EP1728757A1 - Industrial truck - Google Patents

Industrial truck Download PDF

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Publication number
EP1728757A1
EP1728757A1 EP06008815A EP06008815A EP1728757A1 EP 1728757 A1 EP1728757 A1 EP 1728757A1 EP 06008815 A EP06008815 A EP 06008815A EP 06008815 A EP06008815 A EP 06008815A EP 1728757 A1 EP1728757 A1 EP 1728757A1
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EP
European Patent Office
Prior art keywords
truck according
truck
communication
load
common
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Granted
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EP06008815A
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German (de)
French (fr)
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EP1728757B1 (en
Inventor
Maik Manthey
Joachim Dr. Tödter
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STILL GmbH
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STILL GmbH
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/0755—Position control; Position detectors

Definitions

  • the invention relates to an industrial truck with a vertically movable load-receiving means and a device arranged in the region of the load-receiving means for communication with an identification system, in particular with RFID transponders.
  • the load handling device is usually designed as a fork and attached to a fork carriage. This can usually but also other implements, such as a drum clamp or a spike record.
  • devices for communication with an identification system in particular with RFID transponders, are used in industrial trucks. These systems are preferably mounted in the area of the load-carrying means, that is, on the fork carriage or on the attachment, since they are as close as possible to the identification means to be read, and thus a largely trouble-free communication is made possible.
  • the attachment in the area of the lifting device has a number of disadvantages.
  • very stable and therefore large and heavy fastening devices are required.
  • protective housing for the communication device must be very stable and therefore large and expensive to run, in particular, since these can not be made of metal in essential parts, which would interfere with the reception of the communication device.
  • the fork carriage or the load-carrying means Since an independent fastening device is to be provided for each component, the fork carriage or the load-carrying means is expensive to manufacture.
  • the load weight that can be taken up is reduced by the weight of the components attached to the load-carrying device, and their housings play a major role in this. If the load-carrying means is vertically movably guided on a relatively high lifting mast in order to achieve high lifting heights, the weight of the components attached to the load-receiving means also has a disadvantageous effect on the vibration behavior of the lifting mast.
  • the invention is therefore based on the object, an industrial truck with a vertically movable load-receiving means and arranged in the region of the load receiving device for communication with a ldentariassystem, in particular with RFID transponders, and at least one further functional component to create, the above-described disadvantages of the prior avoids the technology and in particular ensures a simple structure, secure attachment of the components and proper function.
  • At least one common fastening device and / or at least one common housing for receiving the device for communication with a ldent Enssystem and at least one further functional component are provided.
  • the fastening device and / or housing By sharing the fastening device and / or housing, the expense for different housing and / or fastening devices is eliminated.
  • the weight of the mounted in the area of the fork carriage components including fasteners is also significantly reduced.
  • the at least one further component comprises at least one camera unit, in particular a fork-tip camera.
  • Cameras are often mounted in the area of the load handling device to allow the operator to better view the load or the area in front of the load handler in difficult loading and unloading conditions.
  • forklift cameras areas of the housing, which is attached to a fork tine, are often not used, but serve only to protect the cable connection to the truck from damage. These areas are very well suited for mounting a communication device, for example in the form of an RFID antenna.
  • the at least one further component comprises at least one device for detecting accelerations.
  • Such devices are also often mounted in the area of the lifting device.
  • Communication devices which are attached to the fork carriage, for example, have housings in which a relatively large-area antenna is arranged on the side facing the load. On the side facing away from the load, the housing or the fastening device extends substantially further than the extent of the antenna to allow a sufficiently secure attachment. This unused space provides space for mounting an accelerometer that does not require a clear "view" of the load.
  • the at least one further component comprises at least one device for detecting the inclination of a mast and / or the load receiving means.
  • Such devices are also often mounted in the area of the lifting device.
  • Communication devices which are attached to the fork carriage, for example, have housings in which a relatively large-area antenna is arranged on the side facing the load. On the side facing away from the load, the housing or the extends Fastening device substantially further than the extension of the antenna to allow a sufficiently secure attachment. This unused space provides space for the installation of a tilt sensor that does not require a clear "view" of the load.
  • the at least one further component comprises at least one device for non-contact removal measurement, in particular by means of electromagnetic waves, preferably a laser unit and / or a radar unit.
  • Such devices usually comprise a plurality of transmitting and / or receiving units which, although they have relatively small dimensions, but must be arranged at certain distances from each other.
  • Communication devices which are attached to the fork carriage, for example, have housings in which a relatively large-area antenna is arranged on the side facing the load. In particular, in the edge regions can therefore be arranged with only slightly enlarged dimensions of the housing of the communication device, the transmitting and / or receiving units of the distance measuring device.
  • the associated transmitter can be arranged for example on the side facing away from the load of the antenna in the housing, which extends there substantially further than the extent of the antenna to allow a sufficiently secure attachment.
  • the at least one further component comprises at least one device for detecting three-dimensional objects, in particular by means of laser radiation.
  • Such devices which are also referred to as 3D camera, are also preferably arranged in the region of the fork carriage.
  • the at least one further component comprises at least one transmitting and / or receiving unit of a device for collision avoidance, in particular by means of electromagnetic waves and / or ultrasound, in particular a laser unit and / or a radar unit.
  • Devices for collision avoidance usually comprise a plurality of transmitting and / or receiving units which, although they have relatively small dimensions, but must be arranged at certain distances from each other.
  • Communication devices that are attached to the fork carriage for example, have housings in which on the load facing side a relatively large-area antenna is arranged. In particular, in the edge regions can therefore be arranged with only slightly enlarged dimensions of the housing of the communication device or slightly smaller dimensions of the communication device, the transmitting and / or receiving units of the distance measuring device.
  • the associated transmitter can be arranged for example on the side facing away from the load of the antenna in the housing, which extends there substantially further than the extent of the antenna to allow a sufficiently secure attachment.
  • the at least one further component comprises at least one device for reading out optical identification means, in particular bar code labels.
  • Devices for reading optical identification means are also usually arranged in the region of the fork carriage. Often both types of identification systems are used in parallel or alternatively. By combining the devices, it is possible to read the identification data of both systems.
  • the device for communication with an identification system and the at least one further functional component have a common voltage supply.
  • the cost of production and maintenance is significantly reduced, especially if the power supply is made via cable from an energy source in the vehicle.
  • the device for communication with an identification system and the at least one further functional component have common means for signal transmission to further components of the industrial truck, in particular to an electronic controller.
  • the cost of production and maintenance is significantly reduced.
  • this is particularly advantageous because their leadership is particularly complex from the movable fork carriage to the truck.
  • Figure 1 shows a fork tine 1 with indicated cross members 2 of a fork carrier 3.
  • a forklift camera 4 Secured to the side of the fork 1 is a forklift camera 4, which consists essentially of a housing 5 and a camera module 6.
  • the housing 5 is fastened to the fork tine 1 by means of three fastening devices 7 designed as screw connections.
  • the camera module 6 includes here not shown in detail optical and electronic components that are used for detection and processing of the image signals.
  • the rear part 8 of the housing 5 is used in fork-type cameras according to the prior art only to protect the cable that connects the camera module 6 with a monitor at the driver's station of the truck, from damage and is otherwise empty.
  • a device 9 for communication with RFID transponders is arranged in the rear part 8 of the housing 5.
  • the communication device 9 consists essentially of a combined RFID transmitting and receiving antenna 10 and an electronic unit 11, which serves for the preparation of the RFID signals.
  • suitable lines are combined in a cable 12.
  • the energy required is taken from a battery or a fuel cell unit, for example, or from supplied to a generator which is driven by an internal combustion engine.
  • the data transmission from the camera module 6 and from the electronics unit 11 takes place according to a standardized transmission protocol via a common line, which is likewise integrated in the cable 12.
  • FIG. 2 shows a fork carriage 3 of a truck according to the invention mounted thereon with distance measuring system 13, tilt sensor 14 and RFID transmitter / receiver unit 15.
  • a housing 18 is attached via a fastening device 17.
  • an RFID transmitting / receiving unit 15 is arranged, which essentially consists of a transmitting and receiving antenna 19 and an electronic unit 20.
  • the electronic unit 20 is connected via a cable connection 21 with an evaluation unit arranged in the truck in operative connection and serves for processing the data from or for the antenna 19.
  • the transmission of data between the evaluation and the electronic unit 20 by means of a standardized bus protocol, in the present Case via CAN bus, via the cable connection 21.
  • sensors 22 of the Entfemungsmesssystems 13 are mounted in the edge region of the housing 18 .
  • the sensors 22 are designed as laser sensors which are provided for the transmission and reception of signals and are in operative connection with an electronics unit 23 of the distance measuring system 13 arranged behind the antenna 19.
  • the distance signals determined by the sensors 22 are processed in the electronic unit 23 and also transmitted by means of CAN bus via the cable connection 21 to the truck.
  • an inclination sensor 14 also arranged behind the antenna 19 is an inclination sensor 14, the measured values of which are likewise transmitted via the cable connection 21 to the industrial truck.
  • the power supply of all disposed in the housing 18 components 13, 14, 15 via a common power supply, which is also integrated in the cable 21. This and the use of a bus system, with which the data of the components 13, 14, 15 are transmitted via the same lines, reduces the cabling effort compared to vehicles according to the prior art considerably.
  • FIG. 3 shows a fork carriage 3 of an industrial truck according to the invention.
  • a fastening device 24 is arranged for functional components.
  • the fastening device 24 consists essentially of three attached to the upper cross member 16 of the fork carriage 3 Eyelets 25 with which a retaining rail 26 is screwed.
  • the support rail 26 carries a 3D camera 27 and a device 15 for communication with an identification system.
  • the communication device 15 is constructed in the same way as in the preceding embodiments, wherein in the housing 18 of the communication device 15 no further functional components are accommodated.
  • Both the housing 18 of the communication device 15 and the independent housing 28 of the 3D camera 27 have here not shown guide elements which are mounted and fixed by means of a dovetail guide 29 in the support rail 26.
  • the components 15, 27 are connected to each other as in the previous embodiments via a cable 21, which contains both lines for power supply as well as for the transmission of information.
  • other components such as, for example, collision warning systems, conventional cameras or barcode scanners can also be fastened to the support rail 26.
  • 15 further functional components are arranged in the housing 18 of the communication device.
  • Standardized transmission methods with standardized protocols are preferably used because of the associated advantages, such as the use of common and therefore cost-effective components, but cases are also conceivable in which a transmission method adapted to the application is advantageous.
  • wired transmission and wireless transmission methods such as wireless methods
  • the power supply of the functional components also not via cables, but for example by means of a housing 5, 18 arranged, independent battery.
  • the common housing 5, 18 may also be designed in other than the forms shown, this being directed to the requirements of the specific application. Due to the necessary for the communication with RFID transponders permeability to electromagnetic waves, the housing 5, 18 preferably be at least partially formed of a polymer material.

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

Abstract

The fork lift truck has a vertically movable load pick-up unit (1) with an associated device (9) for communicating with an identification system such as a RFID transponder. At least a common fixing device (7) and/or at least a common housing (5) is provided to contain the communication device and at least one further functioning component (4) which can comprise a camera unit for example. The further components can comprise devices for detecting the incline of the lifting frame, accelerations, contactless distance measuring devices, bar code readers and others.

Description

Die Erfindung betrifft ein Flurförderzeug mit einem vertikal bewegbaren Lastaufnahmemittel und einer im Bereich des Lastaufnahmemittels angeordneten Vorrichtung zur Kommunikation mit einem Identifikationssystem, insbesondere mit RFID-Transpondem.The invention relates to an industrial truck with a vertically movable load-receiving means and a device arranged in the region of the load-receiving means for communication with an identification system, in particular with RFID transponders.

Flurförderzeuge mit vertikal bewegbarem Lastaufnahmemittel sind in vielen Formen für den innerbetrieblichen Warentransport gebräuchlich. Das Lastaufnahmemittel ist zumeist als Lastgabel ausgeführt und an einem Gabelträger befestigt. Dieser kann zumeist aber auch andere Anbaugeräte, wie beispielsweise eine Fassklammer oder einen Dorn, aufnehmen. Zunehmend werden bei Flurförderzeugen Vorrichtungen zur Kommunikation mit einem ldentifikationssystem, insbesondere mit RFID-Transpondem, eingesetzt. Diese Systeme werden bevorzugt im Bereich des Lastaufnahmemittels, also am Gabelträger oder am Anbaugerät, angebracht, da sie sich dadurch möglichst nahe an den auszulesenden Identifikationsmitteln befinden und somit eine weitgehend störungsfreie Kommunikation ermöglicht wird.Industrial trucks with vertically movable load handling devices are used in many forms for in-house goods transport. The load handling device is usually designed as a fork and attached to a fork carriage. This can usually but also other implements, such as a drum clamp or a spike record. Increasingly, devices for communication with an identification system, in particular with RFID transponders, are used in industrial trucks. These systems are preferably mounted in the area of the load-carrying means, that is, on the fork carriage or on the attachment, since they are as close as possible to the identification means to be read, and thus a largely trouble-free communication is made possible.

Die Anbringung im Bereich des Lastaufnahmemittels weist jedoch eine Reihe von Nachteilen auf. Insbesondere besteht eine große Gefahr, dass die Kommunikationsvorrichtung beschädigt wird. Um dies zu vermeiden, sind sehr stabile und damit große und schwere Befestigungsvorrichtungen erforderlich. Auch Schutzgehäuse für die Kommunikationsvorrichtung müssen sehr stabil und damit groß und aufwändig ausgeführt sein, insbesondere auch, da diese in wesentlichen Teilen nicht aus Metall gefertigt werden können, welches den Empfang der Kommunikationsvorrichtung stören würde.The attachment in the area of the lifting device, however, has a number of disadvantages. In particular, there is a great danger that the communication device will be damaged. To avoid this, very stable and therefore large and heavy fastening devices are required. Also protective housing for the communication device must be very stable and therefore large and expensive to run, in particular, since these can not be made of metal in essential parts, which would interfere with the reception of the communication device.

Im Bereich des Lastaufnahmemittels werden häufig weitere Funktionskomponenten angebracht, die dazu dienen, die Sicherheit des Flurförderzeugs zu verbessem oder den Umgang mit der Last zu erleichtem. Dies können beispielsweise Kameras sein, die am Gabelträger oder aber direkt an der Gabelspitze angebracht sind. Auch Kollisionsverhütungssysteme, Entfernungsmesssysteme, die punktuell oder über eine größere Fläche den Abstand des Flurförderzeugs von Hindernissen und Lasten ermitteln, so genannte 3D-Kameras, die über einen weiten Bereich in der Lage sind, die Distanz zu Hindernissen zu ermitteln und damit ein dreidimensionales Abbild der Umgebung im Messbereich zu erstellen, Sensoren zur Ermittlung der Neigung des Hubmastes oder des Lastaufnahmemittels sowie Beschleunigungssensoren sind bevorzugt in diesem Bereich angeordnet. Auch diese Komponenten müssen mittels aufwändiger Gehäuse vor Beschädigung geschützt werden. Da für jede Komponente eine eigenständige Befestigungsvorrichtung vorzusehen ist, ist der Gabelträger oder das Lastaufnahmemittel aufwändig zu fertigen. Das Lastgewicht, das aufgenommen werden kann, reduziert sich um das Gewicht der am Lastaufnahmemittel angebrachten Komponenten, woran deren Gehäuse einen großen Anteil haben. Ist das Lastaufnahmemittel zur Erreichung großer Hubhöhen an einem relativ hohen Hubmast vertikal beweglich geführt, wirkt sich das Gewicht der am Lastaufnahmemittel angebrachten Komponenten zudem nachteilig auf das Schwingungsverhalten des Hubmastes aus.In the area of the lifting device, other functional components are often attached, which serve to improve the safety of the truck or to facilitate the handling of the load. These may be, for example, cameras that are mounted on the fork carriage or directly on the fork tip. Also collision avoidance systems, distance measuring systems, the punctual or over a larger area the distance of the truck from obstacles and loads detect so-called 3D cameras, which are able to determine the distance to obstacles over a wide range and thus create a three-dimensional image of the environment in the measuring range, sensors for determining the inclination of the lifting mast or the load receiving means and acceleration sensors are preferred arranged in this area. These components must be protected by means of complex housing from damage. Since an independent fastening device is to be provided for each component, the fork carriage or the load-carrying means is expensive to manufacture. The load weight that can be taken up is reduced by the weight of the components attached to the load-carrying device, and their housings play a major role in this. If the load-carrying means is vertically movably guided on a relatively high lifting mast in order to achieve high lifting heights, the weight of the components attached to the load-receiving means also has a disadvantageous effect on the vibration behavior of the lifting mast.

Da das Platzangebot im Bereich des Lastaufnahmemittels sehr begrenzt ist, ist es zumeist nicht möglich, alle wünschenswerten Funktionskomponenten in idealer Position anzubringen, so dass entweder auf einige dieser Funktionen verzichtet werden muss oder aber erheblicher Aufwand erforderlich wird, um die Nachteile eines weniger geeigneten Anbringungsorts zu kompensieren. Zudem sind zur Spannungsversorgung sowie zur Übertragung von Signalen der Komponenten aufwändige Verkabelungen erforderlich.Since the space available in the area of the lifting device is very limited, it is usually not possible to attach all desirable functional components in an ideal position, so that either some of these functions must be omitted or considerable effort is required to the disadvantages of a less suitable mounting location compensate. In addition, complex cabling is required for the power supply and for the transmission of signals of the components.

Der Erfindung liegt daher die Aufgabe zugrunde, ein Flurförderzeug mit einem vertikal bewegbaren Lastaufnahmemittel und einer im Bereich des Lastaufnahmemittels angeordneten Vorrichtung zur Kommunikation mit einem ldentifikationssystem, insbesondere mit RFID-Transpondern, und mindestens einer weiteren Funktionskomponente zu schaffen, das die oben geschilderten Nachteile des Standes der Technik vermeidet und insbesondere einen einfachen Aufbau, sichere Anbringung der Komponenten und einwandfreie Funktion gewährleistet.The invention is therefore based on the object, an industrial truck with a vertically movable load-receiving means and arranged in the region of the load receiving device for communication with a ldentifikationssystem, in particular with RFID transponders, and at least one further functional component to create, the above-described disadvantages of the prior avoids the technology and in particular ensures a simple structure, secure attachment of the components and proper function.

Diese Aufgabe wird erfindungsgemäß dadurch gelöst, dass mindestens eine gemeinsame Befestigungsvorrichtung und/oder mindestens ein gemeinsames Gehäuse zur Aufnahme der Vorrichtung zur Kommunikation mit einem ldentifikationssystem und der mindestens einer weiteren Funktionskomponente vorgesehen sind. Indem Befestigungsvorrichtung und/oder Gehäuse gemeinsam genutzt werden, entfällt der Aufwand für verschiedene Gehäuse und/oder Befestigungsvorrichtungen. Das Gewicht der im Bereich des Gabelträgers angebrachten Komponenten inklusive Befestigungsvorrichtungen wird ebenfalls deutlich reduziert.This object is achieved in that at least one common fastening device and / or at least one common housing for receiving the device for communication with a ldentifikationssystem and at least one further functional component are provided. By sharing the fastening device and / or housing, the expense for different housing and / or fastening devices is eliminated. The weight of the mounted in the area of the fork carriage components including fasteners is also significantly reduced.

In einer besonders vorteilhaften Ausgestaltung der Erfindung umfasst die mindestens eine weitere Komponente mindestens eine Kameraeinheit, insbesondere eine Gabelzinkenkamera. Kameras werden häufig im Bereich des Lastaufnahmemittels angebracht, um der Bedienperson bei schwierigen Ein- und Auslagerungsbedingungen bessere Sicht auf die Last oder den Bereich vor dem Lastaufnahmemittel zu ermöglichen. Insbesondere bei Gabelzinkenkameras sind häufig Bereiche des Gehäuses, das an einer Gabelzinke angebracht ist, nicht genutzt, sondern dienen nur zum Schutz der Kabelverbindung zum Flurförderzeug vor Beschädigung. Diese Bereiche sind sehr gut geeignet, um eine Kommunikationsvorrichtung, beispielsweise in Form einer RFID-Antenne, anzubringen.In a particularly advantageous embodiment of the invention, the at least one further component comprises at least one camera unit, in particular a fork-tip camera. Cameras are often mounted in the area of the load handling device to allow the operator to better view the load or the area in front of the load handler in difficult loading and unloading conditions. In particular, in forklift cameras areas of the housing, which is attached to a fork tine, are often not used, but serve only to protect the cable connection to the truck from damage. These areas are very well suited for mounting a communication device, for example in the form of an RFID antenna.

In einer weiteren vorteilhaften Ausgestaltung umfasst die mindestens eine weitere Komponente mindestens eine Vorrichtung zur Erfassung von Beschleunigungen. Derartige Vorrichtungen werden ebenfalls häufig im Bereich des Lastaufnahmemittels angebracht. Kommunikationsvorrichtungen, die beispielsweise am Gabelträger angebracht sind, weisen Gehäuse auf, bei denen auf der der Last zugewandten Seite eine relativ großflächige Antenne angeordnet ist. Auf der der Last abgewandten Seite erstreckt sich das Gehäuse beziehungsweise die Befestigungsvorrichtung wesentlich weiter als die Ausdehnung der Antenne, um eine hinreichend sichere Befestigung zu ermöglichen. Dieser ungenutzte Raum bietet Platz für die Anbringung eines Beschleunigungssensors, der keine freie "Sicht" auf die Last benötigt.In a further advantageous embodiment, the at least one further component comprises at least one device for detecting accelerations. Such devices are also often mounted in the area of the lifting device. Communication devices, which are attached to the fork carriage, for example, have housings in which a relatively large-area antenna is arranged on the side facing the load. On the side facing away from the load, the housing or the fastening device extends substantially further than the extent of the antenna to allow a sufficiently secure attachment. This unused space provides space for mounting an accelerometer that does not require a clear "view" of the load.

Es ist ebenfalls von Vorteil, wenn die mindestens eine weitere Komponente mindestens eine Vorrichtung zur Erfassung der Neigung eines Hubgerüsts und/oder des Lastaufnahmemittels umfasst. Derartige Vorrichtungen werden ebenfalls häufig im Bereich des Lastaufnahmemittels angebracht. Kommunikationsvorrichtungen, die beispielsweise am Gabelträger angebracht sind, weisen Gehäuse auf, bei denen auf der der Last zugewandten Seite eine relativ großflächige Antenne angeordnet ist. Auf der der Last abgewandten Seite erstreckt sich das Gehäuse beziehungsweise die Befestigungsvorrichtung wesentlich weiter als die Ausdehnung der Antenne, um eine hinreichend sichere Befestigung zu ermöglichen. Dieser ungenutzte Raum bietet Platz für die Anbringung eines Neigungssensors, der keine freie "Sicht" auf die Last benötigt.It is also advantageous if the at least one further component comprises at least one device for detecting the inclination of a mast and / or the load receiving means. Such devices are also often mounted in the area of the lifting device. Communication devices, which are attached to the fork carriage, for example, have housings in which a relatively large-area antenna is arranged on the side facing the load. On the side facing away from the load, the housing or the extends Fastening device substantially further than the extension of the antenna to allow a sufficiently secure attachment. This unused space provides space for the installation of a tilt sensor that does not require a clear "view" of the load.

Vorteilhafterweise umfasst die mindestens eine weitere Komponente mindestens eine Vorrichtung zur berührungslosen Entfemungsmessung, insbesondere mittels elektromagnetischer Wellen, vorzugsweise eine Lasereinheit und/oder eine Radareinheit. Derartige Vorrichtungen umfassen zumeist mehrere Sende-und/oder Empfangseinheiten, die selbst zwar relativ kleine Abmessungen aufweisen, aber in gewissen Abständen zueinander angeordnet sein müssen. Kommunikationsvorrichtungen, die beispielsweise am Gabelträger angebracht sind, weisen Gehäuse auf, bei denen auf der der Last zugewandten Seite eine relativ großflächige Antenne angeordnet ist. Insbesondere in den Randbereichen können daher bei nur geringfügig vergrößerten Abmessungen des Gehäuses der Kommunikationsvorrichtung die Sende- und/oder Empfangseinheiten der Entfernungsmessvorrichtung angeordnet werden. Die dazugehörige Auswerteelektronik kann beispielsweise auf der der Last abgewandten Seite der Antenne im Gehäuse angeordnet werden, das sich dort wesentlich weiter erstreckt als die Ausdehnung der Antenne, um eine hinreichend sichere Befestigung zu ermöglichen.Advantageously, the at least one further component comprises at least one device for non-contact removal measurement, in particular by means of electromagnetic waves, preferably a laser unit and / or a radar unit. Such devices usually comprise a plurality of transmitting and / or receiving units which, although they have relatively small dimensions, but must be arranged at certain distances from each other. Communication devices, which are attached to the fork carriage, for example, have housings in which a relatively large-area antenna is arranged on the side facing the load. In particular, in the edge regions can therefore be arranged with only slightly enlarged dimensions of the housing of the communication device, the transmitting and / or receiving units of the distance measuring device. The associated transmitter can be arranged for example on the side facing away from the load of the antenna in the housing, which extends there substantially further than the extent of the antenna to allow a sufficiently secure attachment.

Es ist ebenfalls zweckmäßig, wenn die mindestens eine weitere Komponente mindestens eine Vorrichtung zur Erfassung dreidimensionaler Objekte, insbesondere mittels Laserstrahlung, umfasst. Derartige Vorrichtungen, die auch als 3D-Kamera bezeichnet werden, werden ebenfalls bevorzugt im Bereich des Gabelträgers angeordnet.It is also expedient if the at least one further component comprises at least one device for detecting three-dimensional objects, in particular by means of laser radiation. Such devices, which are also referred to as 3D camera, are also preferably arranged in the region of the fork carriage.

Vorteilhafterweise umfasst die mindestens eine weitere Komponente mindestens eine Sende- und/oder Empfangseinheit einer Vorrichtung zur Kollisionsvermeidung, insbesondere mittels elektromagnetischer Wellen und/oder Ultraschall, insbesondere eine Lasereinheit und/oder eine Radareinheit. Vorrichtungen zur Kollisionsvermeidung umfassen zumeist mehrere Sende- und/oder Empfangseinheiten, die selbst zwar relativ kleine Abmessungen aufweisen, aber in gewissen Abständen zueinander angeordnet sein müssen. Kommunikationsvorrichtungen, die beispielsweise am Gabelträger angebracht sind, weisen Gehäuse auf, bei denen auf der der Last zugewandten Seite eine relativ großflächige Antenne angeordnet ist. Insbesondere in den Randbereichen können daher bei nur geringfügig vergrößerten Abmessungen des Gehäuses der Kommunikationsvorrichtung beziehungsweise geringfügig verkleinerten Abmessungen der Kommunikationsvorrichtung die Sende- und/oder Empfangseinheiten der Entfernungsmessvorrichtung angeordnet werden. Die dazugehörige Auswerteelektronik kann beispielsweise auf der der Last abgewandten Seite der Antenne im Gehäuse angeordnet werden, das sich dort wesentlich weiter erstreckt als die Ausdehnung der Antenne, um eine hinreichend sichere Befestigung zu ermöglichen.Advantageously, the at least one further component comprises at least one transmitting and / or receiving unit of a device for collision avoidance, in particular by means of electromagnetic waves and / or ultrasound, in particular a laser unit and / or a radar unit. Devices for collision avoidance usually comprise a plurality of transmitting and / or receiving units which, although they have relatively small dimensions, but must be arranged at certain distances from each other. Communication devices that are attached to the fork carriage, for example, have housings in which on the load facing side a relatively large-area antenna is arranged. In particular, in the edge regions can therefore be arranged with only slightly enlarged dimensions of the housing of the communication device or slightly smaller dimensions of the communication device, the transmitting and / or receiving units of the distance measuring device. The associated transmitter can be arranged for example on the side facing away from the load of the antenna in the housing, which extends there substantially further than the extent of the antenna to allow a sufficiently secure attachment.

Es ist ebenfalls zweckmäßig, wenn die mindestens eine weitere Komponente mindestens eine Vorrichtung zum Auslesen optischer ldentifikationsmittel, insbesondere Strichcode-Etiketten, umfasst. Vorrichtungen zum Auslesen optischer Identifikationsmittel werden ebenfalls meist im Bereich des Gabelträgers angeordnet. Häufig werden beide Arten von Identifikationssystemen parallel beziehungsweise alternativ eingesetzt. Durch Kombination der Geräte ist es möglich, die ldentifikationsdaten beider Systeme auszulesen.It is also expedient if the at least one further component comprises at least one device for reading out optical identification means, in particular bar code labels. Devices for reading optical identification means are also usually arranged in the region of the fork carriage. Often both types of identification systems are used in parallel or alternatively. By combining the devices, it is possible to read the identification data of both systems.

Es ist von besonderem Vorteil, wenn die Vorrichtung zur Kommunikation mit einem Identifikationssystem und die mindestens eine weitere Funktionskomponente eine gemeinsame Spannungsversorgung aufweisen. Dadurch wird der Aufwand bei Herstellung und Wartung deutlich reduziert, insbesondere, wenn die Energieversorgung über Kabel von einer Energiequelle im Fahrzeug vorgenommen wird.It is of particular advantage if the device for communication with an identification system and the at least one further functional component have a common voltage supply. As a result, the cost of production and maintenance is significantly reduced, especially if the power supply is made via cable from an energy source in the vehicle.

Es ist ebenfalls von besonderem Vorteil, wenn die Vorrichtung zur Kommunikation mit einem Identifikationssystem und die mindestens eine weitere Funktionskomponente gemeinsame Mittel zur Signalübertragung zu weiteren Komponenten des Flurförderzeugs, insbesondere zu einer elektronischen Steuerung, aufweisen. Dadurch wird der Aufwand für Herstellung und Wartung deutlich reduziert. Bei Kabelverbindungen ist dies besonders vorteilhaft, da deren Führung vom beweglichen Gabelträger zum Flurförderzeug besonders aufwändig ist.It is likewise of particular advantage if the device for communication with an identification system and the at least one further functional component have common means for signal transmission to further components of the industrial truck, in particular to an electronic controller. As a result, the cost of production and maintenance is significantly reduced. In cable connections, this is particularly advantageous because their leadership is particularly complex from the movable fork carriage to the truck.

In einer vorteilhaften Weiterbildung der Erfindung sind gemeinsame Mittel zur Signalübertragung zu weiteren Komponenten des Flurförderzeugs als Bus-System, vorzugsweise als CAN-Bus, ausgeführt. Auch große Datenmengen und komplexe Informationen können über ein Bus-System mit geringem Aufwand übertragen werden.In an advantageous embodiment of the invention are common means for signal transmission to other components of the truck as a bus system, preferably as a CAN bus. Even large amounts of data and complex information can be transferred via a bus system with little effort.

Weitere Vorteile und Einzelheiten der Erfindung werden im Folgenden anhand des in der Zeichnung dargestellten Ausführungsbeispiels näher erläutert. Gleiche beziehungsweise funktional gleiche Teile sind mit gleichen Bezugszeichen gekennzeichnet. Dabei zeigt

Figur 1
eine Gabelzinke eines erfindungsgemäßen Flurförderzeugs mit daran montierter Kamera und RFID-Sende-/Empfangseinheit.
Figur 2
einen Gabelträger eines erfindungsgemäßen Flurförderzeugs mit daran montiertem Entfernungsmesssystem, Neigungssensor und RFID-Sende-/Empfangseinheit,
Figur 3
einen Gabelträger eines erfindungsgemäßen Flurförderzeugs mit an einer gemeinsamen Befestigungsvorrichtung montierten 3D-Kamera und RFID-Sende-/Empfangseinheit.
Further advantages and details of the invention are explained in more detail below with reference to the embodiment shown in the drawing. Identical or functionally identical parts are identified by the same reference numerals. It shows
FIG. 1
a fork tine of a truck according to the invention with mounted camera and RFID transmitter / receiver unit.
FIG. 2
a fork carriage of an industrial truck according to the invention with a distance measuring system mounted thereon, inclination sensor and RFID transceiver unit;
FIG. 3
a fork carriage of a truck according to the invention with mounted on a common fastening device 3D camera and RFID transceiver unit.

Figur 1 zeigt eine Gabelzinke 1 mit angedeuteten Querträgern 2 eines Gabelträgers 3. Seitlich an der Gabelzinke 1 befestigt ist eine Gabelzinkenkamera 4, die im Wesentlichen aus einem Gehäuse 5 und einem Kameramodul 6 besteht. Das Gehäuse 5 ist mittels dreier als Schraubverbindungen ausgeführter Befestigungsvorrichtungen 7 an der Gabelzinke 1 befestigt. Das Kameramodul 6 umfasst hier nicht im Detail dargestellte optische und elektronische Komponenten, die zur Erfassung und Aufbereitung der Bildsignale dienen. Der hintere Teil 8 des Gehäuses 5 dient bei Gabelzinkenkameras nach dem Stand der Technik lediglich dazu, das Kabel, das das Kameramodul 6 mit einem Monitor am Fahrerplatz des Flurförderzeugs verbindet, vor Beschädigung zu schützen und ist ansonsten leer. Im gezeigten Ausführungsbeispiel ist im hinteren Teil 8 des Gehäuses 5 eine Vorrichtung 9 zur Kommunikation mit RFID-Transpondem angeordnet. Die Kommunikationsvorrichtung 9 besteht im Wesentlichen aus einer kombinierten RFID-Sende- und Empfangsantenne 10 sowie einer Elektronikeinheit 11, die zur Aufbereitung der RFID-Signale dient. Zur gemeinsamen Energieversorgung sowohl der Kommunikationsvorrichtung 9 als auch des Kameramoduls 6 sind geeignete Leitungen in einem Kabel 12 zusammengefasst. Die benötigte Energie wird dabei je nach Ausführungsform des Flurförderzeugs beispielsweise einer Batterie oder einer Brennstoffzelleneinheit entnommen oder von einem Generator geliefert, der von einem Verbrennungsmotor angetrieben wird. Im gezeigten Ausführungsbeispiel erfolgt die Datenübertragung vom Kameramodul 6 und von der Elektronikeinheit 11 nach einem standardisierten Übertragungsprotokoll über eine gemeinsame Leitung, die ebenfalls im Kabel 12 integriert ist.Figure 1 shows a fork tine 1 with indicated cross members 2 of a fork carrier 3. Secured to the side of the fork 1 is a forklift camera 4, which consists essentially of a housing 5 and a camera module 6. The housing 5 is fastened to the fork tine 1 by means of three fastening devices 7 designed as screw connections. The camera module 6 includes here not shown in detail optical and electronic components that are used for detection and processing of the image signals. The rear part 8 of the housing 5 is used in fork-type cameras according to the prior art only to protect the cable that connects the camera module 6 with a monitor at the driver's station of the truck, from damage and is otherwise empty. In the exemplary embodiment shown, a device 9 for communication with RFID transponders is arranged in the rear part 8 of the housing 5. The communication device 9 consists essentially of a combined RFID transmitting and receiving antenna 10 and an electronic unit 11, which serves for the preparation of the RFID signals. For the common power supply of both the communication device 9 and the camera module 6 suitable lines are combined in a cable 12. Depending on the embodiment of the truck, the energy required is taken from a battery or a fuel cell unit, for example, or from supplied to a generator which is driven by an internal combustion engine. In the exemplary embodiment shown, the data transmission from the camera module 6 and from the electronics unit 11 takes place according to a standardized transmission protocol via a common line, which is likewise integrated in the cable 12.

Figur 2 zeigt einen Gabelträger 3 eines erfindungsgemäßen Flurförderzeugs mit daran montiertem Entfernungsmesssystem 13, Neigungssensor 14 und RFID-Sende-/Empfangseinheit 15. An einem oberen Querträger 16 eines Gabelträgers 3 ist über eine Befestigungsvorrichtung 17 ein Gehäuse 18 befestigt. Im Gehäuse 18 ist eine RFID-Sende-/Empfangseinheit 15 angeordnet, die im Wesentlichen aus einer Sende- und Empfangsantenne 19 sowie einer Elektronikeinheit 20 besteht. Die Elektronikeinheit 20 steht über eine Kabelverbindung 21 mit einer im Flurförderzeug angeordneten Auswerteeinheit in Wirkverbindung und dient zur Aufbereitung der Daten von beziehungsweise für die Antenne 19. Die Übertragung der Daten zwischen der Auswerteeinheit und der Elektronikeinheit 20 erfolgt mittels eines standardisierten Bus-Protokolls, im vorliegenden Fall mittels CAN-Bus, über die Kabelverbindung 21. Im Randbereich des Gehäuses 18 sind Sensoren 22 des Entfemungsmesssystems 13 angebracht. Die Sensoren 22 sind als Lasersensoren ausgeführt, die zur Aussendung und zum Empfang von Signalen vorgesehen sind und mit einer hinter der Antenne 19 angeordneten Elektronikeinheit 23 des Entfernungsmesssystems 13 in Wirkverbindung stehen. Die von den Sensoren 22 ermittelten Entfernungssignale werden in der Elektronikeinheit 23 aufbereitet und ebenfalls mittels CAN-Bus über die Kabelverbindung 21 an das Flurförderzeug übertragen. Ebenfalls hinter der Antenne 19 angeordnet ist ein Neigungssensor 14, dessen Messwerte ebenfalls über die Kabelverbindung 21 an das Flurförderzeug übermittelt werden. Die Stromversorgung sämtlicher in dem Gehäuse 18 angeordneter Komponenten 13, 14, 15 erfolgt über eine gemeinsame Stromzuführung, die ebenfalls im Kabel 21 integriert ist. Dadurch und durch die Verwendung eines Bus-Systems, mit dem die Daten der Komponenten 13, 14, 15 über die selben Leitungen übertragen werden, reduziert sich der Verkabelungsaufwand gegenüber Fahrzeugen nach dem Stand der Technik erheblich.Figure 2 shows a fork carriage 3 of a truck according to the invention mounted thereon with distance measuring system 13, tilt sensor 14 and RFID transmitter / receiver unit 15. At a top cross member 16 of a fork carrier 3, a housing 18 is attached via a fastening device 17. In the housing 18, an RFID transmitting / receiving unit 15 is arranged, which essentially consists of a transmitting and receiving antenna 19 and an electronic unit 20. The electronic unit 20 is connected via a cable connection 21 with an evaluation unit arranged in the truck in operative connection and serves for processing the data from or for the antenna 19. The transmission of data between the evaluation and the electronic unit 20 by means of a standardized bus protocol, in the present Case via CAN bus, via the cable connection 21. In the edge region of the housing 18 sensors 22 of the Entfemungsmesssystems 13 are mounted. The sensors 22 are designed as laser sensors which are provided for the transmission and reception of signals and are in operative connection with an electronics unit 23 of the distance measuring system 13 arranged behind the antenna 19. The distance signals determined by the sensors 22 are processed in the electronic unit 23 and also transmitted by means of CAN bus via the cable connection 21 to the truck. Also arranged behind the antenna 19 is an inclination sensor 14, the measured values of which are likewise transmitted via the cable connection 21 to the industrial truck. The power supply of all disposed in the housing 18 components 13, 14, 15 via a common power supply, which is also integrated in the cable 21. This and the use of a bus system, with which the data of the components 13, 14, 15 are transmitted via the same lines, reduces the cabling effort compared to vehicles according to the prior art considerably.

Figur 3 zeigt einen Gabelträger 3 eines erfindungsgemäßen Flurförderzeugs. Am oberen Querträger 16 des Gabelträgers 3 ist eine Befestigungsvorrichtung 24 für Funktionskomponenten angeordnet. Die Befestigungsvorrichtung 24 besteht im Wesentlichen aus drei am oberen Querträger 16 des Gabelträgers 3 angebrachten Ösen 25, mit denen eine Halteschiene 26 verschraubt ist. Die Halteschiene 26 trägt eine 3D-Kamera 27 und eine Vorrichtung 15 zur Kommunikation mit einem Identifikationssystem. Die Kommunikationsvorrichtung 15 ist in gleicher Weise wie in den vorhergehenden Ausführungsbeispielen aufgebaut, wobei im Gehäuse 18 der Kommunikationsvorrichtung 15 keine weiteren Funktionskomponenten untergebracht sind. Sowohl das Gehäuse 18 der Kommunikationsvorrichtung 15 als auch das eigenständige Gehäuse 28 der 3D-Kamera 27 besitzen hier nicht dargestellte Führungselemente, die mittels einer Schwalbenschwanzführung 29 in der Halteschiene 26 gelagert und fixiert sind. Die Komponenten 15, 27 sind wie in den vorangegangenen Ausführungsbeispielen über ein Kabel 21 miteinander verbunden, das sowohl Leitungen zur Spannungsversorgung als auch zur Übertragung von Informationen enthält. Anstelle der gezeigten Komponenten 15, 27 können an der Halteschiene 26 auch andere Komponenten wie beispielsweise Kollisionswarnsysteme, herkömmliche Kameras oder Barcode-Scanner befestigt werden. Selbstverständlich sind auch Ausführungsformen denkbar, bei denen im Gehäuse 18 der Kommunikationsvorrichtung 15 weitere Funktionskomponenten angeordnet sind.FIG. 3 shows a fork carriage 3 of an industrial truck according to the invention. At the upper cross member 16 of the fork carrier 3, a fastening device 24 is arranged for functional components. The fastening device 24 consists essentially of three attached to the upper cross member 16 of the fork carriage 3 Eyelets 25 with which a retaining rail 26 is screwed. The support rail 26 carries a 3D camera 27 and a device 15 for communication with an identification system. The communication device 15 is constructed in the same way as in the preceding embodiments, wherein in the housing 18 of the communication device 15 no further functional components are accommodated. Both the housing 18 of the communication device 15 and the independent housing 28 of the 3D camera 27 have here not shown guide elements which are mounted and fixed by means of a dovetail guide 29 in the support rail 26. The components 15, 27 are connected to each other as in the previous embodiments via a cable 21, which contains both lines for power supply as well as for the transmission of information. Instead of the components 15, 27 shown, other components such as, for example, collision warning systems, conventional cameras or barcode scanners can also be fastened to the support rail 26. Of course, embodiments are also conceivable in which 15 further functional components are arranged in the housing 18 of the communication device.

Selbstverständlich sind auch andere als die gezeigten Ausführungsformen der Erfindung denkbar. So können anstelle der gezeigten Funktionskomponenten 4, 13, 14, 27 auch andere Systeme, wie beispielsweise auf Ultraschall oder Radartechnik beruhende Systeme zur Erkennung von Hindernissen, zur Abstandsmessung oder zur Positionsbestimmung, Sensoren zur Erfassung diverser Messgrößen wie beispielsweise Beschleunigungen, Lastgewicht oder Hubhöhe, sowie Beleuchtungseinrichtungen in einem Gehäuse 5,18 mit der Kommunikationsvorrichtung 9, 15 angeordnet werden beziehungsweise identische Befestigungsvorrichtungen 7, 17, 24, nutzen. Anstelle des in den Ausführungsbeispielen verwendeten CAN-Bus-Systems können selbstverständlich auch andere Datenübertragungsverfahren, die eine Übertragung der Daten mehrerer Komponenten auf dem gleichen Signalweg ermöglichen, verwendet werden, wie beispielsweise LAN, W-LAN, USB, Bluetooth. Standardisierte Übertragungsverfahren mit genormten Protokollen werden wegen der damit verbundenen Vorteile, wie beispielsweise der Verwendung verbreiteter und damit kostengünstiger Komponenten, bevorzugt Verwendung finden, es sind jedoch auch Fälle denkbar, in denen ein an den Anwendungsfall angepasstes Übertragungsverfahren vorteilhaft ist. Neben kabelgebundener Übertragung sind auch kabellose Übertragungsverfahren, wie beispielsweise Funkverfahren, denkbar, insbesondere wenn die Energieversorgung der Funktionskomponenten ebenfalls nicht über Kabel, sondern beispielsweise mittels einer im Gehäuse 5, 18 angeordneten, eigenständigen Batterie erfolgt. Das gemeinsame Gehäuse 5, 18 kann auch in anderen als den gezeigten Formen ausgeführt sein, wobei sich dies nach den Anforderungen des konkreten Anwendungsfalls richtet. Aufgrund der für die Kommunikation mit RFID-Transpondem notwendigen Durchlässigkeit für elektromagnetische Wellen wird das Gehäuse 5, 18 vorzugsweise zumindest teilweise aus einem Polymerwerkstoff gebildet sein.Of course, other than the illustrated embodiments of the invention are conceivable. Thus, instead of the functional components 4, 13, 14, 27 shown, other systems, such as based on ultrasound or radar systems for detecting obstacles, for distance measurement or for position determination, sensors for detecting various variables such as accelerations, load weight or lifting height, and Lighting devices in a housing 5,18 with the communication device 9, 15 are arranged or identical fastening devices 7, 17, 24, use. Instead of the CAN bus system used in the embodiments, of course, other data transmission methods that allow transmission of the data of multiple components on the same signal path can be used, such as LAN, W-LAN, USB, Bluetooth. Standardized transmission methods with standardized protocols are preferably used because of the associated advantages, such as the use of common and therefore cost-effective components, but cases are also conceivable in which a transmission method adapted to the application is advantageous. In addition to wired transmission and wireless transmission methods, such as wireless methods, conceivable in particular, if the power supply of the functional components also not via cables, but for example by means of a housing 5, 18 arranged, independent battery. The common housing 5, 18 may also be designed in other than the forms shown, this being directed to the requirements of the specific application. Due to the necessary for the communication with RFID transponders permeability to electromagnetic waves, the housing 5, 18 preferably be at least partially formed of a polymer material.

Claims (11)

Flurförderzeug mit einem vertikal bewegbaren Lastaufnahmemittel (1) und einer im Bereich des Lastaufnahmemittels (1) angeordneten Vorrichtung (9) zur Kommunikation mit einem Identifikationssystem, insbesondere mit RFID-Transpondem, und mindestens einer weiteren Funktionskomponente (4), dadurch gekennzeichnet, dass mindestens eine gemeinsame Befestigungsvorrichtung (7) und/oder mindestens ein gemeinsames Gehäuse (5) zur Aufnahme der Vorrichtung (9) zur Kommunikation mit einem Identifikationssystem und der mindestens einer weiteren Funktionskomponente (4) vorgesehen ist.Truck with a vertically movable load-receiving means (1) and in the region of the load-receiving means (1) arranged device (9) for communication with an identification system, in particular with RFID Transpondem, and at least one further functional component (4), characterized in that at least one common fastening device (7) and / or at least one common housing (5) for receiving the device (9) for communication with an identification system and the at least one further functional component (4) is provided. Flurförderzeug nach Anspruch 1, dadurch gekennzeichnet, dass die mindestens eine weitere Komponente (4) mindestens eine Kameraeinheit (6), insbesondere eine Gabelzinkenkamera (4), umfasst.Truck according to claim 1, characterized in that the at least one further component (4) comprises at least one camera unit (6), in particular a fork-tip camera (4). Flurförderzeug nach Anspruch 1 oder 2, dadurch gekennzeichnet, dass die mindestens eine weitere Komponente mindestens eine Vorrichtung zur Erfassung von Beschleunigungen umfasst.Truck according to claim 1 or 2, characterized in that the at least one further component comprises at least one device for detecting accelerations. Flurförderzeug nach einem der Ansprüche 1 bis 3, dadurch gekennzeichnet, dass die mindestens eine weitere Komponente mindestens eine Vorrichtung (14) zur Erfassung der Neigung eines Hubgerüsts und/oder des Lastaufnahmemittels (1) umfasst.Truck according to one of claims 1 to 3, characterized in that the at least one further component comprises at least one device (14) for detecting the inclination of a mast and / or the load receiving means (1). Flurförderzeug nach einem der Ansprüche 1 bis 3, dadurch gekennzeichnet, dass die mindestens eine weitere Komponente mindestens eine Vorrichtung zur berührungslosen Entfernungsmessung (13), insbesondere mittels elektromagnetischer Wellen, vorzugsweise eine Lasereinheit (22) und/oder eine Radareinheit, umfasstTruck according to one of claims 1 to 3, characterized in that the at least one further component at least one device for non-contact distance measurement (13), in particular by means of electromagnetic waves, preferably a laser unit (22) and / or a radar unit comprises Flurförderzeug nach einem der Ansprüche 1 bis 3, dadurch gekennzeichnet, dass die mindestens eine weitere Komponente mindestens eine Vorrichtung (27) zur Erfassung dreidimensionaler Objekte, insbesondere mittels Laserstrahlung umfasst.Truck according to one of claims 1 to 3, characterized in that the at least one further component comprises at least one device (27) for detecting three-dimensional objects, in particular by means of laser radiation. Flurförderzeug nach einem der Ansprüche 1 bis 3, dadurch gekennzeichnet, dass die mindestens eine weitere Komponente mindestens eine Sende- und/oder Empfangseinheit einer Vorrichtung zur Kollisionsvermeidung, insbesondere mittels elektromagnetischer Wellen und/oder Ultraschall, insbesondere eine Lasereinheit und/oder eine Radareinheit, umfasst.Truck according to one of claims 1 to 3, characterized in that the at least one further component at least one transmitting and / or receiving unit of a device for collision avoidance, in particular by means of electromagnetic waves and / or ultrasound, in particular a laser unit and / or a radar unit comprises , Flurförderzeug nach einem der Ansprüche 1 bis 3, dadurch gekennzeichnet, dass die mindestens eine weitere Komponente mindestens eine Vorrichtung zum Auslesen optischer ldentifikationsmittel, insbesondere Strichcode-Etiketten, umfasst.Truck according to one of claims 1 to 3, characterized in that the at least one further component comprises at least one device for reading out optical identification means, in particular bar code labels. Flurförderzeug nach einem der Ansprüche 1 bis 3, dadurch gekennzeichnet, dass die Vorrichtung zur Kommunikation mit einem Identifikationssystem und die mindestens eine weitere Funktionskomponente eine gemeinsame Spannungsversorgung (21) aufweisen.Industrial truck according to one of claims 1 to 3, characterized in that the device for communication with an identification system and the at least one further functional component have a common voltage supply (21). Flurförderzeug nach einem der Ansprüche 1 bis 3, dadurch gekennzeichnet, dass die Vorrichtung (9) zur Kommunikation mit einem Identifikationssystem und die mindestens eine weitere Funktionskomponente (4) gemeinsame Mittel (21) zur Signalübertragung zu weiteren Komponenten des Flurförderzeugs, insbesondere zu einer elektronischen Steuerung, aufweisen.Truck according to one of claims 1 to 3, characterized in that the device (9) for communication with an identification system and the at least one further functional component (4) common means (21) for signal transmission to other components of the truck, in particular to an electronic control , exhibit. Flurförderzeug nach einem der Ansprüche 1 bis 3, dadurch gekennzeichnet, dass die gemeinsamen Mittel (21) zur Signalübertragung zu weiteren Komponenten des Flurförderzeugs als Bus-System, vorzugsweise als CAN-Bus, ausgeführt sind.Truck according to one of claims 1 to 3, characterized in that the common means (21) for signal transmission to other components of the truck as a bus system, preferably as a CAN bus, are executed.
EP06008815A 2005-05-31 2006-04-27 Industrial truck Not-in-force EP1728757B1 (en)

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Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2009077194A1 (en) * 2007-12-19 2009-06-25 Technische Universität München Industrial truck having rfid-supported device for identifying cargo goods
EP2184254A1 (en) * 2008-11-11 2010-05-12 Deutsche Post AG Guidance and collision warning device for forklift trucks
DE102011082273A1 (en) * 2011-09-07 2013-03-07 Jungheinrich Aktiengesellschaft Commercial vehicle with upward-sensing radar sensor
GB2494884B (en) * 2011-09-21 2016-01-20 Palletforce Plc Apparatus and method for the identification and weighing of cargo
EP3026005A1 (en) * 2014-11-26 2016-06-01 STILL GmbH Transponder reader module for fork shoe
US10146229B2 (en) 2015-05-06 2018-12-04 Crown Equipment Corporation Industrial vehicle for identifying malfunctioning sequenced tag and tag layout for use therewith
DE102017120996A1 (en) 2017-09-12 2019-03-14 Still Gmbh Method and device for collision avoidance during operation of an industrial truck
DE102017120998A1 (en) 2017-09-12 2019-03-14 Still Gmbh Method and device for calibrating an optical sensor on an industrial truck
CN113280855A (en) * 2021-04-30 2021-08-20 中国船舶重工集团公司第七一三研究所 Intelligent sensing system and method for multi-source sensing pallet fork

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Cited By (11)

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Publication number Priority date Publication date Assignee Title
WO2009077194A1 (en) * 2007-12-19 2009-06-25 Technische Universität München Industrial truck having rfid-supported device for identifying cargo goods
EP2184254A1 (en) * 2008-11-11 2010-05-12 Deutsche Post AG Guidance and collision warning device for forklift trucks
WO2010054785A1 (en) * 2008-11-11 2010-05-20 Deutsche Post Ag Guidance and collision warning device for forklift trucks
DE102011082273A1 (en) * 2011-09-07 2013-03-07 Jungheinrich Aktiengesellschaft Commercial vehicle with upward-sensing radar sensor
GB2494884B (en) * 2011-09-21 2016-01-20 Palletforce Plc Apparatus and method for the identification and weighing of cargo
EP3026005A1 (en) * 2014-11-26 2016-06-01 STILL GmbH Transponder reader module for fork shoe
US10146229B2 (en) 2015-05-06 2018-12-04 Crown Equipment Corporation Industrial vehicle for identifying malfunctioning sequenced tag and tag layout for use therewith
DE102017120996A1 (en) 2017-09-12 2019-03-14 Still Gmbh Method and device for collision avoidance during operation of an industrial truck
DE102017120998A1 (en) 2017-09-12 2019-03-14 Still Gmbh Method and device for calibrating an optical sensor on an industrial truck
CN113280855A (en) * 2021-04-30 2021-08-20 中国船舶重工集团公司第七一三研究所 Intelligent sensing system and method for multi-source sensing pallet fork
CN113280855B (en) * 2021-04-30 2022-07-26 中国船舶重工集团公司第七一三研究所 Intelligent sensing system and method for multi-source sensing pallet fork

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