EP3925926B1 - Industrial truck - Google Patents

Industrial truck Download PDF

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Publication number
EP3925926B1
EP3925926B1 EP21174937.9A EP21174937A EP3925926B1 EP 3925926 B1 EP3925926 B1 EP 3925926B1 EP 21174937 A EP21174937 A EP 21174937A EP 3925926 B1 EP3925926 B1 EP 3925926B1
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Prior art keywords
sensor
load
industrial truck
height
measurement position
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German (de)
French (fr)
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EP3925926A1 (en
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Antoine Nicolas
Laurent Delmas
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Linde Material Handling GmbH
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Linde Material Handling GmbH
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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
    • B66F9/0755—Position control; Position detectors

Definitions

  • the invention relates to an industrial truck with a load-carrying device, in particular a load fork, that can be raised and lowered by a lifting device, and with a control device for controlling the lifting device, the control device being operatively connected to at least one sensor for detecting at least one uppermost layer of a load in at least one detection area .
  • a disadvantage of this prior art is that the picking person has to spend a relatively large amount of time adjusting the height position of the load handling device again when a top layer of goods has been deposited or the top layer has been unloaded.
  • a pallet truck for order picking which has a load part with a load fork, which can be raised by means of a lifting device.
  • a sensor device with a substantially horizontal detection range in particular a laser beam sensor, detects the loading condition, for example by two laser beams within one Detect along the width of the pallet whether there are goods or boxes in their path. Depending on the presetting, it is raised until goods are detected, or lowered until no more goods are detected.
  • a leveling device does not always adjust the height correctly if, for example, the two load carriers are loaded at different heights and a different adjustment of the height would be required depending on the one used in each case.
  • DE 20 2012 004 038 U1 an industrial truck with an automated leveling of a height-adjustable load handling device arranged on a lifting mast is known.
  • a sensor unit with a downward-pointing distance sensor is arranged at the free end of the lifting mast.
  • DE 20 2012 004038 U1 discloses the preamble of claim 1.
  • a disadvantage of this prior art is that with load carriers with side walls, such as roll containers or lattice boxes, through the oblique detection angle, the height of the loaded load cannot be reliably detected.
  • the leveling level can also be set correctly automatically for load carriers with side walls, such as roll containers or lattice boxes, and there are no errors due to detection of the side walls.
  • the lateral expansion of the detection area can be adjusted so that side walls do not interfere.
  • the present invention is therefore based on the object of providing an industrial truck with automatic leveling of a liftable load handling device that avoids the aforementioned disadvantages and with which loading and unloading by hand during order picking is made easier.
  • the senor is designed to measure distances from a measurement position provided above the detection area to points on the tops of all uppermost layers of the load in the detection area, and the control device is set up to calculate the distances based on the measured distances assign height coordinates to individual points and use them to calculate an average height level of the load and to control the lifting device in such a way that the average height level of the load is continuously maintained at a predetermined leveling height.
  • the invention is based on the consideration that by calculating an average load height, which results from the average of all heights of the respective uppermost Layers of goods stacked at different heights result in a medium adjustment of the lifting height to the ergonomically optimal height for unloading or loading goods.
  • the senor For this purpose, points on the tops of all top layers of the load in the detection area are detected by means of the sensor.
  • the sensor In order to achieve high hit accuracy even with small-scale goods with small surfaces, the sensor should have a high resolution so that as many points as possible can be recorded on an area. In particular, the resolution should be at least one point per square centimeter.
  • Each point 1 to n is assigned a height coordinate z 1 to z n in the control device by evaluating the sensor signals.
  • This mean height z average corresponds to the average height level of the load.
  • the control device is set up to control the lifting device in such a way that the average height level of the load is kept continuously at a predetermined leveling height, which corresponds to an ergonomic handling height, both in a loading operating mode and in an unloading operating mode.
  • the control device can determine the leveling height based on input signals from input means.
  • the input means advantageously consist of a keyboard input.
  • the input means consist of wireless data transmission means, in particular a transmitter/receiver for a transponder.
  • an individual Adaptation to a person and their respective body size take place.
  • the ergonomically optimal height of the load-carrying means can thus advantageously be established. This can also be protected against tampering, for example by having to enter a pin code or by automatic identification using a transponder chip, for example an RFID CHIP carried by the person.
  • the sensor itself is expediently arranged at the measuring position.
  • the senor is arranged outside the measuring position, and a deflection device designed to deflect the sensor signals to the sensor, in particular a reflector device, is arranged at the measuring position.
  • the sensor can be accommodated at a protected point on the vehicle body of the industrial truck, while the deflection device is arranged at the measuring position above the load.
  • the deflection device can be designed as a mirror which reflects the optical signals to the sensor.
  • the measuring position is preferably arranged on a carrier above the detection area.
  • the carrier is particularly advantageous, for example, a structure independent of a lifting mast, which can also be used with a fork lift truck with only a low lifting height and no lifting mast projecting beyond the vehicle.
  • detection areas there can be several detection areas each with sensors, in particular detection areas corresponding to a standardized load carrier.
  • a separate detection area can be provided for each pallet, for example in the case of a fork lift truck as an industrial truck which is intended to transport two or more pallets one behind the other on a long load fork.
  • the detection areas can each correspond to the load-bearing area of a Euro pallet.
  • the controller uses the signal from input means, in particular key switches, to determine which detection area is taken into account for raising or lowering.
  • a person can thus freely select during order picking for which of the detection areas arranged one behind the other or, for example, loaded pallets, an automatic leveling should take place.
  • automatic leveling can only take place in relation to an empty pallet, while a second is already fully loaded and is accordingly raised too far.
  • the selection can be made in a simple and, in particular, also intuitive manner if switching elements are provided arranged longitudinally in the sequence of the detection areas on the industrial truck. For example, by briefly pressing a button or by making a selection on a touchscreen, a picking person can then quickly select which detection area is to be taken into account for the automatic leveling.
  • the carrier is advantageously a supporting beam arranged in the longitudinal direction above the load-receiving device.
  • the sensor can be positioned on the support beam so that it can be moved longitudinally and adjusted freely. This enables good alignment to the position of a pallet or wire basket, for example.
  • the senor is designed as a camera. This can be a 3D or 2D camera or a time-of-flight camera.
  • the senor is designed as a laser scanner.
  • the sensor can also be designed as a radar sensor or ultrasonic sensor.
  • the invention can be used in all industrial trucks that have a lifting device, even if this is not normally used for order picking be used.
  • reach trucks and counterbalanced forklifts can also be equipped with the features according to the invention.
  • the figure 1 shows an industrial truck 1 according to the prior art with a lowered load handling device 2 designed as a fork.
  • a sensor 4 designed as an infrared laser beam sensor is provided. The sensor 4 is aligned horizontally. If the upper edge of the uppermost layer of the load 5 placed on the load handling device 2 is below the sensor 4, the sensor 4 cannot detect any load 5.
  • the control device 6 controls the Figures 1 and 2 not shown lifting device of the load-carrying device 2 in such a way that the load-carrying device 2 is raised until the top edge of the top Layer of the load 5 is detected by the sensor 4.
  • the disadvantage of this prior art is that an area 7 with lower loads that are placed on the load handling device 2 cannot be detected by the sensor 4 . These loads are therefore not raised to the ergonomic leveling height 3 and are therefore not in an ergonomic position.
  • the figure 3 shows an industrial truck 1 according to the invention with a lowered load-carrying device 2.
  • a sensor 4 is arranged above the load-carrying device 2 at a measuring position 8, which can detect the entire load 5 within a detection range 9 from above.
  • the sensor 4 is designed, for example, as a 2D camera or as a 3D camera or as a laser scanner or as a radar sensor or as an ultrasonic sensor.
  • the detection area 9 corresponds, for example, to the load-bearing surface of a load carrier placed on the load-bearing device 22, for example a Euro pallet.
  • the sensor 4 can thus detect the entire load 5 located on the load carrier from above.
  • the load 5 can be packages with different heights.
  • the sensor 4 is used to detect points on the upper sides of all uppermost layers of the load 5 in the detection area 9 and their distances from the measuring position 8 are measured. The sensor 4 can thus detect the upper side of each package in the detection area 9 . The sum of the individual points results in a point cloud.
  • This mean height z average corresponds to the average height level 10 of the loads 5.
  • FIG 4 is the industrial truck 1 according to the invention from figure 3 shown with adjusted lifting height of the load handling device 2.
  • the control device 6 is set up to a in the Figures 3 and 4 to control not shown lifting device of the load receiving device 2 in such a way that the average height level 10 of the load 5 is kept continuously at the specified, ergonomic leveling height 11, which corresponds to an ergonomic handling height, both in a loading operating mode and in an unloading operating mode.

Description

Die Erfindung betrifft ein Flurförderzeug mit einer durch eine Hubvorrichtung anhebbaren und absenkbaren Lastaufnahmevorrichtung, insbesondere einer Lastgabel, und mit einer Steuerungsvorrichtung zur Ansteuerung der Hubvorrichtung, wobei die Steuerungsvorrichtung mit mindestens einem Sensor zur Erfassung mindestens einer obersten Schicht einer Last in mindestens einem Erfassungsbereich in Wirkverbindung steht.The invention relates to an industrial truck with a load-carrying device, in particular a load fork, that can be raised and lowered by a lifting device, and with a control device for controlling the lifting device, the control device being operatively connected to at least one sensor for detecting at least one uppermost layer of a load in at least one detection area .

Für das Kommissionieren in Lagern sind Flurförderzeuge als Horizontalkommissionierer bekannt, die nur über eine beschränkte Hubhöhe verfügen. Dadurch wird es möglich, beispielsweise eine Palette oder eine Lastaufnahmevorrichtung soweit anzuheben, dass diese in der obersten Position ungefähr auf Hüfthöhe einer daneben stehenden Person sich befindet und Waren von der kommissionierenden Person, ohne sich zu bücken, auf die Lastaufnahmevorrichtung abgesetzt oder von dieser entnommen werden können.For picking in warehouses, industrial trucks are known as horizontal order pickers, which only have a limited lifting height. This makes it possible, for example, to lift a pallet or a load-carrying device so far that it is in the uppermost position approximately at waist height of a person standing next to it and goods can be placed on the load-carrying device or removed from it by the picking person without bending down be able.

Nachteilig an diesem Stand der Technik ist jedoch, dass die kommissionierende Person relativ viel Zeit dafür aufwenden muss, die Höhenposition der Lastaufnahmevorrichtung erneut einzustellen, wenn eine oberste Schicht mit Waren abgesetzt wurde oder die oberste Schicht entladen wurde.A disadvantage of this prior art, however, is that the picking person has to spend a relatively large amount of time adjusting the height position of the load handling device again when a top layer of goods has been deposited or the top layer has been unloaded.

Bekannt sind daher Vorrichtungen zur automatischen Nivellierung, durch die die Höhenposition der Lastaufnahmevorrichtung so nachgeführt wird, dass beispielsweise die Oberkante der Waren auf einer Palette sich in der ergonomisch optimalen Höhe zum Abladen oder Aufladen befindet.Devices for automatic leveling are therefore known, by means of which the height position of the load handling device is tracked in such a way that, for example, the upper edge of the goods on a pallet is at the ergonomically optimal height for unloading or loading.

Beispielsweise ist aus der EP 2 181 959 A1 ein Gabelhubwagen zum Kommissionieren bekannt, der ein Lastteil mit einer Lastgabel aufweist, die mittels einer Hubvorrichtung anhebbar ist. Eine Sensoreinrichtung mit einem im Wesentlichen horizontalen Erfassungsbereich, insbesondere einem Laserstrahlsensor, erfasst den Beladungszustand, indem beispielsweise zwei Laserstrahlen innerhalb einer Palettenbreite entlang erfassen, ob in deren Weg sich Waren oder Kartons befinden. Je nach Voreinstellung wird so lange angehoben, bis Waren erfasst werden, oder abgesenkt, bis keine Waren mehr erfasst werden.For example, from the EP 2 181 959 A1 a pallet truck for order picking is known, which has a load part with a load fork, which can be raised by means of a lifting device. A sensor device with a substantially horizontal detection range, in particular a laser beam sensor, detects the loading condition, for example by two laser beams within one Detect along the width of the pallet whether there are goods or boxes in their path. Depending on the presetting, it is raised until goods are detected, or lowered until no more goods are detected.

Nachteilig an diesem Stand der Technik ist, dass dieser nur mit flachen Paletten, insbesondere Euro-Paletten, gut funktioniert. Wenn Ladungsträger mit Seitenwänden eingesetzt werden, wie sie beispielsweise als Rollcontainer oder Gitterboxen üblich sind und in einem großen Umfang im Bereich der Einzelhandelslogistik benutzt werden, wird durch die Erfassungssysteme die Seitenwand des Ladungsträgers und nicht die Höhe der aufgeladenen Waren erfasst. Die Lösung nach dem Stand der Technik ist daher mit solchen Ladungsträgern und in vielen Bereichen der Logistik nicht benutzbar.The disadvantage of this prior art is that it only works well with flat pallets, in particular Euro pallets. If load carriers with side walls are used, such as those commonly used as roll containers or lattice boxes and used to a large extent in retail logistics, the side wall of the load carrier and not the height of the loaded goods is recorded by the detection systems. The solution according to the prior art can therefore not be used with such load carriers and in many areas of logistics.

Ebenfalls ist es problematisch, wenn mehrere Ladungsträger hintereinander auf der Lastaufnahmevorrichtung, beispielsweise einer solchen mit einer besonders langen Lastgabel, angeordnet sind. Eine Nivelliereinrichtung stellt dann nicht immer die Höhe richtig ein, wenn beispielsweise die beiden Ladungsträger unterschiedlich hoch beladen sind und abhängig von den jeweils benutzten eine unterschiedliche Regulierung der Höhe erforderlich wäre.It is also problematic if several load carriers are arranged one behind the other on the load-receiving device, for example one with a particularly long load fork. A leveling device does not always adjust the height correctly if, for example, the two load carriers are loaded at different heights and a different adjustment of the height would be required depending on the one used in each case.

Die bekannten Systeme zur automatischen Nivellierung der Gabelhöhe erfordern auch zusätzlichen Zeitaufwand für deren Bedienung und gerade in Lagern, bei denen Personal unter Akkordlohn arbeitet, wird zum Teil die automatische Nivellierung bewusst nicht verwendet, obwohl diese in einigen Ländern bereits gesetzlich vorgeschrieben ist und Krankenkassen, Berufsgenossenschaften wie auch Gewerkschaften auf deren Verwendung sehr stark dringen.The well-known systems for automatic leveling of the fork height also require additional time for their operation and especially in warehouses where personnel work under piecework wages, the automatic leveling is deliberately not used in some cases, although it is already required by law in some countries and health insurance companies, professional associations as well as trade unions are urging their use very strongly.

Auch aus der DE 20 2012 004 038 U1 ist ein Flurförderzeug mit einer automatisierten Niveaunivellierung einer an einem Hubmast höhenbeweglich angeordneten Lastaufnahmevorrichtung bekannt. Dabei ist an dem freien Ende des Hubmastes eine Sensoreinheit mit einem nach unten gerichteten Abstandssensor angeordnet. DE 20 2012 004038 U1 offenbart den Oberbegriff des Anspruchs 1.Also from the DE 20 2012 004 038 U1 an industrial truck with an automated leveling of a height-adjustable load handling device arranged on a lifting mast is known. A sensor unit with a downward-pointing distance sensor is arranged at the free end of the lifting mast. DE 20 2012 004038 U1 discloses the preamble of claim 1.

Nachteilig ist an diesem Stand der Technik, dass bei Ladungsträgern mit Seitenwänden, wie beispielsweise Rollcontainern oder Gitterboxen, durch den schrägen Erfassungswinkel nicht die Höhe der aufgeladenen Last sicher erfasst werden kann.A disadvantage of this prior art is that with load carriers with side walls, such as roll containers or lattice boxes, through the oblique detection angle, the height of the loaded load cannot be reliably detected.

Aus der EP 2 987 760 A1 ist ein Flurförderzeug mit automatischer Einstellung der Nivellierungshöhe bekannt, bei dem die Sensormittel an einem Träger senkrecht oberhalb des Erfassungsbereichs der Last angeordnet sind. Dadurch kann auch bei Ladungsträgern mit Seitenwänden, wie etwa Rollcontainern oder Gitterboxen, das Nivellierungsniveau automatisch richtig eingestellt werden, und es kommt nicht zu Fehlern aufgrund einer Erfassung der Seitenwände. Durch die Positionierung senkrecht oberhalb des Erfassungsbereichs der Last kann die seitliche Ausdehnung des Erfassungsbereichs so eingestellt werden, dass Seitenwände nicht stören.From the EP 2 987 760 A1 an industrial truck with automatic adjustment of the leveling height is known, in which the sensor means are arranged on a support vertically above the detection area of the load. As a result, the leveling level can also be set correctly automatically for load carriers with side walls, such as roll containers or lattice boxes, and there are no errors due to detection of the side walls. By positioning it vertically above the detection area of the load, the lateral expansion of the detection area can be adjusted so that side walls do not interfere.

Die bisherigen Lösungen zur automatischen Nivellierung der Höhe der Lastaufnahmevorrichtung haben den Nachteil, dass nur eine bestimmte Schicht, meist die oberste Schicht, der Last erfasst und zur Höheneinstellung herangezogen wird. Bei Beladung der Lastaufnahmevorrichtung mit unterschiedlich hoch gestapelten Waren befinden sich somit nicht alle Oberkanten der Waren in der ergonomisch optimalen Höhe zum Abladen oder Aufladen.The previous solutions for automatically leveling the height of the load handling device have the disadvantage that only a specific layer, usually the top layer, of the load is detected and used for height adjustment. When the load handling device is loaded with goods stacked at different heights, not all of the top edges of the goods are at the ergonomically optimal height for unloading or loading.

Der vorliegenden Erfindung liegt daher die Aufgabe zugrunde, ein Flurförderzeug mit einer automatischen Nivellierung einer anhebbaren Lastaufnahmevorrichtung zur Verfügung zu stellen, das die zuvor genannten Nachteile vermeidet und mit dem das Be- und Entladen von Hand beim Kommissionieren erleichtert wird.The present invention is therefore based on the object of providing an industrial truck with automatic leveling of a liftable load handling device that avoids the aforementioned disadvantages and with which loading and unloading by hand during order picking is made easier.

Diese Aufgabe wird erfindungsgemäß dadurch gelöst, dass der Sensor dazu ausgebildet ist, Abstände von einer oberhalb des Erfassungsbereichs vorgesehenen Messposition zu Punkten auf den Oberseiten aller obersten Schichten der Last im Erfassungsbereich zu messen, und die Steuerungsvorrichtung dazu eingerichtet ist, auf Basis der gemessenen Abstände den einzelnen Punkten Höhenkoordinaten zuzuordnen und daraus ein durchschnittliches Höhenniveau der Last zu berechnen und die Hubvorrichtung derart anzusteuern, dass das durchschnittliche Höhenniveau der Last kontinuierlich auf einer vorgegebenen Nivellierungshöhe gehalten wird.This object is achieved according to the invention in that the sensor is designed to measure distances from a measurement position provided above the detection area to points on the tops of all uppermost layers of the load in the detection area, and the control device is set up to calculate the distances based on the measured distances assign height coordinates to individual points and use them to calculate an average height level of the load and to control the lifting device in such a way that the average height level of the load is continuously maintained at a predetermined leveling height.

Dabei liegt der Erfindung die Überlegung zu Grunde, dass durch Berechnung einer mittleren Lasthöhe, die sich aus dem Durchschnitt aller Höhen der jeweils obersten Schichten von unterschiedlich hoch gestapelten Waren ergibt, eine mittlere Anpassung der Hubhöhe an die ergonomisch optimale Höhe zum Abladen oder Aufladen von Waren ermöglicht wird.The invention is based on the consideration that by calculating an average load height, which results from the average of all heights of the respective uppermost Layers of goods stacked at different heights result in a medium adjustment of the lifting height to the ergonomically optimal height for unloading or loading goods.

Hierzu werden mittels des Sensors Punkte auf den Oberseiten aller obersten Schichten der Last im Erfassungsbereich erfasst. Um eine hohe Treffergenauigkeit auch bei kleinteiligen Waren mit kleinen Oberflächen zu erreichen, sollte der Sensor eine hohe Auflösung aufweisen, so dass möglichst viele Punkte auf einer Fläche erfasst werden können. Die Auflösung sollte insbesondere mindestens einen Punkt pro Quadratzentimeter betragen.For this purpose, points on the tops of all top layers of the load in the detection area are detected by means of the sensor. In order to achieve high hit accuracy even with small-scale goods with small surfaces, the sensor should have a high resolution so that as many points as possible can be recorded on an area. In particular, the resolution should be at least one point per square centimeter.

Die Summe der einzelnen Punkte ergibt eine Punktewolke. Jedem Punkt 1 bis n wird in der Steuerungsvorrichtung durch Auswertung der Sensorsignale eine Höhenkoordinate z1 bis zn zugeordnet. Anschließend wird in der Steuerungsvorrichtung die mittlere Höhe zaverage aller Punkte nach folgender Formel berechnet: z average = z 1 + z 2 + ⋯ + z n n

Figure imgb0001
The sum of the individual points results in a point cloud. Each point 1 to n is assigned a height coordinate z 1 to z n in the control device by evaluating the sensor signals. The average height z average of all points is then calculated in the control device using the following formula: e.g average = e.g 1 + e.g 2 + ⋯ + e.g n n
Figure imgb0001

Diese mittlere Höhe zaverage entspricht dem durchschnittlichen Höhenniveau der Last. Die Steuerungsvorrichtung ist dazu eingerichtet, die Hubvorrichtung derart anzusteuern, dass das durchschnittliche Höhenniveau der Last sowohl in einem Beladebetriebsmodus als auch in einem Entladebetriebsmodus kontinuierlich auf einer vorgegebenen Nivellierungshöhe, die einer ergonomischen Handhabungshöhe entspricht, gehalten wird.This mean height z average corresponds to the average height level of the load. The control device is set up to control the lifting device in such a way that the average height level of the load is kept continuously at a predetermined leveling height, which corresponds to an ergonomic handling height, both in a loading operating mode and in an unloading operating mode.

Die Steuerungsvorrichtung kann anhand von Eingabesignalen von Eingabemitteln die Nivellierungshöhe festlegen.The control device can determine the leveling height based on input signals from input means.

Vorteilhaft bestehen die Eingabemittel aus einer Tastatureingabe.The input means advantageously consist of a keyboard input.

In einer Weiterbildung bestehen die Eingabemittel aus drahtlosen Datenübertragungsmitteln, insbesondere einem Sender/Empfänger für einen Transponder.In a further development, the input means consist of wireless data transmission means, in particular a transmitter/receiver for a transponder.

Durch eine solche Eingabemöglichkeit für die Nivellierungshöhe kann eine individuelle Anpassung an eine Person und deren jeweilige Körpergröße stattfinden. Vorteilhaft kann damit die ergonomisch optimale Höhe des Lastaufnahmemittels festgelegt werden. Dies kann auch gegen Verstellen geschützt erfolgen, indem beispielsweise ein Pincode eingegeben werden muss oder eine Identifizierung durch einen Transponderchip automatisch erfolgt, beispielsweise einen von der Person mitgeführten RFID-CHIP.By such an input option for the leveling height, an individual Adaptation to a person and their respective body size take place. The ergonomically optimal height of the load-carrying means can thus advantageously be established. This can also be protected against tampering, for example by having to enter a pin code or by automatic identification using a transponder chip, for example an RFID CHIP carried by the person.

Zweckmäßigerweise ist der Sensor selbst an der Messposition angeordnet.The sensor itself is expediently arranged at the measuring position.

Eine andere vorteilhafte Variante sieht vor, dass der Sensor außerhalb der Messposition angeordnet ist, und eine zur Umlenkung der Sensorsignale zum Sensor ausgebildete Umlenkeinrichtung, insbesondere eine Reflektoreinrichtung, an der Messposition angeordnet ist. Beispielsweise kann der Sensor an einer geschützten Stelle der Fahrzeugkarosserie des Flurförderzeugs untergebracht sein, während die Umlenkeinrichtung an der Messposition oberhalb der Last angeordnet ist. Insbesondere im Fall von optischen Sensoren kann die Umlenkeinrichtung als Spiegel ausgebildet sein, der die optischen Signale zum Sensor reflektiert.Another advantageous variant provides that the sensor is arranged outside the measuring position, and a deflection device designed to deflect the sensor signals to the sensor, in particular a reflector device, is arranged at the measuring position. For example, the sensor can be accommodated at a protected point on the vehicle body of the industrial truck, while the deflection device is arranged at the measuring position above the load. In the case of optical sensors in particular, the deflection device can be designed as a mirror which reflects the optical signals to the sensor.

Vorzugsweise ist die Messposition an einem Träger oberhalb des Erfassungsbereichs angeordnet.The measuring position is preferably arranged on a carrier above the detection area.

Der Träger ist dabei besonders vorteilhaft beispielsweise eine von einem Hubmast unabhängige Struktur, die etwa auch bei einem Gabelhubwagen mit einer nur geringen Hubhöhe und keinem über das Fahrzeug hinausragenden Hubmast zum Einsatz kommen kann.The carrier is particularly advantageous, for example, a structure independent of a lifting mast, which can also be used with a fork lift truck with only a low lifting height and no lifting mast projecting beyond the vehicle.

Vorteilhaft können mehrere Erfassungsbereiche jeweils mit Sensoren vorhanden sein, insbesondere jeweils einem genormten Ladungsträger entsprechende Erfassungsbereiche. Dadurch kann beispielsweise bei einem Gabelhubwagen als Flurförderzeug, der dafür vorgesehen ist, zwei oder mehr Paletten hintereinander auf einer langen Lastgabel zu transportieren, für jede Palette ein eigener Erfassungsbereich vorgesehen werden.Advantageously, there can be several detection areas each with sensors, in particular detection areas corresponding to a standardized load carrier. As a result, a separate detection area can be provided for each pallet, for example in the case of a fork lift truck as an industrial truck which is intended to transport two or more pallets one behind the other on a long load fork.

Die Erfassungsbereiche können jeweils der lastaufnehmenden Fläche einer Euro-Palette entsprechen.The detection areas can each correspond to the load-bearing area of a Euro pallet.

In einer vorteilhaften Weiterbildung legt die Steuerung anhand des Signals von Eingabemitteln, insbesondere Tastenschaltern, fest, welcher Erfassungsbereich für das Anheben oder Absenken berücksichtigt wird.In an advantageous development, the controller uses the signal from input means, in particular key switches, to determine which detection area is taken into account for raising or lowering.

Eine Person kann dadurch beim Kommissionieren frei auswählen, für welche der hintereinander angeordneten Erfassungsbereiche bzw. beispielsweise aufgeladenen Paletten, eine automatische Nivellierung erfolgen soll. So kann eine automatische Nivellierung nur in Bezug auf eine leere Palette stattfinden, während eine zweite bereits vollständig beladen ist und dementsprechend zu weit angehoben wird. Die Auswahl kann dabei auf einfache und insbesondere auch intuitive Art und Weise getroffen werden, wenn Schaltelemente in der Reihenfolge der Erfassungsbereiche an dem Flurförderzeug längs angeordnet vorgesehen sind. Durch beispielsweise einen kurzen Tastendruck oder auch eine Auswahl auf einem Touchscreen kann dann eine Person zum Kommissionieren schnell wählen, welcher Erfassungsbereich für die automatische Nivellierung berücksichtigt werden soll.A person can thus freely select during order picking for which of the detection areas arranged one behind the other or, for example, loaded pallets, an automatic leveling should take place. Thus, automatic leveling can only take place in relation to an empty pallet, while a second is already fully loaded and is accordingly raised too far. The selection can be made in a simple and, in particular, also intuitive manner if switching elements are provided arranged longitudinally in the sequence of the detection areas on the industrial truck. For example, by briefly pressing a button or by making a selection on a touchscreen, a picking person can then quickly select which detection area is to be taken into account for the automatic leveling.

Vorteilhaft ist der Träger ein über der Lastaufnahmevorrichtung in Längsrichtung angeordneter Tragbalken.The carrier is advantageously a supporting beam arranged in the longitudinal direction above the load-receiving device.

Der Sensor kann an dem Tragbalken längs verschiebbar und frei einstellbar positioniert werden. Dies ermöglicht eine gute Ausrichtung auf beispielsweise die Position einer Palette oder eines Gitterkorbes.The sensor can be positioned on the support beam so that it can be moved longitudinally and adjusted freely. This enables good alignment to the position of a pallet or wire basket, for example.

In einer besonders bevorzugten Ausgestaltung der Erfindung ist der Sensor als Kamera ausgebildet. Dabei kann es sich um eine 3D- oder 2D-Kamera oder um eine Time-of-Flight-Kamera handeln.In a particularly preferred embodiment of the invention, the sensor is designed as a camera. This can be a 3D or 2D camera or a time-of-flight camera.

Eine andere vorteilhafte Variante sieht vor, dass der Sensor als Laserscanner ausgebildet ist.Another advantageous variant provides that the sensor is designed as a laser scanner.

Der Sensor kann auch als Radarsensor oder Ultraschallsensor ausgebildet sein.The sensor can also be designed as a radar sensor or ultrasonic sensor.

Die Erfindung kann bei allen Flurförderzeugen zum Einsatz kommen, die eine Hubvorrichtung haben, auch wenn diese im Normalfall nicht zum Kommissionieren eingesetzt werden. Insbesondere können auch Schubmaststapler und Gegengewichtsgabelstapler mit den erfindungsgemäßen Merkmalen ausgestattet werden.The invention can be used in all industrial trucks that have a lifting device, even if this is not normally used for order picking be used. In particular, reach trucks and counterbalanced forklifts can also be equipped with the features according to the invention.

Weitere Vorteile und Einzelheiten der Erfindung werden anhand des in den schematischen Figuren dargestellten Ausführungsbeispiels näher erläutert. Hierbei zeigen

Figur 1
ein Flurförderzeug nach dem Stand der Technik mit abgesenkter Lastaufnahmevorrichtung,
Figur 2
ein Flurförderzeug nach dem Stand der Technik mit angepasster Hubhöhe der Lastaufnahmevorrichtung,
Figur 3
ein Flurförderzeug nach der Erfindung mit abgesenkter Lastaufnahmevorrichtung und
Figur 4
ein Flurförderzeug nach der Erfindung mit angepasster Hubhöhe der Lastaufnahmevorrichtung.
Further advantages and details of the invention are explained in more detail using the exemplary embodiment illustrated in the schematic figures. show here
figure 1
a state-of-the-art industrial truck with a lowered load handling device,
figure 2
a state-of-the-art industrial truck with an adjusted lifting height of the load handling device,
figure 3
an industrial truck according to the invention with a lowered load handling device and
figure 4
an industrial truck according to the invention with an adjusted lifting height of the load handling device.

Die Figur 1 zeigt ein Flurförderzeug 1 nach dem Stand der Technik mit abgesenkter, als Lastgabel ausgebildeter, Lastaufnahmevorrichtung 2. Um die Hubhöhe der Lastaufnahmevorrichtung 2 an eine ergonomische Nivellierungshöhe 3 anzupassen, ist ein als Infrarot-Laserstrahlsensor ausgebildeter Sensor 4 vorgesehen. Der Sensor 4 ist horizontal ausgerichtet. Sofern sich die Oberkante der obersten Schicht der auf der Lastaufnahmevorrichtung 2 abgelegten Last 5 unterhalb des Sensors 4 befindet, kann der Sensor 4 keine Last 5 erkennen.the figure 1 shows an industrial truck 1 according to the prior art with a lowered load handling device 2 designed as a fork. In order to adjust the lifting height of the load receiving device 2 to an ergonomic leveling height 3, a sensor 4 designed as an infrared laser beam sensor is provided. The sensor 4 is aligned horizontally. If the upper edge of the uppermost layer of the load 5 placed on the load handling device 2 is below the sensor 4, the sensor 4 cannot detect any load 5.

In der Figur 2 ist das Flurförderzeug 1 aus der Figur 1 nach dem Stand der Technik mit angepasster Hubhöhe der Lastaufnahmevorrichtung 2 dargestellt. Um die Hubhöhe der Lastaufnahmevorrichtung 2 an die ergonomisch optimale Höhe zum Abladen oder Aufladen von Waren, also die ergonomische Nivellierungshöhe 3, anzupassen, steuert die Steuerungsvorrichtung 6 die in den Figuren 1 und 2 nicht dargestellte Hubvorrichtung der Lastaufnahmevorrichtung 2 derart an, dass die Lastaufnahmevorrichtung 2 soweit angehoben wird, bis die Oberkante der obersten Schicht der Last 5 vom Sensor 4 erfasst wird. Nachteilig ist bei diesem Stand der Technik, dass ein Bereich 7 mit niedrigeren Lasten, die auf der Lastaufnahmevorrichtung 2 abgelegt sind, vom Sensor 4 nicht erkannt werden kann. Diese Lasten werden daher nicht bis zur ergonomischen Nivellierungshöhe 3 angehoben und befinden sich somit in keiner ergonomischen Position.In the figure 2 is the industrial truck 1 from the figure 1 shown according to the prior art with an adjusted lifting height of the load handling device 2. In order to adjust the lifting height of the load-carrying device 2 to the ergonomically optimal height for unloading or loading goods, i.e. the ergonomic leveling height 3, the control device 6 controls the Figures 1 and 2 not shown lifting device of the load-carrying device 2 in such a way that the load-carrying device 2 is raised until the top edge of the top Layer of the load 5 is detected by the sensor 4. The disadvantage of this prior art is that an area 7 with lower loads that are placed on the load handling device 2 cannot be detected by the sensor 4 . These loads are therefore not raised to the ergonomic leveling height 3 and are therefore not in an ergonomic position.

Die Figur 3 zeigt ein Flurförderzeug 1 nach der Erfindung mit abgesenkter Lastaufnahmevorrichtung 2. Oberhalb der Lastaufnahmevorrichtung 2 ist an einer Messposition 8 ein Sensor 4 angeordnet, der die gesamte Last 5 innerhalb eines Erfassungsbereichs 9 von oben erfassen kann. Der Sensor 4 ist beispielsweise als 2D-Kamera oder als 3D-Kamera oder als Laserscanner oder als Radarsensor oder als Ultraschallsensor ausgebildet. Der Erfassungsbereich 9 entspricht beispielsweise der lastaufnehmenden Fläche eines auf der Lastaufnahmevorrichtung 22 abgelegten Ladungsträgers, beispielsweise einer Euro-Palette. Der Sensor 4 kann somit die gesamte auf dem Ladungsträger befindliche Last 5 von oben erfassen. Bei der Last 5 kann es sich um Packstücke mit unterschiedlichen Höhen handeln.the figure 3 shows an industrial truck 1 according to the invention with a lowered load-carrying device 2. A sensor 4 is arranged above the load-carrying device 2 at a measuring position 8, which can detect the entire load 5 within a detection range 9 from above. The sensor 4 is designed, for example, as a 2D camera or as a 3D camera or as a laser scanner or as a radar sensor or as an ultrasonic sensor. The detection area 9 corresponds, for example, to the load-bearing surface of a load carrier placed on the load-bearing device 22, for example a Euro pallet. The sensor 4 can thus detect the entire load 5 located on the load carrier from above. The load 5 can be packages with different heights.

Hierzu werden mittels des Sensors 4 Punkte auf den Oberseiten aller obersten Schichten der Last 5 im Erfassungsbereich 9 erfasst und deren Abstände von der Messposition 8 gemessen. Der Sensor 4 kann somit für jedes Packstück im Erfassungsbereich 9 deren jeweilige Oberseite detektierten. Die Summe der einzelnen Punkte ergeben eine Punktewolke. Jedem Punkt 1 bis n wird in der Steuerungsvorrichtung 6 durch Auswertung der Sensorsignale eine Höhenkoordinate z1 bis zn zugeordnet. Anschließend wird in der Steuerungsvorrichtung 6 die mittlere Höhe zaverage aller Punkte nach folgender Formel berechnet: z average = z 1 + z 2 + ⋯ + z n n

Figure imgb0002
For this purpose, the sensor 4 is used to detect points on the upper sides of all uppermost layers of the load 5 in the detection area 9 and their distances from the measuring position 8 are measured. The sensor 4 can thus detect the upper side of each package in the detection area 9 . The sum of the individual points results in a point cloud. Each point 1 to n is assigned a height coordinate z 1 to z n in the control device 6 by evaluating the sensor signals. The average height z average of all points is then calculated in the control device 6 according to the following formula: e.g average = e.g 1 + e.g 2 + ⋯ + e.g n n
Figure imgb0002

Diese mittlere Höhe zaverage entspricht dem durchschnittlichen Höhenniveau 10 der Lasten 5.This mean height z average corresponds to the average height level 10 of the loads 5.

In der Figur 4 ist das erfindungsgemäße Flurförderzeug 1 aus der Figur 3 mit angepasster Hubhöhe der Lastaufnahmevorrichtung 2 dargestellt. Zur Anpassung der Hubhöhe ist die Steuerungsvorrichtung 6 dazu eingerichtet, eine in den Figuren 3 und 4 nicht dargestellte Hubvorrichtung der Lastaufnahmevorrichtung 2 derart anzusteuern, dass das durchschnittliche Höhenniveau 10 der Last 5 sowohl in einem Beladebetriebsmodus als auch in einem Entladebetriebsmodus kontinuierlich auf der vorgegebenen, ergonomischen Nivellierungshöhe 11, die einer ergonomischen Handhabungshöhe entspricht, gehalten wird.In the figure 4 is the industrial truck 1 according to the invention from figure 3 shown with adjusted lifting height of the load handling device 2. To adjust the lifting height, the control device 6 is set up to a in the Figures 3 and 4 to control not shown lifting device of the load receiving device 2 in such a way that the average height level 10 of the load 5 is kept continuously at the specified, ergonomic leveling height 11, which corresponds to an ergonomic handling height, both in a loading operating mode and in an unloading operating mode.

Claims (8)

  1. Industrial truck (1) having a load receiving apparatus (2), in particular a load fork, which can be raised and lowered by means of a lifting apparatus, and having a control apparatus (6) for controlling the lifting apparatus, wherein the control apparatus (6) is operatively connected to at least one sensor (4) for sensing at least one uppermost layer of a load (5) in at least one sensing region (9), wherein the sensor (4) is configured to measure distances from a measurement position (8) provided above the sensing region (9) to points on the top sides of all uppermost layers of the load (5) in the sensing region (9), characterized in that
    the control apparatus (6) is set up to assign height coordinates to the individual points on the basis of the measured distances and to calculate an average height level (10) of the load (5) therefrom and to control the lifting apparatus in such a manner that the average height level (10) of the load (5) is kept continuously at a predefined levelling height (11).
  2. Industrial truck (1) according to Claim 1, characterized in that the sensor (4) is arranged at the measurement position (8).
  3. Industrial truck (1) according to Claim 1, characterized in that the sensor (4) is arranged outside the measurement position (8), and a deflecting device, in particular a reflector device, configured to deflect the sensor signals to the sensor (4) is arranged at the measurement position (8).
  4. Industrial truck (1) according to one of Claims 1 to 3, characterized in that the measurement position (8) is arranged on a carrier above the sensing region (9).
  5. Industrial truck (1) according to one of Claims 1 to 4, characterized in that the sensor (4) is in the form of a camera.
  6. Industrial truck (1) according to one of Claims 1 to 4, characterized in that the sensor (4) is in the form of a laser scanner.
  7. Industrial truck (1) according to one of Claims 1 to 4, characterized in that the sensor (4) is in the form of a radar sensor.
  8. Industrial truck (1) according to one of Claims 1 to 4, characterized in that the sensor (4) is in the form of an ultrasonic sensor.
EP21174937.9A 2020-06-15 2021-05-20 Industrial truck Active EP3925926B1 (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102020115679.0A DE102020115679A1 (en) 2020-06-15 2020-06-15 Industrial truck

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EP3925926B1 true EP3925926B1 (en) 2023-01-11

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102008054085B4 (en) 2008-10-31 2023-12-14 Still S.P.A. Industrial truck
DE202012004038U1 (en) 2012-04-19 2013-08-12 Jungheinrich Aktiengesellschaft Truck with at least one distance sensor
DE102014111750A1 (en) 2014-08-18 2016-02-18 Om Carrelli Elevatori S.P.A. Truck

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