EP4227255A1 - Véhicule de manutention de matériaux et procédé de fonctionnement d'un véhicule de manutention de matériaux - Google Patents

Véhicule de manutention de matériaux et procédé de fonctionnement d'un véhicule de manutention de matériaux Download PDF

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Publication number
EP4227255A1
EP4227255A1 EP22156190.5A EP22156190A EP4227255A1 EP 4227255 A1 EP4227255 A1 EP 4227255A1 EP 22156190 A EP22156190 A EP 22156190A EP 4227255 A1 EP4227255 A1 EP 4227255A1
Authority
EP
European Patent Office
Prior art keywords
load
pallet
material handling
sensor device
handling vehicle
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
EP22156190.5A
Other languages
German (de)
English (en)
Inventor
Max HALLQVIST
Magnus Alveteg
Ali SHUMAN
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Toyota Material Handling Manufacturing Sweden AB
Original Assignee
Toyota Material Handling Manufacturing Sweden AB
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Toyota Material Handling Manufacturing Sweden AB filed Critical Toyota Material Handling Manufacturing Sweden AB
Priority to EP22156190.5A priority Critical patent/EP4227255A1/fr
Publication of EP4227255A1 publication Critical patent/EP4227255A1/fr
Pending legal-status Critical Current

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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
    • 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
    • B66F9/063—Automatically guided
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/12—Platforms; Forks; Other load supporting or gripping members
    • B66F9/14—Platforms; Forks; Other load supporting or gripping members laterally movable, e.g. swingable, for slewing or transverse movements
    • B66F9/147—Whole unit including fork support moves relative to mast
    • B66F9/149—Whole unit including fork support rotates
    • 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
    • B66F9/20—Means for actuating or controlling masts, platforms, or forks
    • B66F9/22—Hydraulic devices or systems

Definitions

  • the present disclosure is related to a material handling vehicle and a method for operating a material handling vehicle according to the appended claims.
  • lift devices in the form of forks operable by a hydraulic system in order to be able to handle loads on pallets at high levels, by lifting and lowering loads and then position the load with pallets in the rack, or remove a load with pallet from a rack at any level.
  • a rack is constituted by two horizontal beams that is separated by a distance allowing for a load with pallet to be positioned horizontally on the beams when stored on the rack.
  • the loads on pallets need to be spaced from each other on the rack. If the loads were allowed to be positioned too close to each other a neighbouring load might hook up with a load that is to be introduced or removed from the rack. This could cause dislocation of the neighbouring load or even that the neighbouring load is moved so much that it looses contact with one of the horizontal beams and falls of the rack. This may of course damage the load on the pallet, but it also is a potential risk of injury to any person or vehicle being close by.
  • standards have been implemented for positioning of loads on pallets, one such standard is the EN15620. These standards are applicable for VNA - very narrow aisle - material handling vehicles. The standards are applicable for the racks and pallets positioned on these racks in a warehouse where VNA vehicles are operating.
  • AGVs automated guided material handling vehicles
  • Automated vehicles are thus operable to move loads independently of an operator in a warehouse.
  • the present technology requires that pallets positioned by AGVs on a rack, are positioned at a larger distance between each load than corresponding loads positioned with manually operated vehicles.
  • a specific area of floor space may not store as many loads on pallets if AGVs is operating in that area, if compared to a situation where only manually operated material handling vehicles are operating.
  • a material handling vehicle comprising, a load carrier, comprising a pair of forks.
  • the material handling vehicle also comprises a control unit.
  • a drive motor coupled to at least on drive wheel controllable by the control unit and powered by an energy source is also comprised.
  • a hydraulic system comprising at least one hydraulic pump, powered by a pump motor, and the necessary piping for powering hydraulic cylinders in particular for lifting and operating the load carrier, are also part of the proposed material handling vehicle.
  • at least one pallet tunnel sensor device for determining position of at least one pallet tunnel of a pallet before engaging the pallet is comprised in the vehicle, wherein said pallet tunnel sensor device being arranged such that it may communicate with the control unit.
  • Adjacent the load carrier and movable with the load carrier is positioned at least one first load sensor device, on the vehicle.
  • the first load sensor device is coupled to the control unit in order to communicated with the control unit.
  • the material handling vehicle is arranged such that the first load sensor device may detect a first outermost point of a pallet and/or a load as the pallet and/or load is carried by the load carrier.
  • the outermost point is defined as being in a horizontal direction away from the load carrier in perpendicular direction to the forks of the load carrier.
  • the loads and/or pallets may have a reduced distance in between them.
  • the material handling operation is thus improved, and more loads may be positioned on a predetermined area of a warehouse. Also, it is possible to achieve the reduced distance despite the many difficulties in tolerances within the material handling vehicle.
  • the long mast will have both, rotational loads, rotational elongation, and also it is difficult to apply a base line for measuring when seeking to determine where a fork is and a load is in relation to a chassis of a material handling vehicle. Tolerances are added upon each other giving the requirements of the standards as discussed above, for the distances required between loads. By performing measurement on the load as it is engaged on the load carrier, any tolerance problems when measuring a pallet in the rack will be eliminated.
  • the measurement of the load and/or pallet is made before engaging the pallet, as the vehicle moves and engages the load, the measurement may be obsolete by bending and movement of the mast, forks, etc.
  • the load may be handled without damaging the load or pallet in this predetermined direction.
  • the detection operation on both sides of a pallet or load is much faster with dedicated load sensor devices. Also, the determined a second outermost point on an opposite side, allows for in a final manner determine the position of the load or/and pallet in the predetermined direction.
  • Laser sensor devices are very precise and may be configured easily.
  • a broader volume may be scanned, and it is possible to detect objects that may obstruct movement of the pallet and or the load.
  • the recessed position allows for a narrow scanning range that may determine also thinner loads, and also it prevents the load sensor device from obstructing movement of the load carrier in narrow spaces.
  • the load sensor device being arranged such that the outermost portion is determined at any height of the loads. This, thus provides for that the determination of the loads protruding features is improved. By using a vertical plane, it is possible to scan the load and pallet for the outermost objects at any level and very quickly.
  • the AGV makes the material handling automatic. And the use of the above load sensor devices provides for that the AGV may operate with the same tolerances of clearance between loads/pallets as a manually operated material handling vehicle.
  • the advantage of this is that the method also improves a movement of a pallet and/or load in a warehouse, and the determined position helps the vehicle to position the pallet and/or load in the new position.
  • the material handling vehicle may make calculations on how to position the load in a new position on a warehouse rack or the like.
  • the advantage is that by determining a centreline that is related to the position of the load or pallet and not to a geometrical centreline that is defined by measuring along the same direction for any load or pallet. I.e. along a direction that is parallel with the extension of the long side of a pallet and measuring perpendicular to this direction.
  • the determined centreline of the load and/or pallet is very helpful, as it provides a tool for positioning the load and/or pallet, by for example using a predetermined centreline of the slot where the load and/or pallet as a reference for coinciding with the determined centreline.
  • a quicker and more effective determination of the outermost point's position may be achieved. And by moving the load sensor devices away from the load and/or pallet there are achieved the advantage of providing for using one or both of the load sensor devices to determine free space around the load and/or pallet, this being particularly important when delivering the load and/or pallet to a new position.
  • This provides for the method to be performed automatically.
  • AGV-Automated Guided Vehicle is arranged to be able to operate in a warehouse independently of manual instructions from an operator.
  • the AGV may also include manual control functions such as a joystick, steering wheel, brake pedal, accelerator pedal etc., such that it may be operated manually also. But also the AGV may lack all such devices, and for example only be operable manually by means of a remote control.
  • the disclosure is related to an AGV having a load carrier device for handling pallets.
  • the load carrier device includes a pair of forks.
  • the AGV is a material handling vehicle.
  • the vehicle has a load carrier, comprising a pair of forks.
  • the forks are intended to be inserted into pallet tunnels of a pallet.
  • the pallet tunnels comes often with standardized shape, but may have various shapes. In general the opening and the tunnels have a rectangular section.
  • On the pallet is a load positioned.
  • the load may have many different shapes, but in general it can be defined as a box with the outer dimensions being parallel with the pallet horizontal surface.
  • the load may extend outside the pallet, in particular when on occasion the loading of the pallet was derogatory from the desired loading.
  • the height of the load is more or less determined by the rack dimensions, thus a load may have a maximum height. Also the load may have a maximum width, and maximum length.
  • the weight of the load may also have a maximal allowed value.
  • a pallet is in general made in wood hand has a long side and a short side. The short side having two pallet tunnel openings. The pallet tunnels extending along the length of the pallet in a parallel manner. Thus, having a further two pallet tunnel openings on the other short side of the pallet. This is the general definition of a pallet. Horizontal surface is thus the surface that a pallet will occupy when positioned on a floor in with its two long sides and short sides reaching the floor.
  • the AGV is provided with a control unit.
  • a control unit may be several hardware processors and memory etc., that are located at different locations in the AGV.
  • the control unit may be distributed intelligence hardware. All hardware of the control unit is arranged to be able to communicate with hardware on the AGV.
  • the AGV has preferably a CAN bus system that is arranged throughout the vehicle for communication purposes of the components and devices of the vehicle, such as sensors, lighting, hydraulic system, pressure sensors, drive motor, rpm sensors etc.
  • the AGV is provided with a drive motor.
  • a single drive motor is provided to a centrally positioned drive wheel.
  • the drive wheel being arranged to be steerable along a steering axis, for manoeuvring the AGV.
  • the motor then being arranged to drive a non-turning wheel on one long side of the AGV, and a second motor is then arranged to a second non-turning wheel on a second long side of the AGV such that the vehicle may be manoeuvred by rotating the drive wheels at different rotation velocities, or even in a counter rotating procedure for turning on the spot.
  • the AGV is provided with a pallet tunnel sensor device.
  • the pallet tunnel sensor device may be a laser scanning device which is arranged to detect pallet tunnels and determine that these are situated on the same pallet, and not for example a pallet tunnel on a first pallet and a second pallet tunnel on an adjacent pallet.
  • the pallet tunnel device may be a sensor that detects and has a memory that may compare and determine if a pallet tunnel is fulfilling the predetermined criteria.
  • the pallet tunnel sensor device may also be based on optic technology, such as a camera device.
  • the AGV is provided with a load sensor device.
  • the AGV may have a first and second load sensor device. Thus, having the ability to detect the load position on both a first long side and a second long side of the pallet.
  • the AGV determines a position of a load and/or pallet.
  • the load sensor device may when a load has been lifted by the forks determine the position of the load on the load carrier.
  • the load sensor device may detect if there are protruding sections, i.e. points, of the load itself. This means sections, points that protrudes outside the horizontal area of the pallet.
  • the load sensor device or devices is arrange to be able to detect objects in a vertical plane. This means that any object protruding into the plane is detected.
  • the present disclosure is related to the possibility to detect a position for a load.
  • the present disclosure is related to the possibility to detect the shape or at least the most protruding sections of a load compared with a standard plane or standard load, which has been discussed as being a volume with the shape of a box.
  • the present disclosure allows for providing an AGV that is performing very narrow aisle operation with a pallet position distance that is equal to a pallet position that is achieved by a manually operated VNA material handling vehicle.
  • the present disclosure is thus related to a material handling vehicle 1 as disclosed in Fig. 1 .
  • the directions of the material handling vehicle 1 is disclosed in Fig. 1 by the X direction, i.e. the longitudinal direction, and the Y-direction, i.e. the transversal direction of the vehicle 1.
  • the material handling vehicle 1 comprises a load carrier 2, with a pair of forks 3.
  • the load carrier as exemplified in Fig. 1 may be movable both up and down.
  • the load carrier 2 may also be movable in the transversal Y direction of the material handling vehicle 1. In some material handling vehicle the load carrier 2 may be movable in the X direction.
  • a control unit 4 is also comprised on the material handling vehicle 1.
  • the control unit 4 is arranged such that it may control the vehicle in operation, without interaction of an operator. That is the control unit may store an execute software that controls all functions of the normal operation of the material handling vehicle 1. Even if the control unit 4 is disclosed in singular.
  • the control unit 4 may be a control unit assembly where several smaller control units cooperates in the control of the functions of the vehicle 1.
  • the drive motor may be fixed and drive one or several wheels.
  • the drive motor 5 is applied with a gear box such that the drive wheel 5 may rotate and control the direction of travel of the material handling vehicle 1.
  • the vehicle has an energy source 35.
  • This may be a battery.
  • the battery may in particular be a Lead Acid battery which provide good stabilizing properties due to its weight.
  • the battery may be a Lithium Ion battery, which provide very good charging capability and high capacity.
  • the hydraulic system 36 comprises the normal components for a material handling vehicle 1, such as a pump 37, a pump motor 38 and piping for powering hydraulic cylinders.
  • the cylinders being used mainly for moving and operating the load carrier 2 of the vehicle.
  • standardized components of a material handling vehicle 1 is comprised also for the disclosure.
  • a main mast 39 comprised.
  • the main mast 39 is thus extending upwards and thereby it is possible to lift the load carrier 2 to considerably heights.
  • secondary mast may also be comprised secondary mast.
  • the optional secondary mast may thus comprise the load carrier 2 and may initiate lifting from the floor up to about a normal load height.
  • the secondary mast may be moved along the transversal Y direction of the main mast.
  • Fig. 1 a boom 40 that moves along the Y direction carrying the load carrier 2 and allowing for the load carrier to rotate according to Fig. 1 , 7 and 8 .
  • the initial lifting from a floor position may thus be made by lifting the boom 40 together with the load carrier 2 and the complete rotational fork assembly 45, that is the load carrier 2, the boom 40 and the frame 44.
  • Fig. 1 discloses a first home position.
  • Fig. 8 discloses a second home position.
  • Fig. 7 discloses a third possible home position.
  • the material handling vehicle may move without risking that the load carrier interferes with objects in the warehouse during movement.
  • the material handling vehicle 1 may also comprise a bus system for communication within the vehicle 1. There may thus be a CAN-bus system that connects the various devices, sensors etc. with the control unit 4.
  • the material handling vehicle 1 comprises a pallet tunnel sensor device 7, Figs. 1 and 3 , 4 , 5 .
  • the pallet tunnel sensor device 7, is arranged such that it may detect at least one, preferably two pallet tunnels 26, 27 of a pallet 20 as disclose in Fig. 2 .
  • the pallet tunnel sensor device 7 may be a laser detection device.
  • the pallet tunnel sensor device 7 is preferably attached in a central position on the back of the load carrier assembly. In this position the pallet tunnel sensor device 7 may detect both a first pallet tunnel 26 and a second pallet tunnel 27 with the same sensor device 7.
  • the pallet tunnel sensor device 7 is connected to the control unit 4 for receiving instruction data from the control unit 4 and also for sending detection data to the control unit 4.
  • the pallet tunnel sensor device 7 is movable with the load carrier 2, but fixedly attached to the load carrier backing structure 32.
  • the first load sensor device 8 as disclosed in Fig. 3 may be attached to the back structure 32 of the load carrier 2.
  • the first load sensor device 8 is movable in transversal direction of the load carrier 2. This movement may be arranged for example by means of a screw transport device 8a.
  • the screw transport device may be replaced by another actuator device, for example a hydraulic cylinder in combination with a track that the movable first load sensor device 8 moves in.
  • the first load sensor device 8 is preferred to be a sensor device that may detect in an essentially vertical plane 27. By moving the sensor device 8 in along the screw transport device the vertical plan 27 moves towards or from a load 21, fig 6 , Fig 12 , in transversal direction of the load carrier. In Fig. 1 the transversal direction of the load carrier 2 is parallel with the X-direction.
  • the first load sensor device 8 is preferred to be a laser sensor device. The detection thus is made on a load 21, Fig. 12 or a pallet 20.
  • the important arrangement of the first load sensor device 8 is to arrange it such that it may detect the outermost point, i.e. section, e.g. the outermost section or area of the load 21 and/or pallet 20.
  • the pallet discloses a first outermost point 11.
  • Fig. 6 discloses an exemplified load 21 that is broader than the pallet 20. The movement direction is thus, along the perpendicular direction to the extension of the forks 3 of the load carrier.
  • the load sensor device 8 determines the position of the load in relation to the load carrier, the load sensor device 8 moves a first distance 41, thereby moving the vertical plane 27 the same distance, Fig. 12 .
  • the load sensor device 8, with its vertical plane 27 being parallel with the extension of the forks 3, may scan along the perpendicular direction of the forks 3 of the load carrier 2.
  • a movement from a first position to a detection position of point 11 may be achieved.
  • the first load sensor device 8 may then move to the opposite side of the load 21 or pallet 20 and move back a corresponding distance to 41 and determine the position of a second outermost point 13, by moving a distance into position 43 of Fig. 12 .
  • a centreline 12 that is related to the position of the pallet 20 and/or load 21, may thus be determined, Fig 5 and Fig. 12 .
  • the determined centreline 12 may thus be positioned in a different location than a geometric centreline 12a.
  • the determined centreline 12 may in a special case fall together with the geometric centreline 12a, if the load is positioned centred from all directions on the load carrier 2.
  • the centreline 12 being defined as half of the distance between a vertical plane 27 when detecting point 11 and a vertical plane 28 when detecting point 13, as seen in Fig. 12 .
  • a second load sensor device 9 may be applied at the opposite end of the back 32 of the load carrier 2, Fig 3 .
  • the second load sensor device 9, may have the same properties and technical specification as the first load sensor device 8.
  • the difference between the second load sensor device 9 and the first load sensor device 8 being that the second load sensor device 9 is arranged to detect on the opposite side 31 of the load 21 or pallet 20.
  • the second load sensor device 9 may thus detect in a second plane 28, that is preferred to be vertical.
  • the pallet 20 is rotated an angle 10, 10a to a line extending in line with the forks 3 of the load carrier.
  • This presentation is merely made as an example.
  • the pallet after engaging and lifting may be parallel to the forks 3, but for example dislocated in an offset position to either side of the centre position of the forks 3.
  • first and second load sensor devices 8, 9 may be centred after determining the first and second outermost points 11, 13. That is they are centred on a respective side from centreline 12, at a distance from this centreline that will give a space corresponding to the lowest allowable tolerance according to the ruling standard of positioning loads in a warehouse, in particular on a warehouse rack 33.
  • the vertical plane 27 or planes 28 is thus movable in horizontal direction, as the sensor or sensor devices 8, 9 are movable in horizontal direction.
  • the planes 27 and/or 28 are thus used for detecting along the first side 30 and/or second side 31 of the load 21 or pallet 20.
  • the first load sensor device 8 in Fig. 5 may scan along the complete side 30, thus not only detecting the outermost points 11 and 13.
  • the first and/or the second load sensor device 8, 9 may be movable to extend outside the side of the back structure 32 of the load carrier 2. Thus, being able to move the vertical plane 27 outside what is the general position of a load 21 or pallet 20. Thus, in a warehouse rack 33, Fig. 6 , the structures on the sides for example load 22, and beam 34 may also be detected before removing the load 21 from the rack 34. This is exemplified in Fig. 9 where the planes 27 and 28 may detect in the areas to left and right of the load 21. Thus, the extended position II of the first load sensor device 8 extends outside the perimeter of the back structure 32 of the load carrier 2, Fig. 4 .
  • the recessed position I the first load sensor device 8 is within the outer perimeter of the back structure 32, Fig 4 .
  • This may be an advantage as there sometimes may be limited space in the warehouse in particular inside a rack or if a rack is close to a wall. Or situations where the material handling vehicle 1 is operating close to a wall or seeking to pick up a pallet 20 when in home position of Fig. 7 .
  • the first and second load sensor devices 8, 9 may be arranged in a work in a pair configuration. That is, they may be arranged to move in linear direction along the back structure 32 of the load carrier 2 in a parallel manner, as seen in Fig. 4 , were both load sensors devices 8, 9 is disclosed as moved from a first position I to a second position II. In a preferred way this pair movement may be achieved by attaching both the sensors to a common element that movable in the required direction.
  • the element may be a rod that with a thread, such that the rotation is provided by rotation of the thread in a thread seat.
  • the distance between the load sensor devices 8, 9 in this configuration may advantageously be broader than a standardized load, for example the vertical planes 27, 28 may be at a distance of 820-1000 mm from each other, for example 840 mm or 850 mm or 860 mm.
  • the material handling vehicle 1 is arranged such that both load sensor devices 8, 9 may detect at the same time along a correctly positioned load 21 and/ or pallet 20, as they are standardized to 800 mm. This detection is then made in the free space around the standardized pallet 20 and/or load 21, Fig. 14 .
  • the outermost points the load 21 and/or pallet 20 is detectable by the material handling vehicle 1. This is as discussed exemplified in Fig. 5 with outermost points 11, 13. It should be stressed that the load sensor device 8 or 9 are arranged to detect the outermost point of a load at any height of the load. Thus, also the outermost position is defined in lateral direction outwards from the forks 3. It should also be understood as with the exemplified load 22 and pallet 20a, the outermost point 11a on one side may arise from the load 22, and on the opposite side 13a the outermost position may be the pallet 20a, Fig 6 .
  • Fig. 13 discloses the main steps of the method according to the disclosure for operating a material handling vehicle 1.
  • the method comprises thus the method of scanning a pallet 20, Fig. 2 in order to detect a pallet tunnel or both pallet tunnels 26, 27. This is made by the pallet tunnel device 7 as described above, Fig. 9, Fig 10 .
  • the material handling vehicle 1 may adapt the position of the load carrier 2 for engaging the pallet 20 with the load carrier 2.
  • the position of the load carrier if the pallet 2 with the load 21 is rotated in the warehouse rack 33.
  • This scanning thus determines that the load 21 does not prevent the load 21, and pallet 2, to be removed from the warehouse rack 33, Fig. 9 . It may be so that the load has been moved unintentionally after being positioned on the warehouse rack 33. It may also be so that this scanning step helps the material handling vehicle 1 to position the load carrier 2 more precisely before engaging the load.
  • the material handling vehicle 2 is engaging the pallet 20 by extending the load carrier 2, i.e. the forks 3 into the pallet tunnels 26, 27, see Fig 11 .
  • This engaging step may be performed by moving the load carrier is extended in lateral direction Y as related to the material handling vehicle's longitudinal direction X, Fig. 1 . It should be understood that this may also be achieved by moving the material handling vehicle 1, for example in longitudinal direction X, if the load is picked up in X direction, Fig. 7 .
  • a step of detecting the position of the load/pallet on the load carrier 2 see Fig. 11 and in particular Fig. 12 .
  • the scanning by the first load scanning device 8 and a second load scanning device 9 is performed. This is illustrated by double arrows in X direction of Fig. 12 .
  • a plane 27 or 28 from the load scanning device 8 is moved in X direction of Fig. 12 until an first outermost point 11 of the load 21 or pallet 20 is extending into the scanning plane 27.
  • the moving is made possible by moving the first sensor device 8 along the transversal direction of the forks 3, as is exemplified in Fig. 3 , and in particular Fig. 4 where a transversal movement from position I to position II is illustrated.
  • first sensor device 8 may be arranged to be used for making the detection on both sides 30, 31, Fig. 2 , of the pallet 2 and/or load 21. This may for example be arranged, as mentioned above, by allowing for the first sensor device 8 to travel in transversal direction to the forks 3 from the first side 30 to the second side 31 of the load 21 or pallet 2 by allowing the full travel of the first load detecting device 8 from the fist side 30 to the second side 31, that is in Fig. 1 in X direction.
  • the first load detecting device 8 is also detecting the plane 28 on the opposite side of the pallet 20 and/or load 21, for detecting also the second outermost point 13 of the pallet and/or load.
  • This detection of the outermost points 11, 13 as exemplified in Fig. 5 and 6 is the point of the load and/or pallet that sets the largest footprint that the load 21 and pallet 20 occupies when viewing the load/or pallet in vertical direction.
  • this will aid the material handling vehicle as it transports the load 21 or and pallet 20, and positions it at a new position in the warehouse.
  • the material handling vehicle 1 may thus adapt the delivery to a new position in the warehouse such that the load and/or pallet may be positioned in a more straight, efficient manner.
  • the method may also comprise the step of:
  • the centreline 12 as determined will be very beneficial for allowing for a free space on both sides of the load when setting down the load in a rack 36.
  • the detection may be made in parallel on both sides of the pallet/load for a quick and swift determination.
  • the material handling vehicle 1 may be arranged such that the first and second load sensor devices 8, 9 after determining the respective outermost points 11, 13 on opposite sides of a load and/or pallet, will move away from the load and/ or pallet such that they may monitor that a free space is available outside said load and/or pallet, wherein said free space correspond to a predetermined distance from the respective outermost points 11, 13 to the a vertical plane parallel with the extension of the forks 3 of the vehicle 1.
  • the first and second load detection device 8 and 9 are moved in tandem in the same direction. This is only illustrated by way of example.
  • the two load sensor devices 8, 9, may be arranged to move independently of each other as in fig. 3 where they are both protruding outside the load carrier 2.
  • a vertical beam 46 is taken as a reference point. From the reference point, a predetermined distance 47 may be travelled by the vehicle 1.
  • the load sensor devices 8 and/or 9 may be used in this process, by detecting the beam 46.
  • the load and/or pallet is preferably determined to be in position for being set down when the centreline 12 as determined coincides with the centreline 47 of the slot where the load 21 is to be positioned.
  • the above discussed method steps are intended to be performed by the material handling vehicle 1 independently of any operator. This is made possible by arranging a software that is stored on a control unit 4 that may control the material handling vehicle 1.

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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)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
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EP22156190.5A 2022-02-10 2022-02-10 Véhicule de manutention de matériaux et procédé de fonctionnement d'un véhicule de manutention de matériaux Pending EP4227255A1 (fr)

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EP22156190.5A EP4227255A1 (fr) 2022-02-10 2022-02-10 Véhicule de manutention de matériaux et procédé de fonctionnement d'un véhicule de manutention de matériaux

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EP22156190.5A EP4227255A1 (fr) 2022-02-10 2022-02-10 Véhicule de manutention de matériaux et procédé de fonctionnement d'un véhicule de manutention de matériaux

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EP4227255A1 true EP4227255A1 (fr) 2023-08-16

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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
BE1015584A3 (nl) * 2003-07-01 2005-06-07 Egemin Nv Verbeterde lastopname-inrichting voor een automatisch gestuurde vorkheftruck.
EP2181959A1 (fr) * 2008-10-31 2010-05-05 Still Sas Chariot de manutention
US20160075542A1 (en) * 2014-09-15 2016-03-17 Crown Equipment Corporation Lift truck with optical load sensing structure
ITUA20161924A1 (it) * 2016-03-23 2017-09-23 Ocme Srl Veicolo a guida automatica per il trasferimento di carichi, in particolare carrello elevatore, e metodo per il trasferimento automatico di carichi attuabile mediante tale veicolo.

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
BE1015584A3 (nl) * 2003-07-01 2005-06-07 Egemin Nv Verbeterde lastopname-inrichting voor een automatisch gestuurde vorkheftruck.
EP2181959A1 (fr) * 2008-10-31 2010-05-05 Still Sas Chariot de manutention
US20160075542A1 (en) * 2014-09-15 2016-03-17 Crown Equipment Corporation Lift truck with optical load sensing structure
ITUA20161924A1 (it) * 2016-03-23 2017-09-23 Ocme Srl Veicolo a guida automatica per il trasferimento di carichi, in particolare carrello elevatore, e metodo per il trasferimento automatico di carichi attuabile mediante tale veicolo.

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