EP3925926A1 - Industrial truck - Google Patents
Industrial truck Download PDFInfo
- Publication number
- EP3925926A1 EP3925926A1 EP21174937.9A EP21174937A EP3925926A1 EP 3925926 A1 EP3925926 A1 EP 3925926A1 EP 21174937 A EP21174937 A EP 21174937A EP 3925926 A1 EP3925926 A1 EP 3925926A1
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- Prior art keywords
- load
- sensor
- industrial truck
- height
- designed
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- 238000001514 detection method Methods 0.000 claims abstract description 30
- 239000000969 carrier Substances 0.000 description 6
- 239000000725 suspension Substances 0.000 description 3
- 230000003287 optical effect Effects 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 239000002800 charge carrier Substances 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
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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
Definitions
- the invention relates to an industrial truck with a load-bearing device that can be raised and lowered by a lifting device, in particular a load fork, and with a control device for controlling the lifting device, the control device being operatively connected to at least one sensor for detecting at least one top layer of a load in at least one detection area .
- Devices for automatic leveling are therefore known, by means of which the height position of the load-bearing device is tracked so that, for example, the upper edge of the goods on a pallet is at the ergonomically optimal height for unloading or loading.
- a pallet truck for order picking which has a load part with a load fork which can be raised by means of a lifting device.
- a sensor device with an essentially horizontal detection area in particular a laser beam sensor, detects the loading state by, for example, two laser beams within one Detect along the width of the pallet whether there are goods or boxes in their path. Depending on the presetting, it is raised until goods are detected or lowered until no more goods are detected.
- a leveling device does not always set the height correctly if, for example, the two load carriers are loaded to different heights and a different regulation of the height would be necessary depending on the height used.
- a disadvantage of this prior art is that in the case of load carriers with side walls, such as roll containers or lattice boxes, through the inclined detection angle not the height of the loaded load can be reliably detected.
- the leveling level can be automatically set correctly even for load carriers with side walls, such as roll containers or lattice boxes, and errors due to detection of the side walls do not occur.
- the lateral extent of the detection area can be set so that side walls do not interfere.
- the present invention is therefore based on the object of providing an industrial truck with automatic leveling of a liftable load-bearing device that avoids the aforementioned disadvantages and with which loading and unloading by hand during order picking is facilitated.
- this object is achieved in that the sensor is designed to measure distances from a measurement position provided above the detection area to points on the top of all uppermost layers of the load in the detection area, and the control device is set up to measure the to assign height coordinates to individual points and to calculate an average height level of the load therefrom and to control the lifting device in such a way that the average height level of the load is continuously maintained at a predetermined leveling height.
- the invention is based on the idea that by calculating a mean load level, which is derived from the average of all heights of the topmost Layers of goods stacked at different heights results in an average adjustment of the lifting height to the ergonomically optimal height for unloading or loading goods.
- the senor For this purpose, points on the upper sides of all uppermost layers of the load in the detection area are recorded by means of the sensor.
- the sensor In order to achieve a high accuracy of hits even with small-sized goods with small surfaces, the sensor should have a high resolution so that as many points as possible can be recorded on a surface. In particular, the resolution should be at least one point per square centimeter.
- a height coordinate z 1 to z n is assigned to each point 1 to n in the control device by evaluating the sensor signals.
- This mean height z average corresponds to the average height level of the load.
- the control device is set up to control the lifting device in such a way that the average height level of the load is continuously maintained at a predetermined leveling height, which corresponds to an ergonomic handling height, both in a loading operating mode and in an unloading operating mode.
- the control device can determine the leveling height on the basis of input signals from input means.
- the input means advantageously consist of a keyboard input.
- the input means consist of wireless data transmission means, in particular a transmitter / receiver for a transponder.
- Such an input option for the leveling height enables an individual Adaptation to a person and their respective height take place.
- the ergonomically optimal height of the load suspension device can advantageously be determined. This can also be done in a way that is protected against readjustment, for example by having to enter a pin code or automatically by means of an identification using a transponder chip, for example an RFID CHIP carried by the person.
- the sensor itself is expediently arranged at the measuring position.
- the senor is arranged outside the measuring position, and a deflecting device designed to deflect the sensor signals to the sensor, in particular a reflector device, is arranged at the measuring position.
- the sensor can be accommodated in a protected location on the vehicle body of the industrial truck, while the deflection device is arranged at the measuring position above the load.
- the deflecting device can be designed as a mirror which reflects the optical signals to the sensor.
- the measuring position is preferably arranged on a carrier above the detection area.
- the carrier is particularly advantageous, for example, a structure independent of a lifting mast, which can also be used, for example, in a fork lift truck with only a low lifting height and no lifting mast protruding beyond the vehicle.
- a plurality of detection areas each with sensors can advantageously be present, in particular detection areas each corresponding to a standardized charge carrier.
- detection areas each with sensors can advantageously be present, in particular detection areas each corresponding to a standardized charge carrier.
- a separate detection area can be provided for each pallet.
- the detection areas can each correspond to the load-bearing surface of a Euro pallet.
- the controller uses the signal from input means, in particular key switches, to determine which detection area is taken into account for raising or lowering.
- a person can freely choose during order picking for which of the detection areas arranged one behind the other or, for example, loaded pallets, should be automatically leveled.
- Automatic leveling can only take place in relation to an empty pallet, while a second is already fully loaded and is accordingly lifted too far.
- the selection can be made in a simple and, in particular, intuitive manner if switching elements are provided arranged lengthwise in the order of the detection areas on the industrial truck. For example, by briefly pressing a button or also making a selection on a touchscreen, a person for order picking can then quickly choose which detection area is to be taken into account for the automatic leveling.
- the carrier is advantageously a support beam arranged above the load-bearing device in the longitudinal direction.
- the sensor can be positioned on the support beam so that it is longitudinally displaceable and freely adjustable. This enables a good alignment to, for example, the position of a pallet or a wire basket.
- the senor is designed as a camera. This can be a 3D or 2D camera or a time-of-flight camera.
- the senor is designed as a laser scanner.
- the sensor can also be designed as a radar sensor or an ultrasonic sensor.
- the invention can be used with all industrial trucks that have a lifting device, even if this is not normally used for order picking can be used.
- reach trucks and counterbalanced forklifts can also be equipped with the features according to the invention.
- the Figure 1 shows an industrial truck 1 according to the prior art with a lowered load handling device 2 designed as a load fork.
- a sensor 4 designed as an infrared laser beam sensor is provided.
- the sensor 4 is oriented horizontally. If the upper edge of the top layer of the load 5 placed on the load-bearing device 2 is below the sensor 4, the sensor 4 cannot detect any load 5.
- the control device 6 controls the Figures 1 and 2 Lifting device, not shown, of the load-bearing device 2 in such a way that the load-bearing device 2 is raised until the upper edge of the uppermost Layer of the load 5 is detected by the sensor 4.
- the disadvantage of this prior art is that an area 7 with lower loads, which are placed on the load-bearing device 2, cannot be detected by the sensor 4. These loads are therefore not raised to the ergonomic leveling height 3 and are therefore not in an ergonomic position.
- the Figure 3 shows an industrial truck 1 according to the invention with lowered load handling device 2.
- a sensor 4 is arranged at a measuring position 8, which can detect the entire load 5 within a detection area 9 from above.
- the sensor 4 is designed, for example, as a 2D camera or as a 3D camera or as a laser scanner or as a radar sensor or as an ultrasonic sensor.
- the detection area 9 corresponds, for example, to the load-bearing surface of a load carrier deposited on the load-bearing device 22, for example a euro pallet.
- the sensor 4 can thus detect the entire load 5 located on the load carrier from above.
- the load 5 can be packages with different heights.
- a height coordinate z 1 to z n is assigned to each point 1 to n in the control device 6 by evaluating the sensor signals.
- This mean height z average corresponds to the average height level 10 of the loads 5.
- the control device 6 is set up to insert one into the Figures 3 and 4 control the lifting device, not shown, of the load-bearing device 2 in such a way that that the average height level 10 of the load 5 is kept continuously at the predetermined, ergonomic leveling height 11, which corresponds to an ergonomic handling height, both in a loading operating mode and in an unloading operating mode.
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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)
- Loading Or Unloading Of Vehicles (AREA)
Abstract
Die Erfindung betrifft ein Flurförderzeug (1) mit einer durch eine Hubvorrichtung anhebbaren und absenkbaren Lastaufnahmevorrichtung (2), insbesondere einer Lastgabel, und mit einer Steuerungsvorrichtung (6) zur Ansteuerung der Hubvorrichtung, wobei die Steuerungsvorrichtung (6) mit mindestens einem Sensor (4) zur Erfassung mindestens einer obersten Schicht einer Last (5) in mindestens einem Erfassungsbereich (9) in Wirkverbindung steht. Es wird vorgeschlagen, dass der Sensor (4) dazu ausgebildet ist, Abstände von einer oberhalb des Erfassungsbereichs (9) vorgesehenen Messposition (8) zu Punkten auf den Oberseiten aller obersten Schichten der Last (5) im Erfassungsbereich (9) zu messen, und die Steuerungsvorrichtung (6) dazu eingerichtet ist, auf Basis der gemessenen Abstände den einzelnen Punkten Höhenkoordinaten zuzuordnen und daraus ein durchschnittliches Höhenniveau (10) der Last (5) zu berechnen und die Hubvorrichtung derart anzusteuern, dass das durchschnittliche Höhenniveau (10) der Last (5) kontinuierlich auf einer vorgegebenen Nivellierungshöhe (11) gehalten wird.The invention relates to an industrial truck (1) with a load-carrying device (2), in particular a load fork, which can be raised and lowered by a lifting device, and with a control device (6) for controlling the lifting device, the control device (6) having at least one sensor (4) is operatively connected to capture at least one top layer of a load (5) in at least one capture area (9). It is proposed that the sensor (4) be designed to measure distances from a measuring position (8) provided above the detection area (9) to points on the tops of all uppermost layers of the load (5) in the detection area (9), and the control device (6) is set up to assign height coordinates to the individual points on the basis of the measured distances and from this to calculate an average height level (10) of the load (5) and to control the lifting device in such a way that the average height level (10) of the load ( 5) maintained at a predetermined leveling height (11) continuously.
Description
Die Erfindung betrifft ein Flurförderzeug mit einer durch eine Hubvorrichtung anhebbaren und absenkbaren Lastaufnahmevorrichtung, insbesondere einer Lastgabel, und mit einer Steuerungsvorrichtung zur Ansteuerung der Hubvorrichtung, wobei die Steuerungsvorrichtung mit mindestens einem Sensor zur Erfassung mindestens einer obersten Schicht einer Last in mindestens einem Erfassungsbereich in Wirkverbindung steht.The invention relates to an industrial truck with a load-bearing device that can be raised and lowered by a lifting device, in particular a load fork, and with a control device for controlling the lifting device, the control device being operatively connected to at least one sensor for detecting at least one top layer of a load in at least one detection area .
Für das Kommissionieren in Lagern sind Flurförderzeuge als Horizontalkommissionierer bekannt, die nur über eine beschränkte Hubhöhe verfügen. Dadurch wird es möglich, beispielsweise eine Palette oder eine Lastaufnahmevorrichtung soweit anzuheben, dass diese in der obersten Position ungefähr auf Hüfthöhe einer daneben stehenden Person sich befindet und Waren von der kommissionierenden Person, ohne sich zu bücken, auf die Lastaufnahmevorrichtung abgesetzt oder von dieser entnommen werden können.For order picking in warehouses, industrial trucks are known as horizontal order pickers, which only have a limited lifting height. This makes it possible, for example, to lift a pallet or a load handling device so that it is in the uppermost position approximately at waist height of a person standing next to it and goods can be placed on or removed from the load handling device by the picking person without bending down be able.
Nachteilig an diesem Stand der Technik ist jedoch, dass die kommissionierende Person relativ viel Zeit dafür aufwenden muss, die Höhenposition der Lastaufnahmevorrichtung erneut einzustellen, wenn eine oberste Schicht mit Waren abgesetzt wurde oder die oberste Schicht entladen wurde.The disadvantage of this prior art, however, is that the person picking has to spend a relatively large amount of time to readjust the height position of the load handling device when a top layer with goods has been deposited or the top layer has been unloaded.
Bekannt sind daher Vorrichtungen zur automatischen Nivellierung, durch die die Höhenposition der Lastaufnahmevorrichtung so nachgeführt wird, dass beispielsweise die Oberkante der Waren auf einer Palette sich in der ergonomisch optimalen Höhe zum Abladen oder Aufladen befindet.Devices for automatic leveling are therefore known, by means of which the height position of the load-bearing device is tracked so that, for example, the upper edge of the goods on a pallet is at the ergonomically optimal height for unloading or loading.
Beispielsweise ist aus der
Nachteilig an diesem Stand der Technik ist, dass dieser nur mit flachen Paletten, insbesondere Euro-Paletten, gut funktioniert. Wenn Ladungsträger mit Seitenwänden eingesetzt werden, wie sie beispielsweise als Rollcontainer oder Gitterboxen üblich sind und in einem großen Umfang im Bereich der Einzelhandelslogistik benutzt werden, wird durch die Erfassungssysteme die Seitenwand des Ladungsträgers und nicht die Höhe der aufgeladenen Waren erfasst. Die Lösung nach dem Stand der Technik ist daher mit solchen Ladungsträgern und in vielen Bereichen der Logistik nicht benutzbar.The disadvantage of this prior art is that it only works well with flat pallets, in particular euro pallets. If load carriers with side walls are used, such as those commonly used as roll containers or lattice boxes and are used to a large extent in retail logistics, the detection systems record the side wall of the load carrier and not the height of the loaded goods. The solution according to the prior art can therefore not be used with such load carriers and in many areas of logistics.
Ebenfalls ist es problematisch, wenn mehrere Ladungsträger hintereinander auf der Lastaufnahmevorrichtung, beispielsweise einer solchen mit einer besonders langen Lastgabel, angeordnet sind. Eine Nivelliereinrichtung stellt dann nicht immer die Höhe richtig ein, wenn beispielsweise die beiden Ladungsträger unterschiedlich hoch beladen sind und abhängig von den jeweils benutzten eine unterschiedliche Regulierung der Höhe erforderlich wäre.It is also problematic if several load carriers are arranged one behind the other on the load-bearing device, for example one with a particularly long load fork. A leveling device does not always set the height correctly if, for example, the two load carriers are loaded to different heights and a different regulation of the height would be necessary depending on the height used.
Die bekannten Systeme zur automatischen Nivellierung der Gabelhöhe erfordern auch zusätzlichen Zeitaufwand für deren Bedienung und gerade in Lagern, bei denen Personal unter Akkordlohn arbeitet, wird zum Teil die automatische Nivellierung bewusst nicht verwendet, obwohl diese in einigen Ländern bereits gesetzlich vorgeschrieben ist und Krankenkassen, Berufsgenossenschaften wie auch Gewerkschaften auf deren Verwendung sehr stark dringen.The known systems for the automatic leveling of the fork height also require additional time to operate and, especially in warehouses where staff work under piecework wages, automatic leveling is deliberately not used in some countries, although this is already required by law in some countries and health insurance companies, professional associations as well as unions are pressing very strongly for their use.
Auch aus der
Nachteilig ist an diesem Stand der Technik, dass bei Ladungsträgern mit Seitenwänden, wie beispielsweise Rollcontainern oder Gitterboxen, durch den schrägen Erfassungswinkel nicht die Höhe der aufgeladenen Last sicher erfasst werden kann.A disadvantage of this prior art is that in the case of load carriers with side walls, such as roll containers or lattice boxes, through the inclined detection angle not the height of the loaded load can be reliably detected.
Aus der
Die bisherigen Lösungen zur automatischen Nivellierung der Höhe der Lastaufnahmevorrichtung haben den Nachteil, dass nur eine bestimmte Schicht, meist die oberste Schicht, der Last erfasst und zur Höheneinstellung herangezogen wird. Bei Beladung der Lastaufnahmevorrichtung mit unterschiedlich hoch gestapelten Waren befinden sich somit nicht alle Oberkanten der Waren in der ergonomisch optimalen Höhe zum Abladen oder Aufladen.The previous solutions for automatically leveling the height of the load suspension device have the disadvantage that only a certain layer, usually the top layer, of the load is detected and used for height adjustment. When the load suspension device is loaded with goods stacked at different heights, not all of the upper edges of the goods are therefore at the ergonomically optimal height for unloading or loading.
Der vorliegenden Erfindung liegt daher die Aufgabe zugrunde, ein Flurförderzeug mit einer automatischen Nivellierung einer anhebbaren Lastaufnahmevorrichtung zur Verfügung zu stellen, das die zuvor genannten Nachteile vermeidet und mit dem das Be- und Entladen von Hand beim Kommissionieren erleichtert wird.The present invention is therefore based on the object of providing an industrial truck with automatic leveling of a liftable load-bearing device that avoids the aforementioned disadvantages and with which loading and unloading by hand during order picking is facilitated.
Diese Aufgabe wird erfindungsgemäß dadurch gelöst, dass der Sensor dazu ausgebildet ist, Abstände von einer oberhalb des Erfassungsbereichs vorgesehenen Messposition zu Punkten auf den Oberseiten aller obersten Schichten der Last im Erfassungsbereich zu messen, und die Steuerungsvorrichtung dazu eingerichtet ist, auf Basis der gemessenen Abstände den einzelnen Punkten Höhenkoordinaten zuzuordnen und daraus ein durchschnittliches Höhenniveau der Last zu berechnen und die Hubvorrichtung derart anzusteuern, dass das durchschnittliche Höhenniveau der Last kontinuierlich auf einer vorgegebenen Nivellierungshöhe gehalten wird.According to the invention, this object is achieved in that the sensor is designed to measure distances from a measurement position provided above the detection area to points on the top of all uppermost layers of the load in the detection area, and the control device is set up to measure the to assign height coordinates to individual points and to calculate an average height level of the load therefrom and to control the lifting device in such a way that the average height level of the load is continuously maintained at a predetermined leveling height.
Dabei liegt der Erfindung die Überlegung zu Grunde, dass durch Berechnung einer mittleren Lasthöhe, die sich aus dem Durchschnitt aller Höhen der jeweils obersten Schichten von unterschiedlich hoch gestapelten Waren ergibt, eine mittlere Anpassung der Hubhöhe an die ergonomisch optimale Höhe zum Abladen oder Aufladen von Waren ermöglicht wird.The invention is based on the idea that by calculating a mean load level, which is derived from the average of all heights of the topmost Layers of goods stacked at different heights results in an average adjustment of the lifting height to the ergonomically optimal height for unloading or loading goods.
Hierzu werden mittels des Sensors Punkte auf den Oberseiten aller obersten Schichten der Last im Erfassungsbereich erfasst. Um eine hohe Treffergenauigkeit auch bei kleinteiligen Waren mit kleinen Oberflächen zu erreichen, sollte der Sensor eine hohe Auflösung aufweisen, so dass möglichst viele Punkte auf einer Fläche erfasst werden können. Die Auflösung sollte insbesondere mindestens einen Punkt pro Quadratzentimeter betragen.For this purpose, points on the upper sides of all uppermost layers of the load in the detection area are recorded by means of the sensor. In order to achieve a high accuracy of hits even with small-sized goods with small surfaces, the sensor should have a high resolution so that as many points as possible can be recorded on a surface. In particular, the resolution should be at least one point per square centimeter.
Die Summe der einzelnen Punkte ergibt eine Punktewolke. Jedem Punkt 1 bis n wird in der Steuerungsvorrichtung durch Auswertung der Sensorsignale eine Höhenkoordinate z1 bis zn zugeordnet. Anschließend wird in der Steuerungsvorrichtung die mittlere Höhe zaverage aller Punkte nach folgender Formel berechnet:
Diese mittlere Höhe zaverage entspricht dem durchschnittlichen Höhenniveau der Last. Die Steuerungsvorrichtung ist dazu eingerichtet, die Hubvorrichtung derart anzusteuern, dass das durchschnittliche Höhenniveau der Last sowohl in einem Beladebetriebsmodus als auch in einem Entladebetriebsmodus kontinuierlich auf einer vorgegebenen Nivellierungshöhe, die einer ergonomischen Handhabungshöhe entspricht, gehalten wird.This mean height z average corresponds to the average height level of the load. The control device is set up to control the lifting device in such a way that the average height level of the load is continuously maintained at a predetermined leveling height, which corresponds to an ergonomic handling height, both in a loading operating mode and in an unloading operating mode.
Die Steuerungsvorrichtung kann anhand von Eingabesignalen von Eingabemitteln die Nivellierungshöhe festlegen.The control device can determine the leveling height on the basis of input signals from input means.
Vorteilhaft bestehen die Eingabemittel aus einer Tastatureingabe.The input means advantageously consist of a keyboard input.
In einer Weiterbildung bestehen die Eingabemittel aus drahtlosen Datenübertragungsmitteln, insbesondere einem Sender/Empfänger für einen Transponder.In a further development, the input means consist of wireless data transmission means, in particular a transmitter / receiver for a transponder.
Durch eine solche Eingabemöglichkeit für die Nivellierungshöhe kann eine individuelle Anpassung an eine Person und deren jeweilige Körpergröße stattfinden. Vorteilhaft kann damit die ergonomisch optimale Höhe des Lastaufnahmemittels festgelegt werden. Dies kann auch gegen Verstellen geschützt erfolgen, indem beispielsweise ein Pincode eingegeben werden muss oder eine Identifizierung durch einen Transponderchip automatisch erfolgt, beispielsweise einen von der Person mitgeführten RFID-CHIP.Such an input option for the leveling height enables an individual Adaptation to a person and their respective height take place. In this way, the ergonomically optimal height of the load suspension device can advantageously be determined. This can also be done in a way that is protected against readjustment, for example by having to enter a pin code or automatically by means of an identification using a transponder chip, for example an RFID CHIP carried by the person.
Zweckmäßigerweise ist der Sensor selbst an der Messposition angeordnet.The sensor itself is expediently arranged at the measuring position.
Eine andere vorteilhafte Variante sieht vor, dass der Sensor außerhalb der Messposition angeordnet ist, und eine zur Umlenkung der Sensorsignale zum Sensor ausgebildete Umlenkeinrichtung, insbesondere eine Reflektoreinrichtung, an der Messposition angeordnet ist. Beispielsweise kann der Sensor an einer geschützten Stelle der Fahrzeugkarosserie des Flurförderzeugs untergebracht sein, während die Umlenkeinrichtung an der Messposition oberhalb der Last angeordnet ist. Insbesondere im Fall von optischen Sensoren kann die Umlenkeinrichtung als Spiegel ausgebildet sein, der die optischen Signale zum Sensor reflektiert.Another advantageous variant provides that the sensor is arranged outside the measuring position, and a deflecting device designed to deflect the sensor signals to the sensor, in particular a reflector device, is arranged at the measuring position. For example, the sensor can be accommodated in a protected location on the vehicle body of the industrial truck, while the deflection device is arranged at the measuring position above the load. In the case of optical sensors in particular, the deflecting device can be designed as a mirror which reflects the optical signals to the sensor.
Vorzugsweise ist die Messposition an einem Träger oberhalb des Erfassungsbereichs angeordnet.The measuring position is preferably arranged on a carrier above the detection area.
Der Träger ist dabei besonders vorteilhaft beispielsweise eine von einem Hubmast unabhängige Struktur, die etwa auch bei einem Gabelhubwagen mit einer nur geringen Hubhöhe und keinem über das Fahrzeug hinausragenden Hubmast zum Einsatz kommen kann.The carrier is particularly advantageous, for example, a structure independent of a lifting mast, which can also be used, for example, in a fork lift truck with only a low lifting height and no lifting mast protruding beyond the vehicle.
Vorteilhaft können mehrere Erfassungsbereiche jeweils mit Sensoren vorhanden sein, insbesondere jeweils einem genormten Ladungsträger entsprechende Erfassungsbereiche. Dadurch kann beispielsweise bei einem Gabelhubwagen als Flurförderzeug, der dafür vorgesehen ist, zwei oder mehr Paletten hintereinander auf einer langen Lastgabel zu transportieren, für jede Palette ein eigener Erfassungsbereich vorgesehen werden.A plurality of detection areas each with sensors can advantageously be present, in particular detection areas each corresponding to a standardized charge carrier. In this way, for example, in the case of a fork lift truck as an industrial truck, which is intended to transport two or more pallets one behind the other on a long load fork, a separate detection area can be provided for each pallet.
Die Erfassungsbereiche können jeweils der lastaufnehmenden Fläche einer Euro-Palette entsprechen.The detection areas can each correspond to the load-bearing surface of a Euro pallet.
In einer vorteilhaften Weiterbildung legt die Steuerung anhand des Signals von Eingabemitteln, insbesondere Tastenschaltern, fest, welcher Erfassungsbereich für das Anheben oder Absenken berücksichtigt wird.In an advantageous development, the controller uses the signal from input means, in particular key switches, to determine which detection area is taken into account for raising or lowering.
Eine Person kann dadurch beim Kommissionieren frei auswählen, für welche der hintereinander angeordneten Erfassungsbereiche bzw. beispielsweise aufgeladenen Paletten, eine automatische Nivellierung erfolgen soll. So kann eine automatische Nivellierung nur in Bezug auf eine leere Palette stattfinden, während eine zweite bereits vollständig beladen ist und dementsprechend zu weit angehoben wird. Die Auswahl kann dabei auf einfache und insbesondere auch intuitive Art und Weise getroffen werden, wenn Schaltelemente in der Reihenfolge der Erfassungsbereiche an dem Flurförderzeug längs angeordnet vorgesehen sind. Durch beispielsweise einen kurzen Tastendruck oder auch eine Auswahl auf einem Touchscreen kann dann eine Person zum Kommissionieren schnell wählen, welcher Erfassungsbereich für die automatische Nivellierung berücksichtigt werden soll.As a result, a person can freely choose during order picking for which of the detection areas arranged one behind the other or, for example, loaded pallets, should be automatically leveled. Automatic leveling can only take place in relation to an empty pallet, while a second is already fully loaded and is accordingly lifted too far. The selection can be made in a simple and, in particular, intuitive manner if switching elements are provided arranged lengthwise in the order of the detection areas on the industrial truck. For example, by briefly pressing a button or also making a selection on a touchscreen, a person for order picking can then quickly choose which detection area is to be taken into account for the automatic leveling.
Vorteilhaft ist der Träger ein über der Lastaufnahmevorrichtung in Längsrichtung angeordneter Tragbalken.The carrier is advantageously a support beam arranged above the load-bearing device in the longitudinal direction.
Der Sensor kann an dem Tragbalken längs verschiebbar und frei einstellbar positioniert werden. Dies ermöglicht eine gute Ausrichtung auf beispielsweise die Position einer Palette oder eines Gitterkorbes.The sensor can be positioned on the support beam so that it is longitudinally displaceable and freely adjustable. This enables a good alignment to, for example, the position of a pallet or a wire basket.
In einer besonders bevorzugten Ausgestaltung der Erfindung ist der Sensor als Kamera ausgebildet. Dabei kann es sich um eine 3D- oder 2D-Kamera oder um eine Time-of-Flight-Kamera handeln.In a particularly preferred embodiment of the invention, the sensor is designed as a camera. This can be a 3D or 2D camera or a time-of-flight camera.
Eine andere vorteilhafte Variante sieht vor, dass der Sensor als Laserscanner ausgebildet ist.Another advantageous variant provides that the sensor is designed as a laser scanner.
Der Sensor kann auch als Radarsensor oder Ultraschallsensor ausgebildet sein.The sensor can also be designed as a radar sensor or an ultrasonic sensor.
Die Erfindung kann bei allen Flurförderzeugen zum Einsatz kommen, die eine Hubvorrichtung haben, auch wenn diese im Normalfall nicht zum Kommissionieren eingesetzt werden. Insbesondere können auch Schubmaststapler und Gegengewichtsgabelstapler mit den erfindungsgemäßen Merkmalen ausgestattet werden.The invention can be used with all industrial trucks that have a lifting device, even if this is not normally used for order picking can be used. In particular, reach trucks and counterbalanced forklifts can also be equipped with the features according to the invention.
Weitere Vorteile und Einzelheiten der Erfindung werden anhand des in den schematischen Figuren dargestellten Ausführungsbeispiels näher erläutert. Hierbei zeigen
Figur 1- ein Flurförderzeug nach dem Stand der Technik mit abgesenkter Lastaufnahmevorrichtung,
Figur 2- ein Flurförderzeug nach dem Stand der Technik mit angepasster Hubhöhe der Lastaufnahmevorrichtung,
Figur 3- ein Flurförderzeug nach der Erfindung mit abgesenkter Lastaufnahmevorrichtung und
Figur 4- ein Flurförderzeug nach der Erfindung mit angepasster Hubhöhe der Lastaufnahmevorrichtung.
- Figure 1
- a state-of-the-art industrial truck with a lowered load handling device,
- Figure 2
- a state-of-the-art industrial truck with an adapted lifting height of the load handling device,
- Figure 3
- an industrial truck according to the invention with lowered load handling device and
- Figure 4
- an industrial truck according to the invention with an adapted lifting height of the load handling device.
Die
In der
Die
Hierzu werden mittels des Sensors 4 Punkte auf den Oberseiten aller obersten Schichten der Last 5 im Erfassungsbereich 9 erfasst und deren Abstände von der Messposition 8 gemessen. Der Sensor 4 kann somit für jedes Packstück im Erfassungsbereich 9 deren jeweilige Oberseite detektierten. Die Summe der einzelnen Punkte ergeben eine Punktewolke. Jedem Punkt 1 bis n wird in der Steuerungsvorrichtung 6 durch Auswertung der Sensorsignale eine Höhenkoordinate z1 bis zn zugeordnet. Anschließend wird in der Steuerungsvorrichtung 6 die mittlere Höhe zaverage aller Punkte nach folgender Formel berechnet:
Diese mittlere Höhe zaverage entspricht dem durchschnittlichen Höhenniveau 10 der Lasten 5.This mean height z average corresponds to the
In der
Claims (8)
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
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DE102020115679.0A DE102020115679A1 (en) | 2020-06-15 | 2020-06-15 | Industrial truck |
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EP3925926A1 true EP3925926A1 (en) | 2021-12-22 |
EP3925926B1 EP3925926B1 (en) | 2023-01-11 |
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EP21174937.9A Active EP3925926B1 (en) | 2020-06-15 | 2021-05-20 | Industrial truck |
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DE (1) | DE102020115679A1 (en) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP4393846A1 (en) * | 2022-12-30 | 2024-07-03 | STILL GmbH | Method for commissioning and commissioning system |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP2181959A1 (en) | 2008-10-31 | 2010-05-05 | Still Sas | Industrial truck |
DE202012004038U1 (en) | 2012-04-19 | 2013-08-12 | Jungheinrich Aktiengesellschaft | Truck with at least one distance sensor |
EP2987760A1 (en) | 2014-08-18 | 2016-02-24 | OM Carrelli Elevatori S.p.A. | Industrial truck |
-
2020
- 2020-06-15 DE DE102020115679.0A patent/DE102020115679A1/en active Pending
-
2021
- 2021-05-20 EP EP21174937.9A patent/EP3925926B1/en active Active
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP2181959A1 (en) | 2008-10-31 | 2010-05-05 | Still Sas | Industrial truck |
DE202012004038U1 (en) | 2012-04-19 | 2013-08-12 | Jungheinrich Aktiengesellschaft | Truck with at least one distance sensor |
EP2987760A1 (en) | 2014-08-18 | 2016-02-24 | OM Carrelli Elevatori S.p.A. | Industrial truck |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP4393846A1 (en) * | 2022-12-30 | 2024-07-03 | STILL GmbH | Method for commissioning and commissioning system |
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DE102020115679A1 (en) | 2021-12-16 |
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