EP4136049B1 - Industrial truck with load receiving means for receiving elongated goods - Google Patents

Description

The invention relates to an industrial truck with load-carrying devices for picking up long goods.

From the DE 698 00 852 T2 An industrial truck with load-carrying devices for picking up long goods is already known.

From the DE 10 2018 109 298 A1 An industrial truck with a safety control is already known.

From the EP 10 2004 047 209 A1 an industrial truck with load-carrying devices for picking up long goods with a safety device for monitoring a safety field with a predefined dimension is known. The industrial truck includes a safety controller that has at least one monitoring sensor and forms at least one protective field using this monitoring sensor.

From the US 2019/287405 A1 and EP 3 543 204 A2 A method for operating industrial trucks is known in which a specified security area is monitored.

The disadvantage of this prior art is that the industrial truck with load-carrying devices for picking up long goods does not have a safety control that meets the special requirements of an industrial truck with load-carrying devices for picking up long goods to a desirable extent.

The invention therefore had the task of creating such an industrial truck without this disadvantage.

This task is solved by the industrial truck reproduced in claim 1.

The industrial truck according to the invention has a long goods detection device for detecting long goods. It also has a safety controller, which in turn has at least one monitoring sensor and uses this monitoring sensor to form at least one protective field. The safety control is operatively connected to the long goods detection device and is set up so that it influences the at least one protective field depending on long goods detected by the long goods detection device.

The protective field can also be referred to as a monitoring field. It prefers to move with the industrial truck. The protective field is preferably part of the detection range of the monitoring sensor.

The safety control is preferably set up in such a way that when approaching vehicles or people are detected - preferably by means of the at least one monitoring sensor - the industrial truck is brought into a safe state as soon as the required minimum distances are not reached and/or as soon as vehicles or people approach reach the at least one protective field. Transferring the vehicle to a safe state can mean reducing the driving speed or stopping the truck. It can also mean that movement of the load-carrying means relative to the industrial truck is slowed down or stopped. Approaching vehicles or people can also be those who are standing still and to whom the industrial truck is approaching.

The safety control can be set up so that if non-moving objects, such as walls or shelves or parked goods, are detected, the industrial truck is brought into a safe state as soon as necessary Minimum distances are not exceeded and/or an object enters a protective field.

In this way, an industrial truck with load-carrying devices for picking up long goods can be created with a safety control that meets the special requirements for an industrial truck with load-carrying devices for picking up long goods to a desirable extent. The protective field only needs to be as large as is actually required, depending on the long items being picked up. In this way, particularly smooth operations can be ensured while maintaining a high level of protection.

The monitoring sensor may include a personal protection scanner.

The load-carrying means can include, for example, a lifting fork or a loading platform.

The industrial truck can be designed as a forklift. The industrial truck can therefore include a lifting mast and the load-carrying means of the industrial truck can include a lifting fork. The lifting fork preferably has tines, particularly preferably two. The tines are preferably spaced so far apart that they are arranged outside the wheel arms when viewed from above, or a distance adjustment device is provided for the tines which allows this arrangement. The large distance between the tines that is achieved or can be achieved in this way can result in a particular suitability for picking up long goods.

The industrial truck preferably has a chassis. The chassis can be “U” shaped. The two legs of the “U” shape can each be formed by a wheel arm.

The industrial truck can be designed as a reach truck. The lifting mast of the industrial truck can therefore be extended and retracted again. The push mast can be arranged between the wheel arms and pushing out and pushing in can take place parallel to the wheel arms.

The industrial truck is preferably a vehicle designed as a sideloader. The industrial truck preferably allows travel across the forks. The industrial truck preferably allows travel transverse to a load-carrying movement of the industrial truck and/or the lifting fork. The industrial truck preferably allows travel in the longitudinal direction of the load.

The industrial truck can preferably be moved in a transverse journey and in a longitudinal journey. The industrial truck is preferably a multi-way vehicle which, in addition to transverse travel and longitudinal travel, can preferably be driven in a circular drive, also known as a carousel drive, and/or a diagonal drive. All wheels of the industrial truck can preferably be steered through at least 90°. Transverse travel preferably differs from longitudinal travel in that, when driving straight ahead and viewed relative to the chassis, the wheels are rotated by 90°.

The long goods can be a load that is longer than a normal pallet. The long goods can be a load that is longer than 1200 mm. The long goods can be a load which, when picked up on the load-carrying means and in the ready-to-drive state of the industrial truck (in the case of a reach truck, preferably with the reach truck pushed in), stands beyond the contour of the industrial truck, so that there is an overall contour of the industrial truck and load that is greater than the contour of the truck without load.

In the context of this publication, the term “long goods detection device” refers to a device for detecting long goods. The device preferably detects whether long goods are arranged on the load-carrying means of the industrial truck. The long goods detection device is preferably an automatic long goods detection device. The long goods detection device is preferably set up so that it works automatically. The long goods detection device preferably detects whether and/or to what extent and/or at what point a load arranged on the load-carrying means protrudes beyond the contour of the industrial truck.

The industrial truck is preferably a driverless transport vehicle. It therefore preferably has a device for its automatic control and/or contactless guidance.

The safety control is preferably set up in such a way that it adapts the at least one protective field or one of the protective fields to the overall contour that results from the industrial truck and the load picked up.

The at least one protective field or one of the protective fields can be formed in front of the industrial truck in the direction of travel. The width of the at least one protective field or one of the protective fields, i.e. its extent perpendicular to the direction of travel, can correspond at least approximately to the width, i.e. the extent perpendicular to the direction of travel, of the vehicle contour or the overall contour.

The safety control is preferably set up in such a way that, depending on long goods detected by the long goods detection device, it switches between protective fields that differ in size and/or shape and/or position relative to the industrial truck.

In another embodiment, the safety control influences the size and/or shape and/or position relative to the industrial truck of the at least one protective field or one of the protective fields depending on long goods detected with the long goods detection device. This can result in a continuous adjustment of the protective field.

The safety control is preferably set up so that it forms a larger protective field in the direction of travel when the overall contour is enlarged at the front in the direction of travel than when the contour or overall contour is not enlarged at the front in the direction of travel.

The safety control is preferably set up in such a way that, with an overall contour that is enlarged transversely to the direction of travel, it forms a larger protective field transversely to the direction of travel than with a contour or overall contour that is not enlarged transversely to the direction of travel.

The industrial truck preferably has a lifting mast with an upper area. The long goods detection device preferably comprises a laser scanner with a scanner detection area. The scanner detection area is preferably directed towards the load-carrying means. The laser scanner is preferably arranged on the upper area of the lifting mast and its scanner detection area is directed obliquely downwards towards the lifting fork. The scanner detection area of the laser scanner can be designed two-dimensionally, for example by means of exactly one integrated rotating mirror. The first dimension can be designed in the direction of the laser beam and the second dimension - for example by deflection of the rotating mirror - perpendicular to it. The laser scanner can be arranged so that the second dimension runs perpendicular to the tines of the lifting fork. The scanner detection area preferably extends in the second dimension over at least 1.5 times or twice or three times the maximum distance between the tines when the lifting fork is in the lowered state. In this way, even long items can be safely captured and measured correctly. The scanner detection area preferably extends in the second dimension over less than 10 times or 5 times the maximum distance between the tines when the lifting fork is in the lowered state.

In order to reliably detect even bulky loads, the scanner detection area of the laser scanner can be designed to be three-dimensional. The laser scanner can be arranged so that the third dimension runs in the direction of the tines of the lifting fork. Preferably, the scanner detection area in the third dimension extends at least over the entire length of the tines when the lifting fork is in the lowered state. In this way, the length of the load can be recorded and measured over the entire fork length. The scanner detection area is preferably dimensioned such that the detection of non-homogeneous long goods, such as profiles of different lengths, can be detected by the laser scanner. To create a three-dimensional design of the scanner detection area, the laser scanner can be pivotably arranged on the industrial truck - such as the lifting mast. It is also conceivable that a mirror is deflected in two directions for the three-dimensional formation of the scanner detection area, or two orthogonally standing rotatable mirrors can be arranged close to one another, via which the laser beam is reflected. The laser scanner is preferred safety certified. It preferably has a performance level of at least d.

The long goods detection device can have a camera with a camera detection area instead of or in addition to the laser scanner. The camera detection area is preferably aimed at the load-carrying devices. The camera detection area is preferably dimensioned such that the detection of non-homogeneous long goods, such as profiles of different lengths, can be recognized by the camera. The camera is preferably safety certified. It preferably has a performance level of at least d. This camera is preferably a 3D camera. The camera is preferably arranged at the upper area of the lifting mast. The camera detection area is further preferably directed obliquely downwards towards the lifting fork. The camera detection area preferably extends in a first dimension at least over the entire length of the tines when the lifting fork is in the lowered state. The camera detection area preferably extends in a second dimension, preferably transversely to the forks, over at least 1.5 times or twice or three times the maximum distance between the tines when the lifting fork is in the lowered state. In this way, even long items can be safely captured and measured correctly. The camera detection area in the second dimension preferably extends over less than 10 times or 5 times the maximum distance between the tines when the lifting fork is in the lowered state.

The lowered state of the lifting fork preferably corresponds to the state that the lifting fork assumes to pick up the load. The camera and/or the laser scanner are preferably arranged in such a way that they do not move when load-carrying devices move vertically.

The safety controller can have two monitoring sensors. The monitoring sensors can be arranged at diagonally opposite sensor positions on the industrial truck and they can each have a monitoring sensor detection area which extends over 270° - preferably in the horizontal direction. An industrial truck with such a safety control can also be carried out independently, independent of the previously mentioned features.

In this way, an all-round view around the industrial truck can be ensured in a particularly suitable manner and a prerequisite can be created so that the safety control can form protective fields in any position around the industrial truck.

If the industrial truck has a lifting mast which is designed as a push mast, i.e. can be pushed out and pushed back in, then the safety control can form the at least one protective field or one of the protective fields as a rear area protective field. An industrial truck with such a safety control can also be designed to be autonomous, independent of the aforementioned features.

The rear area protection field is preferably arranged behind the reach mast, preferably on the side of the reach mast facing away from the load-carrying means or the lifting fork. The rear area protection field preferably covers the rear area at least almost completely.

If the industrial truck has wheel arms, then the rear area protection field is preferably arranged between the wheel arms. The safety control can form the at least one protective field or one of the protective fields as a rear protection field, the size of which depends on the respective mast extension position. The safety control preferably forms the rear area protection field as soon as the reach mast is extended.

The rear area protection field can ensure that it is detected if someone enters the area behind the reach mast, for example between the extended reach mast and the wheel arms, when the reach mast is extended. In this way, the rear area is preferably protected from people getting trapped. A device, such as a reach mast sensor, can be provided which detects whether and to what extent the reach mast is extended. The safety control is preferably operatively connected to this device.

The safety control preferably influences the size and shape of the at least one rear protection field depending on the extent to which the reach mast is extended or switches between protective fields that differ in size and shape depending on the extent to which the reach mast is extended . What is preferably achieved in this way is that the rear area protection field always at least almost completely covers the rear area in every possible push position of the push mast.

If the industrial truck has a "U"-shaped chassis, in which the two legs of the "U" shape are each formed by a wheel arm, then the monitoring sensor, with the help of which the safety control forms the rear area protection field, is also referred to as the rear area sensor can be, preferably arranged on the area of the industrial truck connecting the two wheel arms.

In the context of this publication, the term “rear space” refers to the area arranged on the side of the reach mast facing away from the load-carrying means. If the industrial truck has wheel arms, then the rear space is preferably also limited by the wheel arms. The rear space is then preferably also delimited by the area of the industrial truck that connects the wheel arms.

The industrial truck can have a load carrier recognition device that is set up so that it recognizes and/or measures load carriers, so that the industrial truck can clearly measure and/or identify and/or pick up the load carriers. An industrial truck with such a load carrier detection device can also be designed independently, regardless of the aforementioned features.

In the context of this document, the term “load carrier” means devices on or in which loads, for example long goods, can be arranged, such as Euro pallets, long goods pallets, workpiece carriers and/or containers, for example mesh boxes.

The charge carrier detection device preferably comprises a charge carrier detection camera. This is preferably a 3D camera. The load carrier detection device is preferably arranged so that it moves with the load-carrying means or the lifting fork during a vertical movement and is further preferably arranged between the tines of the lifting fork. The industrial truck can have a fork carriage. The fork carrier preferably connects the lifting fork to the lifting mast. The load carrier detection device can be arranged centrally below the fork carriage. The load carrier detection device preferably has a load carrier detection area which runs at least parallel to the tines of the lifting fork. If the load carrier detection device is designed as a load carrier detection camera, it preferably has a viewing direction parallel to the load or to the load-picking movement that the industrial truck and/or the reach mast carries out when picking up the load in order to detect and/or measure the load carriers.

Exactly one, two or more or all of the truck's wheels can be driven. A separate drive motor can be provided for each driven wheel. Exactly one, two or more or all of the truck's wheels can be steerable. A separate steering motor can be provided for each steerable wheel.

Fig. 1

eine seitliche Darstellung des ersten Ausführungsbeispiels eines erfindungsgemäßen Flurförderzeugs mit aufgenommenem Langgut;

Fig. 2

das in Fig 1 gezeigte Flurförderzeug in perspektivischer Darstellung;

Fig. 3

eine Ansicht des in Fig. 1 gezeigten Flurförderzeugs von oben, mit Schutzfeldern;

Fig. 4

eine perspektivische Darstellung des zweiten Ausführungsbeispiels des erfindungsgemäßen Flurförderzeugs, mit Kamera statt Laserscanner als Langguterfassungsvorrichtung;

Fig. 5

eine Ansicht von oben auf das in Fig. 4 gezeigte Flurförderzeug mit aufgenommenem Langgut und Schutzfeld;

Fig. 6

eine Ansicht von oben auf das dritte Ausführungsbeispiel eines erfindungsgemäßen Flurförderzeugs;

Fig. 7

eine perspektivische Darstellung des vierten Ausführungsbeispiels des erfindungsgemäßen Flurförderzeugs;

Fig. 8

das in Fig. 7 gezeigte Flurförderzeug mit ausgeschobenem Schubmast und verringertem Zinkenabstand mit Blick von oben;

Fig. 9

eine Seitendarstellung des fünften Ausführungsbeispiels des erfindungsgemäßen Flurförderzeugs;

Fig. 10

das in Fig. 9 gezeigte Flurförderzeug in perspektivischer Darstellung.

The invention will now be further explained using exemplary embodiments shown in the drawings. It shows schematically:

Fig. 1

a side view of the first exemplary embodiment of an industrial truck according to the invention with long goods picked up;

Fig. 2

this in Fig 1 shown industrial truck in perspective view;

Fig. 3

a view of the in Fig. 1 truck shown from above, with protective fields;

Fig. 4

a perspective view of the second exemplary embodiment of the industrial truck according to the invention, with a camera instead of a laser scanner as a long goods detection device;

Fig. 5

a view from above of the in Fig. 4 Industrial truck shown with long goods picked up and protective field;

Fig. 6

a view from above of the third exemplary embodiment of an industrial truck according to the invention;

Fig. 7

a perspective view of the fourth exemplary embodiment of the industrial truck according to the invention;

Fig. 8

this in Fig. 7 Industrial truck shown with extended reach mast and reduced tine spacing viewed from above;

Fig. 9

a side view of the fifth embodiment of the industrial truck according to the invention;

Fig. 10

this in Fig. 9 Truck shown in perspective view.

That in the Fig. 1 to 3 The first exemplary embodiment of the industrial truck according to the invention shown and designated 100 (hereinafter industrial truck 100) relates to an industrial truck with load-carrying devices 1 for receiving long goods L.

The industrial truck 100 is designed as a forklift truck. It therefore includes a lifting mast 8 and the load-carrying means 1 of the industrial truck include a lifting fork 10. The lifting fork has two tines 21, 21 '. A distance adjustment device for the tines 21, 21' is provided, which allows the tines 21, 21' to be arranged so that they are spaced so far apart that, when viewed from above, they are arranged outside the wheel arms 20, 20' ( please refer Fig. 3 ). The truck is in longitudinal travel LF ( Fig. 3 ) mobile. It can also be driven in a cross-travel QF, like it Fig. 5 for the second exemplary embodiment 200 shows. The industrial truck 100 is designed as a reach truck, with an extendable and retractable lifting mast 8 designed as a reach mast 15. The industrial truck 100 has a "U"-shaped chassis, the two legs of the "U" shape each being supported by a wheel arm 20, 20' are formed. Like best in Fig. 3 To recognize, the long goods L is a load which, when picked up on the load-carrying means and in the ready-to-drive state of the industrial truck 100, i.e. even when the reach mast 15 is pushed in, stands beyond the contour of the industrial truck 100, so that there is an overall contour G, which is larger than the contour of the truck without load. The industrial truck is a sideloader, so it allows a direction of travel (F) that runs transversely to the fork arms 21, 21' ( Fig. 3 ).

The industrial truck 100 is a driverless transport vehicle and has a long goods detection device 2 for detecting long goods running.

It also has a safety control 3, which is in Fig. 1 is symbolically represented with a square and which in turn has at least one monitoring sensor 4, 4 'and uses this or these monitoring sensors 4, 4' to form at least one protective field 5, 5'. The safety controller 3 is operatively connected to the long goods detection device 2 and is set up so that it influences the at least one protective field 5, 5 'depending on long goods L detected with the long goods detection device 2.

The safety controller 3 is set up so that the industrial truck 100 is stopped when vehicles or people are detected in the protective field 5, 5' by means of the at least one monitoring sensor 4, 4'.

The safety controller 3 adapts the protective field 5, 5' to the overall contour, which results from the industrial truck and the long goods picked up, by switching between protective fields 5, 5' depending on the long goods detected with the long goods detection device 2, which vary in size and/or or shape and/or position relative to the industrial truck.

This is exemplified in Fig. 3 shown: The industrial truck 100 is traveling longitudinally LF to the left at a certain speed. The load picked up increases the overall contour G of the industrial truck 100 and the load, since the load protrudes beyond the contour of the industrial truck 100 at the front in the direction of travel F, among other things. To take this into account, the safety control 3 has switched from a protective field 5 (cross-hatched), which it forms when traveling in this direction and at this speed without long goods L, to a protective field 5 'that is larger in the direction of travel. The safety control 3 forms in Fig. 3 Therefore, due to the overall contour G being enlarged at the front in the direction of travel F, a protective field 5' that is larger in the direction of travel F.

In Fig. 5 The situation is shown with long goods L picked up in transverse travel. In order to take the widening of the overall contour G into account, the safety control 3 has switched from a protective field 5, which it forms during such a journey without long goods L (cross-hatched), to a wider protective field 5 '. The safety control 3 forms in Fig. 5 i.e. a larger protective field 5′ due to an overall contour G that is enlarged transversely to the direction of travel F.

In the Fig. 3 and 5 the protective field 5, 5' is formed in front of the industrial truck 100, 200 in the direction of travel F and its width, i.e. the extent transverse to the direction of travel F, corresponds at least approximately to the width of the overall contour G. These relationships shown between vehicle contour/overall contour and protective fields are merely examples . The safety control can therefore always provide protective fields that are wider than the vehicle contour or the overall contour G. The safety control can create other protective fields for cornering.

In the industrial truck 100, the long goods detection device 2 comprises a laser scanner 6 arranged on the upper region 9 of the lifting mast 8 with a scanner detection area 7 directed obliquely downwards towards the lifting fork 10.

The scanner detection area 7 of the laser scanner 6 itself is initially designed to be two-dimensional. The first dimension is designed in the direction of the laser beam and the second dimension is perpendicular to it. The laser scanner 6 is like that arranged so that the second dimension runs perpendicular to the tines 21, 21 'of the lifting fork 10. The scanner detection area 7 extends in the second dimension over approximately three times the maximum distance between the tines 21, 21 'from one another when the lifting fork 10 is in the lowered state (this state is not shown in the figures). The scanner detection area 7 of the laser scanner 6 (in Fig. 1 shown by dashed lines) is designed three-dimensionally, in which the laser scanner 6 is pivotably arranged on the lifting mast 8. This is in Fig. 1 represented by a double arrow P. The third dimension of the scanner detection area runs in the direction of the tines 21, 21 'of the lifting fork 10. The scanner detection area 7 extends in the third dimension over the entire length of the tines when the lifting fork is in the lowered state.

In the Fig. 4 to 10 Further exemplary embodiments are shown. The same reference numbers designate the same components. In this respect, reference is made to the description above. In the following, only the differences to that in the Fig. 1 to 3 shown first embodiment:
In the Figs. 4 and 5 the second exemplary embodiment of the industrial truck according to the invention (industrial truck 200) is shown, designated 200. It differs from the first exemplary embodiment 100 in that the long goods detection device 2 comprises a camera 11 with a camera detection area 12 instead of a laser scanner 6 ( Fig. 5 ).

In the in Fig. 6 In the third exemplary embodiment shown and designated 300 of the industrial truck according to the invention (industrial truck 300), the safety controller 3 has exactly two monitoring sensors 4, 4 ', which are arranged at diagonally opposite sensor positions 13, 13' on the industrial truck 300 and which each have a monitoring sensor detection area 14, 14 ', which extends - preferably in the horizontal direction - over an angle α, α 'of 270 °. This ensures an all-round view around the industrial truck 300 in a particularly suitable manner. The at least one monitoring sensor 4, 4' can be designed in this way in all of the exemplary embodiments shown in the figures.

In the in the 7 and 8 In the fourth exemplary embodiment shown and designated 400 of the industrial truck according to the invention (industrial truck 400), the safety controller 3 forms one of the protective fields 5 as a rear protection field 16, the size of which depends on the respective mast extension position and that in Fig. 8 is shown hatched. A device, namely a reach mast sensor 23, is provided which detects whether and to what extent the reach mast 15 is extended. The safety control 3 is operatively connected to the reach mast sensor 23 and, depending on the extent to which the reach mast 15 is extended, switches between protective fields that differ in size and shape in such a way that the rear area protection field 16 covers the rear area at every possible thrust. Position of the reach mast 15 always at least almost completely covers. The rear space sensor 22, with the help of which the safety controller 3 forms the rear space protection field 16, is arranged on the area of the industrial truck 400 connecting the two wheel arms 20, 20 '.

In the in the 9 and 10 In the fifth exemplary embodiment shown and designated 500 of the industrial truck according to the invention (industrial truck 500), the industrial truck 500 comprises a load carrier recognition device 17, which is set up in such a way that it recognizes and measures load carriers such as Euro pallets or grid boxes, so that the industrial truck 500 clearly measures and identifies the load carriers and can accommodate. The load carrier detection device 17 includes a load carrier detection camera 18, which is designed as a 3D camera and is arranged between the tines 21, 21 'of the lifting fork 10, centrally below the fork carriage 19. The charge carrier detection camera 18 has a charge carrier detection area 24, which, among other things, runs parallel to the tines 21, 21 of the lifting fork 10. The load carrier detection camera 18 has a viewing direction parallel to the load-picking movement that the industrial truck 500 and/or the reach mast 15 carries out when picking up the load in order to detect and measure the load carriers.

Reference character list:

100, 200, 300, 400, 500

Industrial truck

1

Load handling equipment

2

Long goods detection device

3

Safety control

4, 4'

Monitoring sensor

5, 5'

Protective field

6

Laser scanner

7

Scanner detection area

8th

lifting mast

9

upper area

10

lifting fork

11

camera

12

Camera detection area

13, 13'

Sensor position

14, 14'

Monitoring sensor detection area

15

Reach mast

16

Rear area protection field

17

Charge carrier detection device

18

Charge carrier detection camera

19

Fork carrier

20, 20'

Wheel arm

21, 21'

prongs

22

Rear space sensor

23

Reach mast sensor

24

Charge carrier detection area

α, α'

angle

F

Direction of travel

G

Overall contour

L

Long good

P

Double arrow

LF

Longitudinal travel

QF

Transverse travel

Claims (10)

1. An industrial truck (100, 200, 300, 400, 500) comprising load receiving means (1) for receiving elongated goods (L) and an elongated goods detection device (2) for detecting elongated goods (L) and comprising a safety controller (3), which has at least one monitoring sensor (4, 4') and which forms at least one protection field (5, 5') using said monitoring sensor (4, 4'),
   wherein the safety controller (3) is connected operatively with the elongated goods detection device (2) and is designed to influence the at least one protection field (5, 5') on the basis of elongated goods (L) detected by the elongated goods detection device (2).
2. The industrial truck (100, 200, 300, 400, 500) according to patent claim 1, characterized in that the industrial truck (100, 200, 300, 400, 500) is a driverless transport vehicle formed as a side loader.
3. The industrial truck (100, 200, 300, 400, 500) according to patent claim 1 or 2, characterized in that the safety controller (3) is configured such that it adjusts the at least one protection field (5, 5') to an overall contour (G) which results from the industrial truck (100, 200, 300, 400, 500) and elongated goods (L) received.
4. The industrial truck (100, 200, 300, 400, 500) according to any one of claims 1 to 3, characterized in that the safety controller (3) is configured such that it switches between protection fields (5, 5') on the basis of elongated goods (L) detected by means of the elongated goods detection device (2) which differ in size and/or form and/or position with respect to the industrial truck (100, 200, 300, 400, 500).
5. The industrial truck (100, 200, 300, 400, 500) according to any one of claims 1 to 4, characterized in that the industrial truck (100, 200, 300, 400, 500) comprises a lift mast (8) with an upper area (9) as well as a lifting fork (10), and the elongated goods detection device (2) comprises a laser scanner (6) with a scanner detection range (7), and the laser scanner (6) is arranged on the upper area (9) of the lift mast (8) and its scanner detection range (7) is directed obliquely downwards on the lifting fork (10).
6. The industrial truck (100, 200, 300, 400, 500) according to any one of claims 1 to 5, characterized in that the industrial truck comprises a lift mast (8) with an upper area (9) as well as a lifting fork (10), and the elongated goods detection device (2) comprises a camera (11) with a camera detection range (12), and the camera (11) is arranged on the upper area (9) of the lift mast (8) and its camera detection range (12) is directed obliquely downwards on the lifting fork (10).
7. The industrial truck (100, 200, 300, 400, 500) according to any one of claims 1 to 6, characterized in that the safety controller (3) comprises two monitoring sensors (4, 4'), which are arranged on the industrial truck in sensor positions (13, 13') diagonally opposite each other and each comprise a monitoring sensor detection range (14, 14') which extends over 270°.
8. The industrial truck (100, 200, 300, 400, 500) according to any one of claims 1 to 7, characterized in that the industrial truck (100, 200, 300, 400, 500) comprises a lift mast (8), which is formed as a reach mast (15), hence is extendable and retractable, and the industrial truck (100, 200, 300, 400, 500) comprises wheel arms (20, 20'), and the safety controller (3) forms at least one protection field (5, 5') as a rear area protection field (16) which is arranged on the side of the reach mast (15) facing away from the load receiving means (1) and between the wheel arms (20, 20').
9. The industrial truck (100, 200, 300, 400, 500, 500) according to any one of claims 1 to 8, characterized in that the industrial truck (100, 200, 300, 400, 500, 500) comprises a load carrier detection device (17) which is configured such that it detects and/or measures load carriers so that the industrial truck (100, 200, 300, 400, 500, 500) can clearly measure and/or identify and/or receive the load carriers.
10. The industrial truck (100, 200, 300, 400, 500, 500) according to patent claim 9, characterized in that the industrial truck (100, 200, 300, 400, 500, 500) comprises a lifting fork (10) with prongs (21, 21') and the load carrier detection device (17) comprises a load carrier detection camera (18) which is arranged between the prongs (21, 21') of the lifting fork (10).

Images