WO2020083689A1 - Engin de manutention comprenant une fourche de chargement, procédé de fonctionnement, appareil de commande, programme informatique et produit programme d'ordinateur - Google Patents

Engin de manutention comprenant une fourche de chargement, procédé de fonctionnement, appareil de commande, programme informatique et produit programme d'ordinateur Download PDF

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Publication number
WO2020083689A1
WO2020083689A1 PCT/EP2019/077740 EP2019077740W WO2020083689A1 WO 2020083689 A1 WO2020083689 A1 WO 2020083689A1 EP 2019077740 W EP2019077740 W EP 2019077740W WO 2020083689 A1 WO2020083689 A1 WO 2020083689A1
Authority
WO
WIPO (PCT)
Prior art keywords
fork
industrial truck
fork tines
sensor device
load
Prior art date
Application number
PCT/EP2019/077740
Other languages
German (de)
English (en)
Inventor
Udo Schulz
Edwinus HEEMSKERK
Sebastian Krieger
Dion Tims
Filip Rosenstein
Original Assignee
Robert Bosch Gmbh
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Robert Bosch Gmbh filed Critical Robert Bosch Gmbh
Publication of WO2020083689A1 publication Critical patent/WO2020083689A1/fr

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/0755—Position control; Position detectors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • 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
    • B66F9/075—Constructional features or details
    • B66F9/12—Platforms; Forks; Other load supporting or gripping members
    • B66F9/14—Platforms; Forks; Other load supporting or gripping members laterally movable, e.g. swingable, for slewing or transverse movements

Definitions

  • Control unit computer program and computer program product
  • the invention relates to an industrial truck with a load fork, which has at least two fork tines movably mounted on a fork carriage, and with a sensor device for threading the fork tines into receiving recesses of a load to be handled, the sensor device in particular having at least one light source.
  • the invention relates to a method for operating such an industrial truck as well as a control device and a computer program for performing the method.
  • the invention further relates to a computer program product with the machine-readable computer program.
  • a generic industrial truck is already known from the published patent application DE 10 2012 104 808 A1.
  • this has two fork tines, which are movably mounted on a fork carriage, and a sensor device, which is emitted by a light source
  • Light beam detects the load to be handled, in order to carry out or influence the vehicle control, in particular a movement of the load handling means, as a function of the detected load, in order to securely thread the fork tines into receiving depressions of the load, as they do
  • the industrial truck according to the invention with the features of claim 1 has the advantage that a precise movement or positioning of the Forks for threading into the recesses are guaranteed. Detection of the load itself by the sensor device is not absolutely necessary. Rather, it is possible for the user to use the invention to adjust the positioning of the fork tines to one another and / or to the fork carrier in a particularly precise manner, for example in order to prevent the threading on the one hand and avoiding the load on the load fork from tipping over on the other hand.
  • the sensor device is designed and / or arranged to detect the distance between the fork tines and / or the position of at least one of the fork tines on the fork carriage. This makes the exact position of the
  • the position of the fork tines on the fork carriage can be a relative position of the fork tines to the fork carriage.
  • the control device in particular its light source, is particularly preferably arranged on one of the fork tines or on the fork carriage. This enables simple and precise detection of the distance and / or the position
  • the senor device or light source is arranged on the fork tines, it is preferably oriented such that it emits light, in particular a light beam, in the direction of the adjacent fork tine in order to precisely detect the distance to the adjacent fork tines.
  • the sensor device expediently also has a light receiver which, for example, depends on the running time of the adjacent fork prongs
  • reflected light beam calculates the distance to the fork tines.
  • the light source is preferably a laser light source in order to ensure a particularly precise distance detection, from which, for example, the position of one of the fork tines on the fork carriage can also be determined.
  • the light source is arranged such that the lateral, in particular horizontal, distance of the fork prong to the fork carriage.
  • the light source is arranged on the fork tine and aligned with the fork carrier, or arranged on the fork carrier and aligned in the direction of the fork tine, in particular in the direction of movement of the fork tine, in order to determine the position of the fork tine on or relative to the fork carrier.
  • the sensor device preferably has a plurality of light sources which determine the position of the fork tine in relation to the adjacent fork tine or to the fork carriage in different spatial directions.
  • At least one sensor device or light source is arranged and / or designed to detect or sense a load, in particular optically, in the direction of extension of the fork tines in order to determine receiving depressions of the load for the respective fork tines.
  • the industrial truck has at least one display device which graphically represents the detected position, the detected distance and / or the load, in particular the receiving recesses thereof. This makes it easier for the truck user to control the
  • the sensor device has a plurality of light sources, each light source preferably being assigned its own light receiver, light sources can be of the same or different design. All light sources are preferably designed as laser light sources. Alternatively, one or more of the
  • Light sources can also be designed as infrared light sources or scattered light sources.
  • the light receiver is preferably a camera sensor.
  • light sources it is also conceivable that
  • control device As a lidar, radar and / or ultrasonic sensor device.
  • the control device according to the invention with the features of claim 8 is characterized in that it is specially designed to
  • the recorded data are used to automatically control the industrial truck, in particular to at least move the fork tines in an automated manner in order to safely thread the
  • a risk of the load to be handled tipping is preferably determined as a function of the detected position of the fork tines and / or the distance between the fork tines.
  • the position of the fork tines in relation to the fork carriage is determined in order to determine whether an imbalance can arise on the fork carriage, which can cause the load or even the truck as a whole to tip over.
  • a warning message in particular acoustically and / or visually, is preferably output to the user of the industrial truck.
  • the further movement of the fork tines and / or the industrial truck is prevented in order to avoid tipping over.
  • Sensor device also detects the load to be handled, in particular scanned, in order to determine receiving depressions of the load for the fork tines. This enables automated control or movement of the forks and the truck as a whole. This results in the advantages already mentioned above.
  • the fork tines and / or the industrial truck as a whole are preferably moved in order to sense the load by means of the at least one sensor device.
  • the sensor device itself can be designed more cost-effectively.
  • an already occurring movement of the industrial truck and the fork tines is recorded in order to scan the load, in particular the Euro pallet, as a function of the movement that has taken place and the distance measurement of the sensor device.
  • Receiving recesses are moved on the fork carriage.
  • the industrial truck for forks in the receiving recesses is driven or moved in order to carry out an automated loading process or at least partially automated loading process.
  • the computer program product according to the invention with the features of claim 14 is characterized in that it has a machine-readable computer program.
  • FIG. 1 shows an industrial truck in a simplified perspective illustration
  • FIG. 2 shows a method for operating the industrial truck in a simplified illustration
  • FIG. 3 shows another embodiment of the method
  • Figure 4 shows another embodiment of the method.
  • Figure 1 shows a perspective view of an industrial truck 1, which is designed according to the present embodiment as a forklift 2.
  • the industrial truck 1 has a fork carriage 3, on which two fork tines 4, 5 of a load fork are arranged parallel to one another.
  • the fork tines 4, 5 are mounted on the fork carriage 3 such that they can be moved horizontally and vertically, actuators being provided which move the fork tines 4, 5 as required.
  • the driver of the industrial truck 1 can do this, for example, by operating corresponding control levers.
  • the industrial truck also has a sensor device 6
  • the sensor device 6 has a light source 7, which is designed as a laser light source and generates a laser beam, and a light receiver 8, which is designed for this purpose
  • the sensor device 6 is arranged on one of the fork tines 5 such that it detects the distance a from the adjacent fork tines 4. For this purpose, for example, the transit time of the laser beam from one fork tine 5 to the other fork tine 5 and possibly back is recorded and the distance between the fork tines from one another is calculated from this.
  • the industrial truck 1 has a further sensor device 9, which detects a lateral, ie horizontal, distance b of the fork tine 5 from the fork carriage 3.
  • the sensor device 9 is arranged on the fork carriage 3 and, in particular, like the sensor device 6, is designed as a laser light sensor device that measures the horizontal distance b between the fork carriage 3 and
  • the industrial truck 1 optionally has a further sensor device 10, which is also designed as a distance laser light device and is arranged on the fork tines 5, the sensor device 10 being designed such that the laser beam is oriented in the direction of the fork tine 5 and thus in the direction of the load to be charged .
  • the laser beam from the sensor device 10 thus extends parallel to the fork tines 5.
  • a corresponding sensor device 11, which corresponds to the sensor device 10, is arranged on the fork tines 4.
  • the fork carriage 3 can itself be moved vertically on the industrial truck and optionally also horizontally. To determine the horizontal position of the
  • Fork carrier is optionally assigned a further sensor device (not shown here) which detects the lateral distance of the fork carrier 3 from the fixed component of the industrial truck in order to determine the position of the fork carrier 3 and thus that of the fork tines 4, 5 on the industrial truck 1.
  • the load to be handled can be scanned or scanned by means of the sensor devices 10, 11 in order to
  • Laser devices or sensor devices 10, 11 detect distances to the industrial truck 1 to determine receiving depressions of the load into which the fork tines 4, 5 can be inserted.
  • the industrial truck 1 also has a display device 12, on which the user of the industrial truck 1 is shown data relating to the fork position and / or the load, which were determined by the sensor devices 6, 7, 10 and 11. In particular, the data is graphically,
  • the industrial truck 1 is optionally designed to carry out the threading or insertion process in a partially automated or fully automated manner, for which purpose the industrial truck preferably has a corresponding control device 13.
  • the control unit 13 is connected to the
  • Sensor devices 6, 9, 10 and 11 are connected in terms of signals and determine the position of the fork tines 4, 5 and that of the receiving depressions of the load as a function of the detected distances.
  • the control device 13 also preferably determines a risk of tipping over for the load to be handled. If, for example, the fork tines are arranged off-center on the fork carriage 3, this could lead to the industrial truck 1 tipping over if the load to be handled is sufficiently heavy. If the control device 13 therefore determines a corresponding risk of tipping, a warning message is output to the driver or a movement of the fork tines 4, 5 into a corresponding position is prevented or automatically reversed.
  • Figures 2, 3 and 4 is an advantageous in the following
  • Such an industrial truck 1 is usually used for handling objects stored on pallets, in particular so-called euro pallets.
  • Such pallets have a defined shape and can be lifted and handled from two sides by a forklift.
  • the pallet has lateral receiving recesses 14 into which the
  • Forks 4, 5 can be inserted or threaded.
  • the user of the industrial truck has to hit the receiving recesses 14 or empty spaces between the load-bearing elements of the pallet, which means that he has to adjust the fork tines both horizontally and vertically.
  • the positions and / or positions of the fork tines 4, 5, optionally also those of the fork carriage 3, are graphically displayed to the user of the industrial truck 1 by the display device 12, which makes operation of the latter easier.
  • text and / or numbers can also be displayed to the user.
  • the sensor devices 10 and 11 are used in particular to detect the receiving depressions 14 of the load to be handled or of a pallet 15 carrying the load, as is shown in FIG. 2 by way of example in a side view. While according to the present exemplary embodiment the sensor devices 10, 11 are arranged on the fork tines 4, 5, according to a further exemplary embodiment it is provided that the
  • Sensor devices 10, 11 are arranged in the respective fork tines 5 and 4, in which case there is preferably an optical window at the fork tip of the respective fork tine 5, 4 through which the respective laser beam can pass to the outside for distance measurement.
  • only one sensor device 6, 9 can be placed between
  • Reference positions of the two forks are installed.
  • the position of the displaceable fork tines of the reference position is then detected by means of this sensor, the position of the fork tines 4 and 5 being able to be determined absolutely and relative to one another.
  • the side of the load or the pallet 15 facing the industrial truck 1 is preferably scanned or scanned by the horizontal and / or vertical movements of the fork tines and / or the fork carriage 3.
  • Forks are calculated for the associated receiving recesses 14 for threading the forks.
  • the dimensions or features of the relevant pallets 15 are preferably stored in a model in the memory of the control unit 13. The position of the forks 4, 5 to the
  • Receiving recesses 14 of the pallet 15 are preferably displayed graphically and / or numerically to the user or driver of the industrial truck 1 on the display device 12.
  • the scanning is preferably started when the truck starts or turns in the direction of the pallet 15 in order to also detect the vehicle movement of the truck for the truck
  • Fork carrier 3 used to three-dimensionally scan the load, in particular the pallet 15, from the distance measurements of the one or more sensor devices 6, 9, 10, 11.
  • the scanning of the pallet 15 by means of the two sensor devices 10, 11 is shown as an example in FIGS. 2, 3 and 4.
  • the smaller ones In order to detect the distance between the fork tines 4, 5 and the pallet 15, the smaller ones ultimately become
  • FIG. 2 shows a side view of the pallet 15 with two receiving recesses 14, as well as indicated by arrows and dash-dotted lines, the movement path of the sensor devices 10, 11, which detect the distance to the pallet 15.
  • the height of the receiving recesses 14 is determined.
  • the middle sampling points are used as the height plane for horizontal scanning.
  • FIG. 3 shows a side view of the pallet 15 from an angle that is perpendicular to that of FIG. 2.
  • Carrier element (block) is wider than the outer carrier elements, when the fork is moved further in the horizontal direction it is clearly recognizable how the fork is aligned with the pallet 15. If the right outer edge of the right support element is detected by the right sensor, but the left sensor does not detect any change in distance, it can be determined that the fork tines are located opposite the right and the middle support element and by a movement to the left in the overlapping position with the receiving recesses 14 are feasible. The same applies to the left side of the pallet 15.
  • FIG. 4 shows the pallet 16 again in a side view, as is also shown in FIG. 2. The front side of the pallet 15 is scanned here by two distance measurements with the sensor devices 10, 11 in order to determine the
  • FIGS. 3 and 4 show the movements of the fork tines 4, 5 or the sensor devices 10, 11 towards the pallet, which movements have to be carried out in order to achieve a clear one

Landscapes

  • Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Transportation (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Mechanical Engineering (AREA)
  • Civil Engineering (AREA)
  • Forklifts And Lifting Vehicles (AREA)

Abstract

L'invention concerne un engin de manutention (1) comprenant une fourche de charge, qui comporte au moins deux dents (4, 5) de fourche montées sur un support (3) de fourche, et un dispositif de capteur (6, 9, 10, 11) servant à enfiler les dents (4, 5) de fourche dans des renfoncements de logement d'une charge à manipuler. Le dispositif de capteur (6, 9, 10, 11) comporte en particulier au moins une source de lumière (7). L'invention prévoit que le dispositif de capteur (6, 9, 10, 11) soit réalisé et/ou disposé pour détecter la distance (a, b) entre les dents (4, 5) de fourche les unes par rapport aux autres et/ou la position d'au moins une des dents (4, 5) de fourche sur le support (3) de fourche.
PCT/EP2019/077740 2018-10-24 2019-10-14 Engin de manutention comprenant une fourche de chargement, procédé de fonctionnement, appareil de commande, programme informatique et produit programme d'ordinateur WO2020083689A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102018218191.8 2018-10-24
DE102018218191.8A DE102018218191A1 (de) 2018-10-24 2018-10-24 Flurförderfahrzeug mit einer Lastgabel, Verfahren zum Betreiben, Steuergerät, Computer-Programm und Computer-Programm-Produkt

Publications (1)

Publication Number Publication Date
WO2020083689A1 true WO2020083689A1 (fr) 2020-04-30

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PCT/EP2019/077740 WO2020083689A1 (fr) 2018-10-24 2019-10-14 Engin de manutention comprenant une fourche de chargement, procédé de fonctionnement, appareil de commande, programme informatique et produit programme d'ordinateur

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DE (1) DE102018218191A1 (fr)
WO (1) WO2020083689A1 (fr)

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102019120021A1 (de) * 2019-07-24 2021-01-28 Jungheinrich Aktiengesellschaft Flurförderzeug mit einer Assistenzeinrichtung
CN113651268B (zh) * 2021-08-06 2023-02-24 诸城市大路机械有限公司 一种电动叉车倾覆预警装置
DE102021131571A1 (de) 2021-12-01 2023-06-01 Martin Lindenbauer Assistenzsystem
CN115258500A (zh) * 2022-08-30 2022-11-01 安徽宇锋智能科技有限公司 一种防止货叉与工件结霜凝结的冷库搬运机器人及方法

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5052882A (en) * 1989-12-04 1991-10-01 Caterpillar Industrial Inc. Apparatus and method for controllably positioning forks of a material handling vehicle
EP2168904A1 (fr) * 2008-09-29 2010-03-31 BT Products AB Chariot de manutention avec déplacement latéral automatisé du moyen de prise de charge
US20100266381A1 (en) * 2004-05-03 2010-10-21 Jervis B. Webb Company Automatic transport loading system and method
DE102012104808A1 (de) 2012-06-04 2013-12-05 Still Gmbh Flurförderzeug mit Positioniervorrichtung
WO2018103773A1 (fr) * 2016-12-06 2018-06-14 Kaup Gmbh & Co. Gesellschaft Für Maschinenbau Dispositif de transport d'une marchandise à transporter et procédé correspondant

Family Cites Families (3)

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Publication number Priority date Publication date Assignee Title
SE527149C2 (sv) * 2003-12-08 2006-01-10 Lars-Erik Simonsson Anordning och sätt vid truckar för mätning av läge i förhållande till ett stillastående föremål
EP2184254B1 (fr) * 2008-11-11 2013-01-09 Deutsche Post AG Chariot élévateur à fourches avec dispositif d'avertissement de collision et de guidage
DE102014017255A1 (de) * 2014-11-24 2016-05-25 Eisenmann Se Fördereinheit und Fördersystem zum Fördern von Ladungsträgern

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5052882A (en) * 1989-12-04 1991-10-01 Caterpillar Industrial Inc. Apparatus and method for controllably positioning forks of a material handling vehicle
US20100266381A1 (en) * 2004-05-03 2010-10-21 Jervis B. Webb Company Automatic transport loading system and method
EP2168904A1 (fr) * 2008-09-29 2010-03-31 BT Products AB Chariot de manutention avec déplacement latéral automatisé du moyen de prise de charge
DE102012104808A1 (de) 2012-06-04 2013-12-05 Still Gmbh Flurförderzeug mit Positioniervorrichtung
WO2018103773A1 (fr) * 2016-12-06 2018-06-14 Kaup Gmbh & Co. Gesellschaft Für Maschinenbau Dispositif de transport d'une marchandise à transporter et procédé correspondant

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