EP4065504A1

EP4065504A1 - Load receiving means

Info

Publication number: EP4065504A1
Application number: EP20816148.9A
Authority: EP
Inventors: Rob Matti; Marcel Jakobs; Mario Lindenau
Original assignee: ROGAMA BV
Current assignee: ROGAMA BV
Priority date: 2019-11-27
Filing date: 2020-11-26
Publication date: 2022-10-05
Also published as: DE102019132375A1; US20230064762A1; WO2021105264A1

Abstract

A first load receiving means (100) according to the invention has a first region (110), which is aligned substantially horizontally during operation and which extends in a horizontal longitudinal direction x, a vertical thickness direction y, and a width direction z, and a second region (120) which is arranged substantially perpendicularly to the first region (110). The first load receiving means additionally has an integrated image capturing optical unit (150). The width direction z of the first region of the first load receiving means tapers over a ramp (115) in the direction opposite the second region (120) of the first load receiving means (100), wherein the image capturing optical unit (150) is integrated into the ramp (115) such that an image can be captured in the direction opposite the second region of the first load receiving means.

Description

Load handling equipment

The invention relates to a load handling device of an industrial truck or the like with an integrated camera for capturing the surroundings of the industrial truck. Furthermore, the invention relates to a system that enables the operator of the industrial truck to safely maneuver the industrial truck even with a direct view of the route restricted by a load picked up by the load handling device of the industrial truck, and that enables the industrial truck operator, in particular when setting it down or picking up a load to better determine the exact position of the load in relation to the position of the load suspension means than before.

Such industrial trucks are steered, for example, as a forklift truck by a driver who usually picks up loads according to sight and experience of the load handling devices, moves them and sets them down again at another point, possibly also in high-bay warehouses. Such load handling devices belong to the state of the art as fork tines, which are usually attached in pairs to a fork carriage of an industrial truck.

The load picked up on the load handling device can restrict the view in the direction of travel for the operator, i.e. the driver, of the industrial truck. In order to solve this problem, it is known to install a camera in the tip of a fork arm, the image of which is transmitted to a monitor which is arranged in the field of vision of the operator of the industrial truck.

For the safe and quick storage of pallets in shelves at greater heights in a warehouse, a camera is usually mounted on the side of a fork prong, for example screwed on. It is important to position the camera on the fork arm in such a way that the driver can clearly see on the monitor in the cab whether the pallet is being correctly inserted and set down on the shelf. The rack and pallet must both be visible. Standard forks can advantageously be used in this embodiment.

However, a camera mounted on the side of a fork also has disadvantages: The camera can be hit and damaged in the rough operation of an industrial truck become. In addition, the fork prong also becomes wider, as a result of which some special pallets can no longer be picked up and / or the distance between the fork prongs has to be set more precisely as a function of the pallet or load to be picked up. In order to minimize both disadvantages, the lens of the camera must be positioned close to the fork prong, so that the fork prong protrudes far into the recording area of the camera and thus takes up a large part of the image on the monitor without really providing usable information to the driver.

In the German patent application DE 102018 100370 A1 it is proposed to reduce the disadvantages in that the camera is partially embedded in a recess in the fork prong. By letting the camera into the fork prong, however, the usable viewing angle of the camera is further reduced, so that even more of the fork prong can be seen in the image projected on the monitor without increasing the information content relevant for the driver of the industrial truck. In addition, the camera remains susceptible to impact forces from all sides when starting up. In addition, due to the wedge-shaped design of the camera housing in the front area in front of the opening for the camera lens, there is a sharp edge on the recess, which can lead to injuries. In addition, with this interfering edge there is a risk of the edge getting caught on the load, load carrier or shelf when reversing the forklift. In addition, the space between the camera and the interfering edge can fill up with dirt, which can restrict the view of the camera lens. To solve these problems, it is proposed to use a base which has the same precisely fitting dimensions as the recess and is mounted on the camera housing so that the camera itself again looks further out of the side plane of the fork prong. This slightly minimizes the camera's susceptibility to damage, but it still exists. In addition, the fork prongs have to be milled out for the recess, which is complex and therefore expensive. In addition, visibility remains restricted.

The object of the invention is to specify a load handling device which, with a visualization means arranged in the field of vision of the operator of an industrial truck, enables the industrial truck operator to have a direct view of the route of the industrial truck even when a load is restricted by a load on the industrial truck safe to maneuver. In addition, the Visibility angles are improved compared to the prior art, so that the exact position of the load in relation to the position of the load handling device can be determined better than before by the driver of the industrial truck, especially when setting down or picking up a load, the device being designed to be less susceptible to mechanical damage should.

A further object of the invention consists in specifying a system which enables the operator of the industrial truck to safely maneuver the industrial truck even when the direct view of the route is restricted by a load picked up by the load handling device of the industrial truck, and which enables the industrial truck operator makes it possible to determine the exact position of the load in relation to the position of the load suspension means better than before, especially when setting down or picking up a load.

According to the invention, this object is achieved by a load-handling device with integrated image pick-up optics with the features of independent claim 1. Advantageous further developments of the load suspension device result from subclaims 2 to 11.

The further object of the invention is achieved by a system according to claim 12. Advantageous further developments of the system result from subclaims 13 to 17.

An inventive first load handling device has a first area, which is essentially horizontally aligned during operation, with an extension in the horizontal longitudinal direction x, an extension in the vertical thickness direction y and an extension in the width direction z, and a second, second area arranged substantially perpendicular to the first area . Furthermore, the first load handling device has integrated image pickup optics. The width direction z of the first area of the first load handling device tapers via a ramp in the opposite direction to the second area of the first load handling device, the image pickup optics being integrated in the ramp in such a way that an image can be captured in the opposite direction to the second area of the first load handling device.

The first load suspension device has two side surfaces, with the surfaces arranged in the horizontal longitudinal direction x here and below with a vertical extent in Thickness direction y can be referred to as side surfaces. Image recording optics can be provided either on one or on both side surfaces.

The following terms are explained:

First of all, it should be expressly pointed out that in the context of the present patent application, indefinite articles and numerical information such as “one”, “two” etc. should generally be understood as “at least” information, ie as “at least one. "At least two .. etc., unless it is expressly apparent from the respective context or it is obvious or technically imperative for a person skilled in the art that only" exactly one .. "exactly two .. etc. can be meant there. Furthermore, all numerical data as well as data on process parameters and / or device parameters are to be understood in the technical sense, i.e. to be understood as provided with the usual tolerances. Even from the explicit specification of the restriction “at least” or “at least” or similar, it must not be concluded that simply using “a”, i.e. without specifying “at least” or the like, means “exactly one " is meant.

The “load handling device” is a device for picking up loads, for example a pallet, wherein the load handling device can be designed as a fork prong for an industrial truck such as a forklift truck. The load handling device has an area which can come into contact with the load in order to pick it up, as well as an area with which the load handling device can be attached to a lifting and lowering device, for example a forklift. A conventional fork prong has an area that can come into contact with the load in order to receive it, an area that is essentially horizontally aligned during operation. The further area with which the fork prong can be fastened to a lifting and lowering device of a forklift truck is essentially perpendicular to the horizontal area, i.e. is oriented essentially vertically during operation.

"Image recording optics" are a means of depicting moving or static images. The image can then be directed to an exposable film or an optoelectronic sensor. An optoelectronic sensor has a light-sensitive surface with individual areas (pixels) so that - in conjunction with a lens and camera electronics - an electrical image can be generated. The lens is part of the image recording optics. This means that the image recording optics can be combined in one Camera head are located, wherein the opto-electrical sensor, also called camera chip, can be located directly behind the image recording optics or away from the camera head, then connected to it via a light guide. A digital camera has image pickup optics, an optoelectri see sensor and electronics, all components can be integrated in a housing or the image pickup optics can be arranged separately from the other components, where it is operatively connected to the other components, for example via a light guide .

The image recording optics can record any number of images. This means that the image recording optics can record not only static images, but also moving images in real time.

The image or video signal can be transmitted via a cable along the first and second area of the first load handling device, for example to a lifting carriage and from there to a monitor in the driver's cab of an industrial truck. For this purpose, a groove can be made on the side of the first and second area of the first load suspension device, in which the cable can be laid in a protected manner. The groove can be closed after inserting the cable so that the outer contour of the first load handling device remains unchanged. The groove preferably runs in the neutral line of the first load-carrying means, so that there is hardly any weakening, in particular in the fork bend area.

A transmitter and a power supply, for example in the form of a battery, can also be integrated into the first load-bearing means behind the image recording optics so that the signal can be transmitted wirelessly to the monitor or a receiver outside the industrial truck. All common methods, such as radio, NFC, Bluetooth, or the like, can be used for wireless transmission.

A standard fork prong is at least 40 mm thick, ie its extension in the thickness direction y is at least 40 mm, whereby the extension in the thickness direction y can also be smaller in special cases. A common camera is about 25 mm high. The camera can thus be protected against starting forces at the top and bottom by a web in the first area of the first load-bearing means. The first load-handling device can thus also have image pick-up optics that are at most as high as a camera record a complete camera protected. The image pick-up optics or camera are protected on all sides by the first load-carrying device against impact forces that occur, for example, when loads are started up, set down, lifted, etc. The first load handling device does not have to have a larger extension in the width direction z than a standard fork prong. Due to the tapering of the first area of the first load suspension device in the width direction z, the camera lens sits more out of the load suspension device and the viewing angle to the front is significantly more favorable. The viewing window from a pallet picked up by the first load-bearing element is, for example, about 50% wider in comparison to a load-bearing means that is not tapered. The recorded image is far less taken up by the first load suspension device, so that the image provides significantly more usable information to an operator of an industrial truck. Furthermore, the first load handling device is not weakened in the fork bend area between the first and the second area, so that the nominal load-bearing capacity that the load handling device has without the integrated image pickup optics is retained. Any known image recording optics and any known camera design can be used.

The image pickup optics can also be picked up directly in a cutout in the area of the taper of the first load pickup element. In the area of the taper, the first load-carrying means can also consist of solid metal and have only a small recess, for example only for a lens or the image pickup optics.

The tapering of the first area of the first load-bearing means can be arranged at any suitable point in the longitudinal direction x. The further forward, ie in the opposite direction from the second area of the first load-bearing element, it is arranged, the larger the viewing angle of the image-recording optics becomes. On the other hand, in the case of an arrangement too far forward, for example, a second load handling device can fall out of the image area, so that this second load handling device can no longer serve as a reference in the recorded image. In addition, the more forward the ramp is, the greater the likelihood of impact with the ramp when picking up or setting down a load. In practice, an arrangement between approximately one-third and two-thirds of the horizontal length x of the first area of the first load-bearing element, measured from the transition from the first to the second area of the first, has proven Load suspension means, so for example also approximately in the middle of the longitudinal extent x of the first area of the first load suspension means, turned out to be advantageous.

In an advantageous embodiment, the image recording optics are integrated in the ramp in such a way that the ramp protrudes over them on both sides in the thickness direction y. As a result, the image recording optics are optimally protected in the vertical direction.

In a further advantageous embodiment, the image recording optics are integrated in the ramp in such a way that the ramp protrudes over them in the longitudinal direction x. As a result, the image recording optics are optimally protected in the horizontal direction.

In a further advantageous embodiment, the ramp is continued in the opposite direction to the second area of the first load-bearing means over the area of the image recording optics. As a result of this further tapering of the first load suspension means, the viewing angle of the image recording optics is further optimized.

In one embodiment, the image recording optics have a longitudinal axis which runs essentially parallel to the longitudinal direction of the first region of the first load-bearing means. As a result, the pick-up angle corresponds to that of an operator or driver of an industrial truck who is arranged behind a picked-up load.

In an alternative embodiment, the image recording optics have a longitudinal axis which runs at an angle a not equal to 0 ° to the longitudinal direction of the first region of the first load-bearing means. For example, the angle α can be set in such a way that the longitudinal axis of the image recording optics points away from the longitudinal axis of the first area of the first load-bearing means in the direction of the tapering of the first area of the first load-bearing means. This further increases the viewing angle of the image recording optics. This also improves the view of a second load-handling device, if present and arranged essentially parallel to the first load-handling device.

The forward field of vision is further improved by the fact that the width y of the first area of the first load handling device in the area behind the ramp, viewed from the second area of the first load handling device, is designed to be slightly beveled towards the tip of the first load handling device. This bevel can for example 2 °, measured between the central axis of the first area of the first load handling device and the contour of the first load handling device at this point.

In one embodiment, the image recording optics are arranged directly in front of an optoelectronic sensor. A compact design of the camera is achieved in this way.

In an alternative embodiment, the image recording optics are operatively connected to an optoelectrical sensor via a light guide. The optoelectronic sensor can thus be arranged elsewhere, for example behind the second area of the first load-bearing means, whereby the space requirement in the first area of the first load-bearing means is minimized.

In a further advantageous embodiment, the image recording optics additionally have an illumination device. In this way, an optimally exposed image can be achieved, even if the image to be recorded is in the dark. The lighting device can, for example, have an LED, another light source or also a laser. The lighting device can also have a light guide, as a result of which the lighting means or the laser can be arranged at another point of the first load-bearing means, while the light is guided via the light guide to the image recording optics so that it illuminates the area of interest for the image.

In a further advantageous embodiment, the image recording optics additionally have a distance measuring device. As a result, in addition to the image, a distance, for example to a shelf on which a load is to be placed, or a corresponding stop can be transmitted as a measure, for example to an operator of an industrial truck to which the first load handling device is attached.

An inventive system for picking up and depositing loads with a previously described first load handling device is characterized in that the system additionally has a second load handling device arranged essentially parallel to the first load handling device.

The second load-handling device can correspond to the first load-handling device, ie it can also contain image pick-up optics. The second load handling device can also be for example a standard fork prong, ie in particular not have any image recording optics. Image recording optics can be provided either on one or on both side surfaces of the first and / or the second load-bearing means. If image recording optics are arranged on the outside of a load suspension device, they can be directed outwards. The outside of one load handling device is the side that faces away from the other load handling device. Image pick-up optics can also be provided on both load pick-up devices, it being possible for both image pick-up optics to be mounted on the respective inner sides of the load pick-up devices. The insides of the load handling devices denote the sides facing the respective other load handling device. If, for example, the load suspension devices are moved far apart when adjusting the prongs, this constellation is advantageous if the position of each load suspension device and the entry of each load suspension device into a pallet have to be monitored. If the system contains only one image pickup optic, it is less expensive than if it contains two image pickup optics. On the other hand, two image pick-up optics give two images which, due to the distance between the two image pick-up optics, give a better impression of the situation, in particular when the two load-bearing devices are far apart. In an advantageous embodiment, the first load handling device and the second load handling device are arranged in such a way that the image pickup optics point in the direction of the other load handling device. In other words, in this form the image pickup optics of the first load-bearing means are arranged on the side of the first load-bearing means that points towards the second load-bearing means. If two image pickup optics are installed, both image pickup optics can point towards each other. However, it is also possible to arrange one or both image pickup optics on the outside of the load handling device, i.e. to arrange it so that it is arranged on the side (s) of the load handling device (s) that are located on the side of the respective load handling device pointing away to the other load handling device .

The second load handling device can be used as a reference depending on the distance from the fork back.

In an advantageous embodiment, the system also has an optoelectrical sensor. Furthermore, the system can also have a monitor for playing back the from have the image recorded by the image recording optics. If this monitor is arranged in the field of vision of an operator or driver of a forklift truck, this operator can safely maneuver the truck even if the direct view of the route is restricted by a load picked up by the load handling device of the truck, and the exact position of the truck in particular when setting down or picking up a load Determine the load in relation to the position of the load suspension device better than before.

Further advantages, special features and expedient developments of the invention emerge from the subclaims and the following illustration of preferred exemplary embodiments on the basis of the figures.

Show it

1 shows a first load-bearing means according to the invention in a three-dimensional view;

2 shows a further embodiment of a first load-bearing means according to the invention in a three-dimensional view;

3 shows a system according to the invention with a first and a second load-carrying means in a plan view;

4 shows a system according to the invention with a first and a second

Load suspension means and a picked-up pallet in a plan view;

5 shows a first load handling device according to the invention in a view from the front;

6 shows a system according to the invention with a first and a second

Load suspension device and a picked-up pallet in a view from the front.

1 shows a first load-bearing means 100 according to the invention in a three-dimensional view. The first load handling device 100 has a first, in operation essentially horizontally oriented region 110 with an extension in the horizontal longitudinal direction x, an extension in the vertical thickness direction y and an extension in the width direction z. Furthermore, the first load handling device 100 has a second second area 120 which is arranged essentially perpendicular to the first area 110. Furthermore, the first load handling device 100 has integrated image pickup optics 150. The width direction z of the first area 110 of the first load handling device 100 tapers via a ramp 115 in the opposite direction to the second area 120 of the first load handling device 110, the image pickup optics 150 being integrated in the ramp such that an image is in the opposite direction to the second area 120 of the first load suspension means 110 can be received. The image recording optics are suitable for recording moving or static images. The image recording optics 150 are located in a camera head, with a camera chip being located away from the camera head. The camera chip is connected to the image recording optics 150 via a light guide, the light guide being guided in a channel 130 which is milled into the side surface of the first recording means 110. A standard fork tine has an extension in the thickness direction y of 40 mm, with a conventional camera only being approx. 25 mm high. The camera head is thus protected against starting forces at the top and bottom by a web 116 on the first region 110 of the first load-bearing means 100. The first load-carrying means 100 can thus record image recording optics 150, which are at most as high as a camera, as well as a complete camera in a protected manner. The image pickup optics 150 or camera are protected on all sides by the first load pickup means 100 against impact forces that occur, for example, when loads are started up, set down, lifted, etc.. The first load suspension means 100 does not have a greater extent in the width direction z than a standard fork prong. Due to the tapering of the first region 110 of the first load suspension device 100 in the width direction z, the camera lens sits more out of the first load suspension device 100 and the viewing angle to the front, ie in the positive x-direction, is significantly more favorable. The width y of the first area 110 of the first load suspension device 100 in the area behind the ramp 115, viewed from the second area 120 of the first load suspension device 100, is designed to be slightly beveled towards the tip 117 of the first load suspension device 100. This bevel can, for example, be 2 °, measured between the central axis of the first region 110 of the first load-bearing means 100 and the contour of the first load-bearing means 110 at this point (see also FIG. 3 in this regard). The viewing window from one of the first The pallet picked up on the load-bearing element 100 is, for example, approx. 50% wider in comparison to a load-bearing means that is not tapered. The recorded image is far less taken up by the first load-bearing means 100, so that the image provides significantly more usable information to an operator of an industrial truck. Furthermore, the first load handling device 100 is not weakened in the fork bend area between the first 110 and the second area 120, so that the nominal load-bearing capacity that the load handling device has without the integrated image pickup optics 150 is retained. Any known image pickup optics 150 and any known camera design can be used.

FIG. 2 shows a further embodiment of a first load-bearing means 100 according to the invention in a three-dimensional view. The image recording optics 150 are integrated in the ramp 115 in such a way that they are surmounted on both sides in the thickness direction y by webs 116 formed by the ramp 115. As a result, the image recording optics 150 are optimally protected in the vertical direction, i.e. in the thickness direction y. Furthermore, the image recording optics 150 are integrated in the ramp 115 in such a way that they are surmounted in the longitudinal direction x by webs 116 formed by the ramp 115. One or both webs 116 can run as far as the tip 117 of the first region 110 of the first load-bearing means 100. As a result, the image recording optics 150 are also optimally protected in the horizontal direction, i.e. in the direction of the x-axis.

3 shows a system 300 according to the invention with a first 100 and a second 200 load handling device in a plan view from below, ie from the opposite direction to the vertical alignment of the second area 120 of the first load handling device 100 a second load-handling device 200, which is arranged essentially parallel to the first load-handling device 100, the image pickup optics 150 pointing in the direction of the second load-handling device 120. The second load handling device 120 can be used as a reference depending on the distance from the fork back. The image recording optics 150 have a viewing angle β. The fact that the area of the first area 110 of the first load suspension device reaching the tip 117 becomes thinner towards the tip 117, ie its extension in the thickness direction y is reduced, the viewing angle β runs at least partially under the first load suspension device 110. The second load suspension device 120 can in this The area can be designed analogously to the first load handling device 110, so that the viewing angle β can also run under the second load handling device 120. A vertical part of the viewing angle β can nevertheless be shaded by the first region 110 of the first load-bearing means 100 or the second load-bearing means 200. The image recording optics 150 have a longitudinal axis which extends at an angle a1 not equal to 0 ° to the longitudinal direction of the first region 110 of the first load-bearing means 100. This angle can be set unequal to 0 ° so that the longitudinal axis of the image recording optics 150 points away from the longitudinal axis of the first area 110 of the first load suspension device 100 in the direction of the tapering of the first area 110 of the first load suspension device 100. This further increases the viewing angle of the image recording optics 150. Compared to the contour of the first region 110 of the first load suspension device 100 on the side on which the image recording optics 150 are arranged, the angle of the longitudinal axis of the image recording optics 150 is a2, where a.2 is greater than al. The difference between a2 and al is the angle at which the width y of the first area 110 of the first load handling device 100 in the area behind the ramp 115, viewed from the second area 120 of the first load handling device 100, to the tip 117 of the first load handling device 100 is designed to be slightly bevelled. This bevel and thus the difference between a2 and a1 can be, for example, 2 °. As a result of this bevel, the viewing angle of the image recording optics 150 is enlarged in the area in which there is shadowing by the first area 110 of the first load-bearing means 100.

Fig. 4 shows a system 300 according to the invention with a first 100 and a second 200 load suspension means and a recorded pallet 400 (shown in dashed lines) in the same view as in FIG Image recording optics 150 lie. Therefore, the viewing angle β lying in the plane of this reinforcing cube 401 is divided and consists of the angles β 1, β2 and β4, while the angle β3 is in each case cut out of the viewing area β by the shadow of a reinforcing cube 401. The field of vision β1 runs under the first load-bearing means 100, while the field of vision β2 also runs in the plane of the load-bearing means 100. 5 shows a first load-bearing means 100 according to the invention in a view from the front, ie in the negative x-direction. The image recording optics 150 can be clearly seen. The image pick-up optics 150 are arranged in the ramp 150, the longitudinal axis of the lens being at a distance from the tapered first region 110 of the first load-bearing means, as a result of which the image pick-up angle turns out to be particularly large.

6 shows a system 300 according to the invention with a first 100 and a second 200 load-handling device and a picked-up pallet 400 in a view from the front, ie in the negative x-direction. The image recording optics 150 are protected from all sides by the webs 116 against impact by the pallet 400. The embodiments shown here only represent examples of the present invention and must therefore not be understood as restrictive. Alternative embodiments contemplated by those skilled in the art are equally encompassed by the scope of the present invention.

List of reference symbols:

100 first load handling devices

110 first area of the first load handling device 115 ramp

116 web 117 tip of the first load suspension device 120 second area of the first load suspension device 130 channel 150 image recording optics

200 second load handling center 300 system

400 pallet

401 reinforcement cube

Longitudinal direction y thickness direction z width direction a longitudinal axis angle

Viewing angle

Claims

Patent claims:

1. First load handling device (100) with a first (110), in operation essentially horizontally aligned area with an extension in the horizontal longitudinal direction x, an extension in the vertical thickness direction y and an extension in the width direction z, and a second (120) in The second area arranged essentially perpendicular to the first area (110), the first load handling device (100) having integrated image recording optics (150), characterized in that the width direction z of the first area (110) of the first load handling device (100) extends over a ramp (115) tapers in the direction opposite to the second area (120) of the first load handling device (100), the image pickup optics (150) being integrated in the ramp (115) in such a way that an image in the opposite direction to the second area (120) of the first Load suspension means (100) can be received.

2. First load handling device (100) according to claim 1, d a d u r c h g e k e n n z e i c h n e t that the image recording optics (150) is integrated in the ramp (115) in such a way that the ramp (115) projects beyond it in the thickness direction y on both sides.

3. First load handling device (100) according to claim 1 or 2, d a d u r c h g e k e n n z e i c h n e t that the image recording optics (150) is integrated in the ramp (115) in such a way that the ramp (115) projects over it in the longitudinal direction x

4. First load handling device (100) according to one of the preceding claims, characterized in that the ramp (115) is continued in the opposite direction to the second area (120) of the first load handling device (100) over the area of the image pickup optics (150).

5. First load handling device (100) according to one of the preceding claims, characterized in that the image pickup optics (150) have a longitudinal axis, the longitudinal axis of the image pickup optics (150) being essentially parallel to the longitudinal direction of the first region (110) of the first load pickup device (100 ) runs.

6. First load handling device (100) according to one of claims 1 to 4, characterized in that the image pickup optics (150) has a longitudinal axis, the longitudinal axis of the image pickup optics at an angle a not equal to 0 ° to the longitudinal direction of the first area (110) of the first load pickup device (100) runs.

7. First load handling means (100) according to one of the preceding claims, characterized in that the width y of the first area (110) of the first load handling means (100) in the area behind the ramp (115), seen from the second area (120) of the first load suspension means (100), the tip (117) of the first load suspension means (100) is designed to be slightly beveled.

8. First load handling device (100) according to one of the preceding claims, d a d u r c h g e k e n n z e i c h n e t that the image recording optics (150) is arranged directly in front of an optoelectronic sensor.

9. First load handling device (100) according to one of claims 1 to 8, d a d u r c h g e k e n n z e i c h n e t that the image recording optics (150) is operatively connected to an optoelectronic sensor via a light guide.

10. First load handling means (100) according to one of the preceding claims, characterized in that that the image recording optics (150) additionally have an illumination device.

11. First load handling means (100) according to one of the preceding claims, d a d u r c h g e k e n n z e i c h n e t that the image recording optics (150) additionally has a distance measuring device.

12. System (300) for picking up and putting down loads, comprising a first load handling means (100) according to one of claims 1 to 10, characterized in that the system (300) additionally has a second load handling means (200) arranged essentially parallel to the having first load handling means (100).

13. System (300) according to claim 12, d a d u r c h g e k e n n z e i c h n e t that the second load handling device (200) corresponds to the first load handling device according to claims 1 to 10.

14. System (300) according to claim 12, d a d u r c h g e k e n n z e i c h n e t that the second load handling means (200) has no image pickup optics (150).

15. System (300) according to one of claims 12 to 14, characterized in that, wherein the first load handling means (100) and the second load handling means (200) are arranged such that the image pickup optics (150) in the direction of the other load handling means (100, 200) has.

16. System (300) according to one of claims 12 to 15, d a d u r c h g e k e n n n z e i c h n e t that the system (300) additionally has an optoelectronic sensor.

17. System (300) according to one of claims 12 to 16, characterized in that that the system (300) additionally has a monitor for displaying the image recorded by the image recording optics (150).