FI127684B - Heavy-duty lift truck - Google Patents

Heavy-duty lift truck Download PDF

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Publication number
FI127684B
FI127684B FI20176102A FI20176102A FI127684B FI 127684 B FI127684 B FI 127684B FI 20176102 A FI20176102 A FI 20176102A FI 20176102 A FI20176102 A FI 20176102A FI 127684 B FI127684 B FI 127684B
Authority
FI
Finland
Prior art keywords
container
heavy
digital image
view
forklift
Prior art date
Application number
FI20176102A
Other languages
Finnish (fi)
Swedish (sv)
Other versions
FI20176102A1 (en
Inventor
Mikael Björkbom
Original Assignee
Konecranes Global Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Konecranes Global Corp filed Critical Konecranes Global Corp
Priority to FI20176102A priority Critical patent/FI127684B/en
Priority to PCT/FI2018/050892 priority patent/WO2019115869A1/en
Application granted granted Critical
Publication of FI20176102A1 publication Critical patent/FI20176102A1/en
Publication of FI127684B publication Critical patent/FI127684B/en

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Classifications

    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
    • 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
    • B66F9/07568—Steering arrangements
    • 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
    • B66F17/00—Safety devices, e.g. for limiting or indicating lifting force
    • 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
    • B66F17/00—Safety devices, e.g. for limiting or indicating lifting force
    • B66F17/003—Safety devices, e.g. for limiting or indicating lifting force for fork-lift trucks
    • 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
    • B66F9/065—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 non-masted
    • B66F9/0655—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 non-masted with a telescopic boom
    • 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
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N7/00—Television systems
    • H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
    • H04N7/183—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source
    • H04N7/185—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a single remote source from a mobile camera, e.g. for remote control

Abstract

The invention relates to industrial material handling and more particularly to a heavy-duty lift truck used in industrial material handling, e.g. for lifting and moving industrial material. The heavy-duty lift truck (11) according to the present invention comprises a container lifting arrangement (12) arranged to lift a container (15), a digital imaging system (40) configured to sense and produce a digital image of the view (41) behind and/or below a lifted container (15), and a digital image projecting unit (50) configured to project a projected image (51), (52), (71), (72) of the view (41) behind and/or below the lifted container (15) to a side (16) of the lifted container (15). With the help of the present invention, unsafe driving is eliminated as the driver can see the view past the lifted container.

Description

HEAVY-DUTY LIFT TRUCK
FIELD OF THE INVENTION [0001] The invention relates to industrial material handling and more particularly to a heavy-duty lift truck used in industrial material handling, e.g. for 5 lifting and moving industrial material.
BACKGROUND OF THE INVENTION [0002] In industrial material handling a heavy-duty lift truck is used e.g. to lift and move industrial material. A heavy-duty lift truck is a lift truck having a capacity of lifting and moving industrial material payloads of 5.0 tons or more.
When driving an industrial heavy-duty lift truck, the driver cannot see what is behind the handled material, e.g. containers, paper rolls or metal rolls, as the handled material is in front of the driver. Consequently, there is no or little visibility of what is ahead when driving.
[0003] In prior art, a typical solution in industrial material handling is to lift the 15 handled material e.g. container high enough, so that the driver can see past and below the handled material. Lifting the handled material e.g. container high enough for a good view consumes time and energy. When handling industrial material sometimes the driver does not lift the handled material e.g. container high enough. This results in unsafe driving, when a clear view for the driver is 20 not available.
BRIEF DESCRIPTION OF THE INVENTION [0004] The object of the invention is to introduce a new type of a heavy-duty lift truck with an improved driving safety and with increased visibility of what is behind and/or below the handled material.
[0005] It is brought forward a new heavy-duty lift truck, which heavy-duty lift truck comprises a container lifting arrangement arranged to lift a container, a digital imaging system configured to sense and produce a digital image of the
20176102 PRH 06 -11- 2018 view behind and/or below a lifted container, and a digital image projecting unit configured to project a projected image of the view behind and/or below the lifted container to a side of the lifted container. Hereby, one or more of the aforementioned advantages and/or objectives are achieved. These advantages 5 and/or objectives are further facilitated with the additional preferred features and/or steps described in the following.
[0006] In a preferred embodiment, said digital image projecting unit further comprises a head-up display or augmented reality eyeglasses configured to project said projected image of the view behind and/or below the lifted container 10 to the driver.
[0007] In a preferred embodiment, said heavy-duty lift truck further comprises a container handling unit, said container handling unit arranged to handle a container.
[0008] In a preferred embodiment, said digital imaging system is configured 15 to forward said digital image of the view behind and/or below the lifted container to said digital image projecting unit, and said digital image projecting unit is configured to receive said digital image of the view behind and/or below the lifted container from said digital imaging system.
[0009] In a preferred embodiment, said heavy-duty lift truck further 20 comprises a processing unit configured to adjust the properties of said projected image and/or the properties of said sensed and produced digital image.
[0010] In a preferred embodiment, said digital imaging system is configured to send said digital image of the view behind and/or below the lifted container to said processing unit, said processing unit is configured to receive said digital 25 image of the view from the digital imaging system and to send said digital image of the view to said digital image projecting unit, and said digital image projecting unit is configured to receive said digital image of the view behind and/or below the lifted container from said digital imaging system.
20176102 PRH 06 -11- 2018 [0011] In a preferred embodiment, said heavy-duty lift truck further comprises a user interface connected to said processing unit.
[0012] In a preferred embodiment, said user interface comprises a display or a touch screen display for displaying information to the user and/or for 5 receiving instructions/input from the user.
[0013] In a preferred embodiment, said user interface is configured to forward instructions/input received from the user to said digital imaging system and/or to said digital image projecting unit.
[0014] In a preferred embodiment, said instructions/input from the user 10 instruct the processing unit to adjust the properties of said projected image and/or to adjust the properties of said digital image of the view behind and/or below the lifted container.
[0015] In a preferred embodiment, said heavy-duty lift truck further comprises an enhancing unit configured to receive instructions from said 15 processing unit and/or from said user interface, and to execute said instructions.
[0016] In a preferred embodiment, said projected image comprises a processed and/or enhanced image.
[0017] In a preferred embodiment, said processed and/or enhanced image comprises only detected object outlines.
[0018] In a preferred embodiment, said processed and/or enhanced image comprises supplementary information.
[0019] In a preferred embodiment, said digital imaging system is attached or positioned to said container lifting arrangement or to said container handling unit.
[0020] In a preferred embodiment, said digital image projecting unit according to the present invention is attached or positioned to the frame of said
20176102 PRH 06 -11- 2018 heavy-duty lift truck, to the cabin frame of said heavy-duty lift truck or to said container lifting arrangement.
[0021] In a preferred embodiment, said heavy-duty lift truck is an empty container lift truck, a laden container lift truck, a heavy-duty forklift truck or a 5 reach stacker.
[0022] In a preferred embodiment, said container handling unit is a lifting fork, a sidelift spreader, a toplift spreader, a telescopic sidelift spreader, a telescopic toplift spreader or a folding telescopic toplift spreader.
BRIEF DESCRIPTION OF THE DRAWINGS [0023] In the following, the present invention will be described in more detail by way of example and with reference to the attached drawings, in which:
Figure 1 illustrates operation of a heavy-duty lift truck according to one embodiment of the present invention.
Figure 2 illustrates operation of a heavy-duty lift truck according to another 15 embodiment of the present invention.
Figure 3 illustrates a block diagram of one embodiment of an image control arrangement of a heavy-duty lift truck according to the present invention.
Figure 4 illustrates a block diagram of another embodiment of an image control arrangement of a heavy-duty lift truck according to the present invention.
Figure 5 illustrates a windshield view of a driver of a heavy-duty lift truck according to one embodiment of the present invention.
Figure 6 illustrates a windshield view of a driver of a heavy-duty lift truck according to another embodiment of the present invention.
The foregoing aspects, features and advantages of the invention will be 25 apparent from the drawings and the detailed description related thereto.
20176102 PRH 06 -11- 2018
DETAILED DESCRIPTION [0024] Various embodiments described herein provide improved accuracy of container handling operations. Container handling operations include picking up of container from a stack or the ground, stacking container to 5 a stack or the ground, and loading vehicles, e.g. trailers or trucks or ships, with container for transportation. Improved handling is also provided, for moving container attached to a spreader to a new location, e.g. a stack, to the ground or to a vehicle.
[0025] Typically, the container attached to the spreader is moved by 10 hoisting and/or trolley movement. A typical container is a structure of metal e.g.
steel, having a shape of a rectangular cuboid. Accordingly, the adjacent sides of the container connect at corners having right angles and opposite sides of the container are equal. The spreader connects to at least part of the comers. Typically, the spreader connects the containers at the comers of the roof of the 15 container.
[0026] In industrial material handling a heavy-duty lift truck is used e.g. to lift and move industrial material. A heavy-duty lift truck is a lift truck having a capacity of lifting and moving industrial material payloads of 5.0 tons or more.
[0027] Figure 1 illustrates operation of a heavy-duty lift truck according to 20 one embodiment of the present invention. The operation of a heavy-duty lift truck is carried out by a driver 1. In the context of this patent disclosure, a heavyduty lift truck 11 is seen as lift truck having a lifting capacity of 5 tons of more. The heavy-duty lift truck 11 may e.g. be an empty container lift truck, a laden container lift truck, a heavy-duty forklift truck or a reach stacker 11.
[0028] The heavy-duty lift truck 11 according to the present invention has a container lifting arrangement 12, e.g. a lifting mast, a boom lifting arrangement or a telescopic boom lifting arrangement 12, said container lifting arrangement arranged to lift a container 15. The heavy-duty lift truck 11 according to the present invention also has a container handling unit 13, e.g. a lifting fork, a
20176102 PRH 06 -11- 2018 sidelift spreader, a toplift spreader, a telescopic sidelift spreader, a telescopic toplift spreader 13 or a folding telescopic toplift spreader, said container handling unit 13 arranged to handle a container 15. The heavy-duty lift truck 11 according to one embodiment of the present invention presented in Figure 1 is a reach 5 stacker 11 with a telescopic boom lifting arrangement 12 and a telescopic toplift spreader 13. As presented in Figure 1 the heavy-duty lift truck 11 lifts a container 15 up with help of said telescopic boom lifting arrangement 12 and said telescopic toplift spreader 13.
[0029] The heavy-duty lift truck 11 according to the present invention 10 comprises a digital imaging system 40 and a digital image projecting unit 50.
The digital imaging system 40 of the heavy-duty lift truck according to the present invention is configured to sense and produce a digital image of the view 41 behind and/or below the lifted container 15. Said digital image of the view 41 behind and/or below the lifted container 15 may e.g. be a video image.
[0030] The digital imaging system 40 according to the present invention comprises one or more digital camera units, e.g. digital CCD camera units (CCD, Charge-coupled device). The digital imaging system 40 of the heavy-duty lift truck 11 according to the present invention is configured to forward said digital image of the view 41 behind and/or below the lifted container 15 to said digital image projecting unit 50 e.g. via a wireless connection e.g. via Bluetooth™ connection of Wi-Fi™ connection, or via an electrical connection, e.g. via Profibus® field bus, Ethernet connection and/or computer bus. The digital imaging system 40 may also comprise a processor and/or memory.
[0031] The digital imaging system 40 according to the present invention 25 may be attached or positioned to the container lifting arrangement 12 or to the container handling unit 13 of the heavy-duty lift truck 11. In the heavy-duty lift truck 11 according to presented embodiment the digital imaging system 40 is positioned to the container handling unit 13 of the heavy-duty lift truck 11.
[0032] In the presented embodiment, there is another container 31 behind 30 the lifted container 15, which another container 31 is hard or even impossible to
20176102 PRH 06 -11- 2018 see as the lifted container 15 is blocking the view of the driver 1 of the heavyduty lift truck 11. However, the image of said another container 31 is included in said digital image of the view 41 behind and/or below the lifted container 15. Furthermore, said digital image of the view 41 behind and/or below the lifted container 15 may include a view below the lifted container 15. Said view below the lifted container 15 is especially helpful to the driver 1 when lowering the lifted container 15, e.g. when stacking containers.
[0033] The heavy-duty lift truck 11 according to the present invention has a digital image projecting unit 50, e.g. a digital video projector 50, said digital image projecting unit 50 configured to project a projected image 51 of the view 41 behind and/or below the lifted container 15 to the side of the lifted container
15.
[0034] The digital image projecting unit 50 of the heavy-duty lift truck 11 according to the present invention is configured to receive said digital image of the view 41 behind and/or below the lifted container 15 forwarded from said digital imaging system 40 e.g. via a wireless connection e.g. via Bluetooth™ connection of Wi-Fi™ connection, or via an electrical connection, e.g. via Profibus® field bus, Ethernet connection and/or computer bus. The digital image projecting unit 50 may also comprise a processor and/or memory.
[0035] The digital image projecting unit 50 according to the present invention may be attached or positioned to the lift truck frame, to the cabin frame or to the container lifting arrangement 12 of the heavy-duty lift truck 11. In the heavy-duty lift truck 11 according to presented embodiment the digital image projecting unit 50 is positioned on the top of the cabin frame of the heavy-duty lift truck 11.
[0036] The digital image projecting unit 50 according to the present invention projects a projected image 51 of the view 41 behind and/or below the lifted container 15 to the side of the lifted container 15. Said projected image 51 of the view 41 behind and/or below the lifted container 15 may e.g. be a video image.
20176102 prh 06 -11- 2018 [0037] The projected image 51 projected to the side of the lifted container 15 enables the driver 1 of the heavy-duty lift truck 11 see what is behind the lifted container 15. In the presented embodiment, there is another container 31 behind the lifted container 15, which another container 31 is hard or even impossible to see as the lifted container 15 is blocking the view of the driver 1 of the heavy-duty lift truck 11. With the help of the present invention, the driver 1,
i.e. the user 1, of the heavy-duty lift truck 11 is able to see the projected image 51 projected to the side of the lifted container 15 as well as an image of another container 61 included said projected image 51.
[0038] Figure 2 illustrates operation of a heavy-duty lift truck according to another embodiment of the present invention. The operation of a heavy-duty lift truck 11 is carried out by a driver 1. The heavy-duty lift truck 11 according to the presented another embodiment has a container lifting arrangement 12 configured to lift a container 15 and a container handling unit 13 configured to 15 handle a container 15.
[0039] The heavy-duty lift truck 11 according to the presented another embodiment has a digital imaging system 40 configured to sense and produce a digital image of the view 41 behind and/or below the lifted container 15. The heavy-duty lift truck 11 according to the presented another embodiment has a 20 digital image projecting unit 50 configured to project a projected image 71 of the view 41 behind and/or below the lifted container 15 to the side of the lifted container 15.
[0040] The digital image projecting unit 50 according to the presented another embodiment projects a projected image 71 of the view 41 behind and/or 25 below the lifted container 15 to the side of the lifted container 15. In the presented another embodiment, said projected image 71 comprises a processed image 81, e.g. detected object outlines 81. In another embodiment, the projected image may comprise only the detected object outlines.
[0041] The projected image 71 with detected object outlines 81 projected 30 to the side of the lifted container 15 enables the driver 1 of the heavy-duty lift
20176102 PRH 06 -11- 2018 truck 11 see what is behind the lifted container 15. With the help of the present invention, the driver 1, i.e. the user 1, of the heavy-duty lift truck 11 is able to see the projected image 71 projected to the side of the lifted container 15 as well as an image of another container 61 and a processed image 81, e.g. detected 5 object outlines 81 included said projected image 71.
[0042] In another embodiment, the digital image projecting unit 50 of the heavy-duty lift truck 11 comprises a head-up display or augmented reality eyeglasses configured to project said projected image 71 of the view 41 behind and/or below the lifted container 15 to the driver 1. Said head-up display may be 10 integrated to the windshield of the heavy-duty lift truck 11. With a help of said head-up display or said augmented reality eyeglasses the driver 1 is able to see said projected image 71 without looking away from his/hers usual viewpoints.
[0043] Figure 3 illustrates a block diagram of one embodiment of an image control arrangement of a heavy-duty lift truck according to the present 15 invention. The presented embodiment of an image control arrangement of a heavy-duty lift truck according to the present invention comprises a processing unit 20 and a user interface 25 connected to said processing unit 20. Said processing unit 20 is also connected to a digital imaging system 40 and to a digital image projecting unit 50. The processing unit 20 may also comprise a 20 processor and/or memory. The processing unit 20 may be a computer or a server.
[0044] The digital imaging system 40 according to the present invention comprises one or more digital camera units, e.g. digital CCD camera units (CCD, Charge-coupled device). The digital imaging system 40 of the heavy-duty lift 25 truck according to the present invention is configured to sense and produce a digital image, such as a video image, of the view 41 behind and/or below the lifted container 15.
[0045] The digital imaging system 40 of the heavy-duty lift truck according to the present invention is configured to send, e.g. via a wireless connection, 30 such as Bluetooth™ connection or Wi-Fi™ connection, or via an electrical
20176102 prh 06 -11- 2018 connection, such as Profibus® field bus, Ethernet connection and/or computer bus, the produced digital image of the sensed view 41 to the processing unit 20.
[0046] The processing unit 20 is configured to receive, e.g. via a wireless connection, such as Bluetooth™ connection or Wi-Fi™ connection, or via an electrical connection, such as Profibus® field bus, Ethernet connection and/or computer bus, the produced digital image of the sensed view 41 from the digital imaging system 40. Furthermore, the processing unit 20 is configured to send, e.g. via a wireless connection, such as Bluetooth™ connection or Wi-Fi™ connection, or via an electrical connection, such as Profibus® field bus, Ethernet connection and/or computer bus, the produced digital image of the sensed view 41 to the digital image projecting unit 50.
[0047] Furthermore, the processing unit 20 may be configured, either automatically or upon receiving user instructions, to adjust the properties of said projected image 51 and/or the properties of said sensed and produced digital 15 image, such as e.g. illumination, contrast, width, height, position.
[0048] In the presented embodiment, there is another container 31 behind the lifted container 15 which another container 31 is hard or even impossible to see as the lifted container 15 is blocking the view of the driver 1, i.e. the user 1, of the heavy-duty lift truck 11. However, the image of said another container 31 is included in said digital image of the view 41 behind and/or below the lifted container 15. Furthermore, said digital image of the view 41 behind and/or below the lifted container 15 may include a view below the lifted container 15. Said view below the lifted container 15 is especially helpful to the driver 1 when lowering the lifted container 15, e.g. when stacking containers.
[0049] The digital image projecting unit 50 of the heavy-duty lift truck according to the present invention is configured to receive, e.g. via a wireless connection, such as Bluetooth™ connection or Wi-Fi™ connection, or via an electrical connection, such as Profibus® field bus, Ethernet connection and/or computer bus, the produced digital image of the sensed view 41 from the processing unit 20. Furthermore, the digital image projecting unit 50 is
20176102 prh 06 -11- 2018 configured to project a projected image 51 of the view 41 behind and/or below the lifted container 15 to the side of the lifted container 15.
[0050] As said projected image 51 is projected to the side of the lifted container 15, said container side acts as a projection screen. When the optical 5 projection screen properties of said container side, such as sufficient reflectivity and evenness, are suitable said projected image 51 is clearly visible to the user,
i.e. to the driver 1, of the heavy-duty lift truck 11. The user may also instruct the processing unit 20 to adjust the properties of said projected image 51, such as e.g. illumination, contrast, width, height, position, via said user interface 25 of 10 the heavy-duty lift truck according to the present invention. The user may also instruct the processing unit 20 to adjust the properties of said sensed and produced digital image of the view 41 behind and/or below the lifted container 15, such as e.g. illumination, contrast, width, height, camera position, camera angle, camera zoom, via said user interface 25 of the heavy-duty lift truck 15 according to the present invention. The adjustment of the properties of said projected image 51 and/or the properties of said sensed and produced digital image by the user is most helpful especially when the optical projection screen properties of said container side are less than sufficient.
[0051] The user interface 25 may comprise a display, such as a liquid 20 crystal display (LCD). The display can be used for displaying information, for instance the sight apparatus, to the user. The display may be a touch screen display, in which case instructions may be received from the user through the touch screen display. The display can be implemented by a tablet computer, for instance, in which case the connection for transmitting data and/or image data 25 can be implemented over a wireless data communications connection, such as a wireless local area network (WLAN) connection based on the IEEE 802.11 standard, ora Bluetooth™ connection.
[0052] The user interface 25 of the heavy-duty lift truck according to the present invention is configured to receive as user input control instructions/input 30 to control the digital imaging system 40 and/or digital image projecting unit 50.
20176102 PRH 06 -11- 2018
Said user interface 25 is also configured to forward said received control instructions/input to digital imaging system 40 and/or to digital image projecting unit 50 e.g. via said processing unit 20.
[0053] The processing unit 20 of the heavy-duty lift truck according to the present invention is configured to receive from the user interface 25 said control instructions/input to control the digital imaging system 40 and/or digital image projecting unit 50. Said processing unit 20 is also configured to forward said received control instructions/input to digital imaging system 40 and/or to digital image projecting unit 50. Said processing unit 20 may also be configured to 10 process said received control instructions/input and to forward the processed received control instructions/input to digital imaging system 40 and/or to digital image projecting unit 50.
[0054] The digital imaging system 40 of the heavy-duty lift truck according to the present invention is configured to receive from the user interface 25 and/or 15 the processing unit 20 control instructions/input and to execute said instructions in the operation of said digital imaging system 40.
[0055] The digital image projecting unit 50 of the heavy-duty lift truck according to the present invention is configured to receive from the user interface 25 and/or the processing unit 20 control instructions/input and to 20 execute said instructions in the operation of said digital image projecting unit 50.
[0056] Figure 4 illustrates a block diagram of another embodiment of an image control arrangement of a heavy-duty lift truck according to the present invention. The presented embodiment of an image control arrangement of a heavy-duty lift truck according to the present invention comprises a processing 25 unit 20, a user interface 25 connected to said processing unit 20 and an enhancing unit 55 connected to said processing unit 20. Said processing unit 20 is also connected to a digital imaging system 40 and to a digital image projecting unit 50. The processing unit 20 may also comprise a processor and/or memory.
The processing unit 20 may be a computer or a server
20176102 PRH 06 -11- 2018 [0057] Said enhancing unit 55 is also connected to a digital image projecting unit 50. The enhancing unit 55 may also comprise a processor and/or memory. The enhancing unit 55 may be a computer or a server. The enhancing unit 55 may be integrated to said processing unit 20. The enhancing unit 55 may 5 also be integrated to said digital image projecting unit 50.
[0058] The digital imaging system 40 of the heavy-duty lift truck according to the presented embodiment is configured to sense and produce a digital image, e.g. be a video image, of the view 41 behind and/or below the lifted container 15. The digital imaging system 40 of the heavy-duty lift truck according 10 to the present invention is configured to send the produced digital image of the sensed view 41 to the processing unit 20.
[0059] The processing unit 20 is configured to receive the produced digital image of the sensed view 41 from the digital imaging system 40 and to send the produced digital image of the sensed view 41 to the digital image projecting unit 15 50. Furthermore, the processing unit 20 may be configured, either automatically or upon receiving user instructions, to adjust the properties of said projected image 51 and/or the properties of said sensed and produced digital image, such as e.g. illumination, contrast, width, height, position, via said user interface 25 of the heavy-duty lift truck according to the presented embodiment.
[0060] The digital image projecting unit 50 of the heavy-duty lift truck according to the presented embodiment is configured to receive the produced digital image of the sensed view 41 from the processing unit 20 and to project a projected image 51 of the view 41 behind and/or below the lifted container 15 to the side of the lifted container 15.
[0061] The user may adjust the properties of said projected image 51, such as e.g. illumination, contrast, width, height, position, via said user interface 25 of the heavy-duty lift truck according to the present invention. The user may also adjust the properties of said sensed and produced digital image of the view 41 behind and/or below the lifted container 15, such as e.g. illumination,
20176102 PRH 06 -11- 2018 contrast, width, height, camera position, camera angle, camera zoom, via said user interface 25 of the heavy-duty lift truck according to the present invention.
[0062] The user interface 25 of the heavy-duty lift truck according to the presented embodiment is configured to receive as user input control 5 instructions/input to control the digital imaging system 40 and/or digital image projecting unit 50. Said user interface 25 is also configured to forward said received control instructions/input to digital imaging system 40 and/or to digital image projecting unit 50 e.g. via said processing unit 20.
[0063] The user interface 25 of the heavy-duty lift truck according to the presented embodiment may also be configured to receive and forward control instructions/input for controlling and/or instructing the enhancing unit 55 for enhancing the produced digital image of the sensed view 41 before sending said produced digital image to the digital image projecting unit 50. Said enhancing the produced digital image may comprise adjusting of the image properties, e.g.
illumination, contrast, brightness, sharpness and/or color properties, as well as enhancing the processed image, e.g. automatic zooming, cropping, perspective control and/or detecting object outlines in said image. Said enhancing unit 55 may also be instructed to carry out said enhancing the produced digital image automatically. The enhanced digital image may also comprise supplementary information, such as e.g. the weight of the lifted container. Said enhancing unit 55 may be arranged to receive additional information, such as e.g. the weight information or position information from a weight system or from another system of said heavy-duty lift truck.
[0064] The processing unit 20 of the heavy-duty lift truck according to the 25 presented embodiment is configured to receive from the user interface 25 said control instructions/input to control the digital imaging system 40 and/or the digital image projecting unit 50 and/or the enhancing unit 55. Said processing unit 20 is also configured to forward said received control instructions/input to said digital imaging system 40 and/or to said digital image projecting unit 50 30 and/or to said enhancing unit 55. Said processing unit 20 may also be configured
20176102 PRH 06 -11- 2018 to process said received control instructions/input and to forward the processed received control instructions/input to said digital imaging system 40 and/or to said digital image projecting unit 50 and/or to said enhancing unit 55.
[0065] The digital imaging system 40 of the heavy-duty lift truck according to the present invention is configured to receive from the user interface 25 and/or from the processing unit 20 control instructions/input and to execute said instructions in the operation of said digital imaging system 40. The digital image projecting unit 50 of the heavy-duty lift truck according to the present invention is configured to receive from the user interface 25 and/or from the processing 10 unit 20 control instructions/input and to execute said instructions in the operation of said digital image projecting unit 50. The enhancing unit 55 of the heavy-duty lift truck according to the present invention is configured to receive from the user interface 25 and/or from the processing unit 20 control instructions/input and to execute said instructions in the operation of said enhancing unit 55.
[0066] Figure 5 illustrates a windshield view of a driver of a heavy-duty lift truck according to one embodiment of the present invention. In the presented embodiment, the windshield of the heavy-duty lift truck is marked with a reference number 10. Through the windshield 10, the driver of the heavy-duty lift truck according the present invention is able to see a lifted container 15, said 20 container 15 being lifted up with the help of a container handling unit 13 of the heavy-duty lift truck.
[0067] In the presented embodiment, there is another container 32 behind the lifted container 15 which another container 32 the driver of the heavy-duty lift truck can only partially see as the lifted container 15 is blocking the view of 25 the driver.
[0068] In the windshield view according to the present invention the driver of the heavy-duty lift truck can see a side 16 of the lifted container 15, e.g. a driver-facing side 16 of the lifted container 15. In said side 16 of the lifted container 15 there is projected an image 52 of the view behind and/or below the 30 lifted container 15. Said projected image 52 may e.g. be a video image.
20176102 PRH 06 -11- 2018 [0069] The projected image 52 projected to the side 16 of the lifted container 15 enables the driver of the heavy-duty lift truck to see what is behind the lifted container 15. In the presented embodiment, there are containers 32 behind the lifted container 15 which containers 32 are hard or even impossible 5 to see as the lifted container 15 is blocking the view of the driver of the heavyduty lift truck. With the help of the present invention, the driver, i.e. the user, of the heavy-duty lift truck is able to see the projected image 52 projected to the side 16 of the lifted container 15 as well as images of containers 62-65 included said projected image 52. A partial image 62 of said another partially seen 10 container 32 is included in said projected image 52 projected to the side 16 of the lifted container 15. Furthermore, said projected image of the view behind and/or below the lifted container 15 may include a view below the lifted container
15. Said view below the lifted container 15 is especially helpful to the driver of the heavy-duty lift truck when lowering the lifted container 15, e.g. when stacking 15 containers.
[0070] Figure 6 illustrates a windshield view of a driver of a heavy-duty lift truck according to another embodiment of the present invention. In the presented embodiment, the windshield of the heavy-duty lift truck is marked with a reference number 10. Through the windshield 10, the driver of the heavy-duty 20 lift truck according the presented another embodiment is able to see a lifted container 15, said container 15 being lifted up with the help of a container handling unit 13 of the heavy-duty lift truck. In the presented another embodiment, there is another container 32 behind the lifted container 15 which another container 32 the driver of the heavy-duty lift truck can only partially see 25 as the lifted container 15 is blocking the view of the driver.
[0071] In the windshield view according to the presented another embodiment the driver of the heavy-duty lift truck can see a side 16 of the lifted container 15, e.g. a driver-facing side 16 of the lifted container 15. In the side 16 of the lifted container 15, there is projected an image 72 of the view behind 30 and/or below the lifted container 15. Said projected image 72 may e.g. be a video image. The projected image 72 projected to the side 16 of the lifted
20176102 prh 06 -11- 2018 container 15 enables the driver of the heavy-duty lift truck to see what is behind the lifted container 15. In the presented another embodiment, there are containers 32 behind the lifted container 15 which containers 32 are hard or even impossible to see as the lifted container 15 is blocking the view of the driver of the heavy-duty lift truck. In the presented another embodiment, said projected image 72 comprises a processed image 82, e.g. detected object outlines 82. In another embodiment, the projected image may comprise only the detected object outlines.
[0072] With the help of the present invention, the driver, i.e. the user of 10 the heavy-duty lift truck is able to see the projected image 72 projected to the side 16 of the lifted container 15 as well as images of containers 62-65 and a processed image 82, e.g. detected object outlines 82 included said projected image 72. A partial image 62 of said another partially seen container 32 is included in said projected image 72 projected to the side 16 of the lifted container 15 15. Furthermore, said projected image of the view behind and/or below the lifted container 15 may include a view below the lifted container 15. Said view below the lifted container 15 is especially helpful to the driver of the heavy-duty lift truck when lowering the lifted container 15, e.g. when stacking containers.
[0073] In industrial material handling with the help of the present 20 invention, the driver of a heavy-duty lift truck is able to see what is behind the lifted container without lifting the container high. With the help of the present invention, the driver is able to see the projected image as if the driver could see through the lifted container.
[0074] In the present invention, the digital camera imaging system is 25 attached or positioned to the container lifting arrangement or to the container handling unit of the heavy-duty lift truck and records the view past the lifted container and the digital image projecting unit projects the projected image on the lifted container. With the help of the present invention, the driver can drive and handle containers safely at all times. The solution according to the present invention is also beneficial when loading a freight truck with a forklift truck, as it enables the driver to see the carriage of the freight truck.
[0075] The solution according to the present invention saves time and energy and increases the visibility of a driver of a heavy-duty lift truck of what is 5 ahead when driving. With the help of the present invention, unsafe driving is eliminated as the driver can see the view past the lifted container.
[0076] It is to be understood that the above description and the accompanying Figures are only intended to teach the best way known to the inventors to make and use the invention. It will be apparent to a person skilled 10 in the art that the inventive concept can be implemented in various ways. The above-described embodiments of the invention may thus be modified or varied, without departing from the invention, as appreciated by those skilled in the art in light of the above teachings. It is therefore to be understood that the invention and its embodiments are not limited to the examples described above but may 15 vary within the scope of the claims and their equivalents.

Claims (17)

PATENTTIVAATIMUKSET 1. Raskas nostotrukki (11), joka käsittää:A heavy forklift (11) comprising: kontinnostojärjestelyn (12), joka on järjestetty nostamaan kontti 5 (15), ja digitaalisen kuvantamisjärjestelmän (40), joka on konfiguroitu tunnistamaan ja tuottamaan digitaalinen kuva näkymästä (41) nostetun kontin (15) takaa ja/tai alta, tunnettu siitä, että mainittu raskas nostotrukki (11) käsittää:a container lifting arrangement (12) arranged to lift the container 5 (15) and a digital imaging system (40) configured to identify and produce a digital image of the view (41) from behind and / or below the lifted container (15), characterized in that said The heavy forklift (11) comprises: 10 - digitaalisen kuvan heijastamisyksikön (50), joka on konfiguroitu heijastamaan heijastettu kuva (51), (52), (71), (72) näkymästä (41) nostetun kontin (15) takaa ja/tai alta nostetun kontin (15) sivulle (16).10 - a digital image projection unit (50) configured to project the projected image (51), (52), (71), (72) from the view (41) behind and / or below the raised container (15) to the side of the raised container (15) (16). 2. Patenttivaatimuksen 1 mukainen raskas nostotrukki (11),A heavy forklift (11) according to claim 1, 15 tunnettu siitä, että mainittu digitaalisen kuvan heijastamisyksikkö (50) käsittää lisäksi tuulilasinäytön tai täydennetyn todellisuuden silmälasit, jotka on konfiguroitu heijastamaan mainittu heijastettu kuva (51) , (52), (71), (72) näkymästä (41) nostetun kontin (15) alta ja/tai takaa kuljettajalle (1).15. characterized in that said digital image projection unit (50) further comprises a windshield display or augmented reality glasses configured to reflect said projected image (51), (52), (71), (72) from a view (41) of a raised container (15). ) and / or rear to the driver (1). 3. Patenttivaatimuksen 1 tai 2 mukainen raskas nostotrukki (11), tunnettu siitä, että se käsittää lisäksi:Heavy forklift (11) according to claim 1 or 2, characterized in that it further comprises: kontinkäsittely-yksikön (13), joka mainittu kontinkäsittely-yksikkö (13) on järjestetty käsittelemään konttia (15).a container handling unit (13), said container handling unit (13) being arranged to handle the container (15). 4. Jonkin edellisen patenttivaatimuksen 1-3 mukainen raskas nostotrukki (11), tunnettu siitä, että:Heavy forklift truck (11) according to one of the preceding claims 1 to 3, characterized in that: mainittu digitaalinen kuvantamisjärjestelmä (40) on konfiguroitu lähettämään mainittu digitaalinen kuva näkymästä (41) nostetun kontin 30 (15) takaa ja/tai alta mainitulle digitaalisen kuvan heijastamisyksikölle (50) jasaid digital imaging system (40) is configured to send said digital image of the view (41) from behind and / or below the raised container 30 (15) to said digital image projection unit (50), and 20176102 PRH 06 -11- 2018 mainittu digitaalisen kuvan heijastamisyksikkö (50) on konfiguroitu ottamaan vastaan mainittu digitaalinen kuva näkymästä (41) nostetun kontin (15) takaa ja/tai alta mainitulta digitaaliselta kuvantamisjärjestelmältä (40).20176102 PRH 06 -11-20118 said digital image reflecting unit (50) is configured to receive said digital image of the view (41) from behind and / or below the raised container (15) from said digital imaging system (40). 5. Patenttivaatimuksen 1 tai 2 mukainen raskas nostotrukki (11), tunnettu siitä, että se käsittää lisäksi:Heavy forklift (11) according to claim 1 or 2, characterized in that it further comprises: prosessointiyksikön (20), joka on konfiguroitu säätämään mainitun heijastetun kuvan (51), (52), (71), (72) ominaisuuksia ja/tai mainitun 10 tunnistetun ja tuotetun digitaalisen kuvan ominaisuuksia.a processing unit (20) configured to adjust the characteristics of said projected image (51), (52), (71), (72) and / or the characteristics of said identified and produced digital image. 6. Patenttivaatimuksen 5 mukainen raskas nostotrukki (11), tunnettu siitä, että:Heavy forklift (11) according to Claim 5, characterized in that: mainittu digitaalinen kuvantamisjärjestelmä (40) on konfiguroitusaid digital imaging system (40) is configured 15 lähettämään mainittu digitaalinen kuva näkymästä (41) nostetun kontin (15) alta ja/tai takaa mainitulle prosessointiyksikölle (20), mainittu prosessointiyksikkö (20) on konfiguroitu ottamaan vastaan mainittu digitaalinen kuva näkymästä (41) digitaalisesta kuvantamisjärjestelmästä (40) ja lähettämään mainittu digitaalinen kuva 20 näkymästä (41) mainitulle digitaalisen kuvan heijastamisyksikölle (50) (50), ja mainittu digitaalisen kuvan heijastamisyksikkö (50) on konfiguroitu ottamaan vastaan mainittu digitaalinen kuva näkymästä (41) nostetun kontin (15) takaa ja/tai alta mainitusta digitaalisesta 25 kuvantamisjärjestelmästä (40).15 to send said digital image of the view (41) from under and / or behind the lifted container (15) to said processing unit (20), said processing unit (20) is configured to receive said digital image of the view (41) of the digital imaging system (40) and send said digital image Fig. 20 is a view (41) of said digital image projection unit (50) (50), and said digital image reflection unit (50) is configured to receive said digital image of the view (41) from behind and / or below the raised container (15) of said digital imaging system; (40). 7. Patenttivaatimuksen 5 tai 6 mukainen raskas nostotrukki (11), tunnettu siitä, että se käsittää lisäksi:Heavy forklift (11) according to claim 5 or 6, characterized in that it further comprises: käyttöliittymän (25), joka on yhdistetty mainittuun 30 prosessointiyksikköön (20).a user interface (25) connected to said processing unit (20). 20176102 PRH 06 -11- 201820176102 PRH 06 -11- 2018 8. Patenttivaatimuksen 7 mukainen raskas nostotrukki (11), tunnettu siitä, että mainittu käyttöliittymä (25) käsittää näytön tai kosketusnäytön informaation esittämiseksi käyttäjälle (1) ja/tai käskyjen/syötteiden vastaanottamiseksi käyttäjältä (1).Heavy forklift (11) according to claim 7, characterized in that said user interface (25) comprises a display or a touch screen for presenting information to the user (1) and / or for receiving commands / inputs from the user (1). 9. Patenttivaatimuksen 8 mukainen raskas nostotrukki (11), tunnettu siitä, että mainittu käyttöliittymä (25) on konfiguroitu lähettämään edelleen käyttäjältä (1) vastaanotetut käskyt/syötteet mainitulle digitaaliselle kuvantamisjärjestelmälle (40) ja/tai mainitulleHeavy forklift (11) according to claim 8, characterized in that said user interface (25) is configured to forward commands / inputs received from the user (1) to said digital imaging system (40) and / or to said 10 digitaalisen kuvan heijastamisyksikölle (50).10 digital image projection units (50). 10. Patenttivaatimuksen 8 tai 9 mukainen raskas nostotrukki (11), tunnettu siitä, että mainitut käskyt/syötteet käyttäjältä (1) määräävät prosessointiyksikköä (20) säätämään mainitun heijastetun kuvan (51),Heavy forklift (11) according to claim 8 or 9, characterized in that said commands / inputs from the user (1) instruct the processing unit (20) to adjust said projected image (51), 15 (52), (71), (72) ominaisuuksia ja/tai säätämään mainitun digitaalisen kuvan ominaisuuksia näkymästä (41) nostetun kontin (15) takaa ja/tai alta.15 (52), (71), (72) and / or to adjust the properties of said digital image from the view (41) from behind and / or below the raised container (15). 11. Jonkin edellisen patenttivaatimuksen 5-10 mukainen raskasHeavy according to one of the preceding claims 5 to 10 20 nostotrukki (11), tunnettu siitä, että se käsittää lisäksi: paranteluyksikön (55), joka on konfiguroitu ottamaan vastaan käskyjä mainitulta prosessointiyksiköltä (20) ja/tai mainitusta käyttöliittymästä (25) ja suorittamaan mainitut käskyt.A forklift (11), further comprising: an enhancement unit (55) configured to receive instructions from said processing unit (20) and / or said user interface (25) and to execute said instructions. 2525 12. Jonkin edellisen patenttivaatimuksen 1-11 mukainen raskas nostotrukki (11), tunnettu siitä, että mainittu heijastettu kuva (71), (72) käsittää prosessoidun ja/tai parannellun kuvan (81), (82).Heavy forklift (11) according to any one of the preceding claims 1-11, characterized in that said projected image (71), (72) comprises a processed and / or improved image (81), (82). 13. Patenttivaatimuksen 12 mukainen raskas nostotrukki (11),Heavy Forklift (11) according to claim 12, 30 tunnettu siitä, että mainittu prosessoitu ja/tai paranneltu kuva (81), (82) käsittää vain havaittujen kohteiden ääriviivoja.30 characterized in that said processed and / or improved image (81), (82) comprises only the outlines of the detected objects. 20176102 PRH 06 -11- 201820176102 PRH 06 -11- 2018 14. Patenttivaatimuksen 12 tai 13 mukainen raskas nostotrukki (11), tunnettu siitä, että mainittu prosessoitu ja/tai paranneltu kuva (81), (82) käsittää lisäinformaatiota.Heavy forklift (11) according to claim 12 or 13, characterized in that said processed and / or improved image (81), (82) comprises additional information. 5 15. Jonkin edellisen patenttivaatimuksen 1-11 mukainen raskas nostotrukki (11), tunnettu siitä, että mainittu digitaalinen kuvantamisjärjestelmä (40) on kiinnitetty tai sijoitettu mainittuun kontinnostojärjestelyyn (12) tai mainittuun kontinkäsittely-yksikköön (13).Heavy Forklift (11) according to any one of the preceding claims 1-11, characterized in that said digital imaging system (40) is attached to or located in said container lifting arrangement (12) or in said container handling unit (13). 10 16. Jonkin edellisen patenttivaatimuksen 1-12 mukainen raskas nostotrukki (11), tunnettu siitä, että esillä olevan keksinnön mukainen digitaalisen kuvan heijastamisyksikkö (50) on kiinnitetty tai sijoitettu mainitun raskaan nostotrukin (11) runkoon, mainitun raskaan nostotrukin (11) ohjaamon runkoon tai mainittuun kontinnostojärjestelyynHeavy Forklift (11) according to any one of the preceding claims 1 to 12, characterized in that the digital image projection unit (50) according to the present invention is attached or positioned in the frame of said heavy forklift (11), in the cab frame of said heavy forklift (11) or to said container lifting arrangement 15 (12).15 (12). 17. Jonkin edellisen patenttivaatimuksen 1-13 mukainen raskas nostotrukki (11), tunnettu siitä, että mainittu raskas nostotrukki (11) on tyhjän kontin nostotrukki, lastatun kontin nostotrukki, raskasHeavy Forklift (11) according to any one of the preceding claims 1-13, characterized in that said heavy Forklift (11) is an Empty Container Forklift, Loaded Container Forklift, Heavy 20 haarukkatrukki tai kurottaja (11).20 Forklift or Telescopic Forklift (11). 18. Jonkin edellisen patenttivaatimuksen 2-14 mukainen raskas nostotrukki (11), tunnettu siitä, että mainittu kontinkäsittely-yksikkö (13) on nostohaarukka, sivulaitakonttitarttuja, ylhäältä nostavaHeavy forklift (11) according to any one of the preceding claims 2 to 14, characterized in that said container handling unit (13) is a lifting fork, a side-by-side container grab, a top-lift 25 konttitarttuja, teleskooppinen sivulaitekonttitarttuja, teleskooppinen ylhäältä nostava konttitarttuja (13) tai taittuva teleskooppinen ylhäältä nostava konttitarttuja.25 container grabs, telescopic accessory container grabs, telescopic top-lift container grabs (13) or folding telescopic top-lift container grabs.
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FR2667027B1 (en) * 1990-09-21 1995-06-30 Ppm MOBILE HANDLING MACHINE, SUCH AS A HANDLING MACHINE FOR CONTAINERS.
JP2003054871A (en) * 2001-08-10 2003-02-26 Yuzo Shimizu Spreader for suspending container
JP2005298184A (en) * 2004-04-15 2005-10-27 Nippon Yusoki Co Ltd Material handling vehicle
EP3170783B1 (en) * 2015-11-23 2019-05-29 ABB Schweiz AG Container crane control system
CN205709438U (en) * 2016-05-04 2016-11-23 湖南科天健光电技术有限公司 A kind of detection automatically for container is grabbed case and piles up the device of position

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