13) du chariot de manutention (1) de telle sorte que sur la base de l'information de mouvement générée, la fourche de levage (2c) et/ou le tablier porte-fourche (2b) et/ou le chariot de manutention (1) peuvent être déplacés de manière automatisée d'une première position réelle actuelle à une deuxième position de consigne dans laquelle la fourche de levage (2c) est centrée par rapport à l'ouverture de réception (8, 8a, 8b) du moyen de charge (9).
  7. Chariot de manutention (1) selon la revendication 6, caractérisé en ce que l'instruction de commande peut être déclenchée dans le chariot de manutention (1) par le conducteur (6) par l'actionnement d'un élément de commande (14).
  8. Chariot de manutention (1) selon l'une quelconque des revendications précédentes, caractérisé en ce que l'information de mouvement comprend une information concernant une distance réelle (15) de la fourche de levage (2c) par rapport à l'ouverture de réception (8, 8a, 8b) du moyen de charge (9).
  9. Chariot de manutention (1) selon la revendication 8, caractérisé en ce que la distance réelle (15) de la fourche de levage (2c) comprend une distance (15a) entre une arête de fourche extérieure (11b) de la fourche de levage (2c, 2c1) à une arête de contour verticale (8d) et/ou une distance (15b) entre une arête de fourche extérieure (11a) de la fourche de levage (2c, 2c1) à une arête de contour horizontale (8c) de l'ouverture de réception (8, 8a, 8b).
EP18181069.8A 2017-07-24 2018-07-02 Chariot de manutention Active EP3514103B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102017116626.2A DE102017116626A1 (de) 2017-07-24 2017-07-24 Flurförderzeug

Publications (2)

Publication Number Publication Date
EP3514103A1 EP3514103A1 (fr) 2019-07-24
EP3514103B1 true EP3514103B1 (fr) 2023-01-25

Family

ID=64951746

Family Applications (1)

Application Number Title Priority Date Filing Date
EP18181069.8A Active EP3514103B1 (fr) 2017-07-24 2018-07-02 Chariot de manutention

Country Status (2)

Country Link
EP (1) EP3514103B1 (fr)
DE (1) DE102017116626A1 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
MX2022010240A (es) 2020-02-21 2022-09-19 Crown Equip Corp Piso iluminado en los lados del vehiculo para manejo de materiales para indicar area limitada o no limitada.

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5208753A (en) * 1991-03-28 1993-05-04 Acuff Dallas W Forklift alignment system
EP1502896A4 (fr) * 2002-01-23 2009-11-18 Toyota Jidoshokki Kk Dispositif et procede de commande de la position d'un appareil de manutention dans un vehicule industriel
DE102010055774A1 (de) * 2010-12-23 2012-06-28 Jungheinrich Aktiengesellschaft Flurförderzeug mit einem Sensor zur Erfassung einer räumlichen Umgebung und Verfahren zum Betreiben eines solchen Flurförderzeugs
DE102012108034A1 (de) * 2012-04-20 2013-10-24 Still Gmbh Steuerungsverfahren für Flurförderzeug sowie Flurförderzeug

Also Published As

Publication number Publication date
DE102017116626A1 (de) 2019-01-24
EP3514103A1 (fr) 2019-07-24

Similar Documents

Publication Publication Date Title
EP2468678B1 (fr) Chariot de manutention équipé d'un capteur pour détecter l'environnement spatial et procédé de fonctionnement d'un tel chariot de manutention
EP2653429B1 (fr) Procédé de commande pour chariot de manutention et chariot de manutention
EP1862050B1 (fr) Procédé et dispositif destinés à la commande de l'attache d'une machine agricole sur une remorque
DE102018207202B4 (de) Fahrerloses Transportfahrzeug und Verfahren zum Betreiben eines fahrerlosen Transportfahrzeugs
EP2653430B1 (fr) Procédé de commande pour l'enlèvement de la charge d'un chariot de manutention et chariot de manutention
EP3483113A1 (fr) Chariot de manutention doté d'une fourche et d'une caméra de bras de fourche ainsi que procédé de fonctionnement d'un tel chariot de manutention
DE102006057610A1 (de) Verfahren und Vorrichtung zum Bildgestützten Andocken an ein Zielobjekt mit einem Fahrzeug
DE10305900B4 (de) Stapler
DE102008027701A1 (de) Steuerungsverfahren für Flurförderzeug
EP3514103B1 (fr) Chariot de manutention
DE10033857A1 (de) Regalbediengerät
EP1447376B1 (fr) Chariot élévateur à mât déplaçable
EP3153348B1 (fr) Camion avec moyens de surveillance pour la sécurisation de la manipulation d'un conteneur interchangeable
EP3118708B1 (fr) Procede de commande d'un chariot de commissionnement
EP2987760B1 (fr) Chariot de manutention
EP3434640B1 (fr) Chariot de manutention
DE10305902B4 (de) Verfahren zum Betrieb eines Schubmaststaplers und Schubmaststapler zur Durchführung des Verfahrens
EP3597587B1 (fr) Chariot élévateur à mât rétractable doté d'un capteur de surveillance ainsi que son procédé de fonctionnement
DE19822496A1 (de) Videovorrichtung für ein Flurförderzeug
DE102013112016A1 (de) Flurförderzeug mit einem Hubhöhenassistenzsystem
DE102007054836A1 (de) Vorrichtung und Verfahren zum Transportieren einer Last
WO2020229593A1 (fr) Procédé d'assistance au stockage dans un chariot de manutention et chariot de manutention
DE102021109928A1 (de) Verfahren zur Steuerung mindestens zweier selbstfahrender Ladefahrzeuge
EP3770107A1 (fr) Chariot de manutention doté d'un dispositif d'aide
EP3456585A1 (fr) Benne basculante / amovible à déroulement des mouvements automatisé du bras à crochet / du bras pivotant par pression sur un bouton

Legal Events

Date Code Title Description
PUAI Public reference made under article 153(3) epc to a published international application that has entered the european phase

Free format text: ORIGINAL CODE: 0009012

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE APPLICATION HAS BEEN PUBLISHED

AK Designated contracting states

Kind code of ref document: A1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

AX Request for extension of the european patent

Extension state: BA ME

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: REQUEST FOR EXAMINATION WAS MADE

17P Request for examination filed

Effective date: 20200116

RBV Designated contracting states (corrected)

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

GRAP Despatch of communication of intention to grant a patent

Free format text: ORIGINAL CODE: EPIDOSNIGR1

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: GRANT OF PATENT IS INTENDED

INTG Intention to grant announced

Effective date: 20221104

GRAS Grant fee paid

Free format text: ORIGINAL CODE: EPIDOSNIGR3

GRAA (expected) grant

Free format text: ORIGINAL CODE: 0009210

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: THE PATENT HAS BEEN GRANTED

AK Designated contracting states

Kind code of ref document: B1

Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR

REG Reference to a national code

Ref country code: GB

Ref legal event code: FG4D

Free format text: NOT ENGLISH

REG Reference to a national code

Ref country code: CH

Ref legal event code: EP

REG Reference to a national code

Ref country code: AT

Ref legal event code: REF

Ref document number: 1545802

Country of ref document: AT

Kind code of ref document: T

Effective date: 20230215

Ref country code: IE

Ref legal event code: FG4D

Free format text: LANGUAGE OF EP DOCUMENT: GERMAN

REG Reference to a national code

Ref country code: DE

Ref legal event code: R096

Ref document number: 502018011491

Country of ref document: DE

REG Reference to a national code

Ref country code: LT

Ref legal event code: MG9D

REG Reference to a national code

Ref country code: NL

Ref legal event code: MP

Effective date: 20230125

P01 Opt-out of the competence of the unified patent court (upc) registered

Effective date: 20230518

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: NL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20230125

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: RS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20230125

Ref country code: PT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20230525

Ref country code: NO

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20230425

Ref country code: LV

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20230125

Ref country code: LT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20230125

Ref country code: HR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20230125

Ref country code: ES

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20230125

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20230125

Ref country code: PL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20230125

Ref country code: IS

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20230525

Ref country code: GR

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20230426

Ref country code: FI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20230125

REG Reference to a national code

Ref country code: DE

Ref legal event code: R097

Ref document number: 502018011491

Country of ref document: DE

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SM

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20230125

Ref country code: RO

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20230125

Ref country code: EE

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20230125

Ref country code: DK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20230125

Ref country code: CZ

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20230125

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SK

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20230125

Ref country code: AL

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20230125

PGFP Annual fee paid to national office [announced via postgrant information from national office to epo]

Ref country code: FR

Payment date: 20230724

Year of fee payment: 6

Ref country code: DE

Payment date: 20230720

Year of fee payment: 6

PLBE No opposition filed within time limit

Free format text: ORIGINAL CODE: 0009261

STAA Information on the status of an ep patent application or granted ep patent

Free format text: STATUS: NO OPPOSITION FILED WITHIN TIME LIMIT

26N No opposition filed

Effective date: 20231026

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: SI

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20230125

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: MC

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20230125

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: MC

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20230125

REG Reference to a national code

Ref country code: CH

Ref legal event code: PL

REG Reference to a national code

Ref country code: BE

Ref legal event code: MM

Effective date: 20230731

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: LU

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20230702

GBPC Gb: european patent ceased through non-payment of renewal fee

Effective date: 20230702

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: LU

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20230702

REG Reference to a national code

Ref country code: IE

Ref legal event code: MM4A

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: CH

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20230731

Ref country code: GB

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20230702

PG25 Lapsed in a contracting state [announced via postgrant information from national office to epo]

Ref country code: IT

Free format text: LAPSE BECAUSE OF FAILURE TO SUBMIT A TRANSLATION OF THE DESCRIPTION OR TO PAY THE FEE WITHIN THE PRESCRIBED TIME-LIMIT

Effective date: 20230125

Ref country code: BE

Free format text: LAPSE BECAUSE OF NON-PAYMENT OF DUE FEES

Effective date: 20230731