WO2004103882A1 - Bewegliche sensoreinrichtung am lastmittel eines gabelstaplers - Google Patents
Bewegliche sensoreinrichtung am lastmittel eines gabelstaplers Download PDFInfo
- Publication number
- WO2004103882A1 WO2004103882A1 PCT/EP2004/004715 EP2004004715W WO2004103882A1 WO 2004103882 A1 WO2004103882 A1 WO 2004103882A1 EP 2004004715 W EP2004004715 W EP 2004004715W WO 2004103882 A1 WO2004103882 A1 WO 2004103882A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- load
- sensor
- forklift
- load sensor
- lifting fork
- Prior art date
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/0755—Position control; Position detectors
Definitions
- the invention relates to a method for operating a movable load sensor for load detection and monitoring on a forklift, and a movable load sensor on a forklift according to the preambles of claims 1 and 8.
- EP 0800129 B1 shows an industrial truck, in particular a counterbalance forklift, which can be operated either manually or automatically.
- the forklift is equipped with a control system that is operatively connected to the drive, the steering, the brake system and the movement control of the fork.
- a means for entering and storing possible driving routes and a transport task is provided. Additional means are available for controlling the movement of the vehicle depending on its position in space and on the specified transport task.
- an odometer system and an image processing system with at least one navigation camera are used, the
- Navigation camera is mounted on the side opposite the fork in the upper area of the overhead guard. At least one other camera is used to detect the presence, position and orientation of a pallet. This camera is attached to the truck on the fork side, in the same motion as the fork. The fork and / or the vehicle are controlled depending on the position, the orientation of the pallet and the transport task. In addition, there is a means by which the vehicle is braked in the presence of obstacles.
- Patent application WO 94/05586 shows a device and a method for controlling a container crane. In this case, the positions of points on an edge of the loading gear or a container accommodated therein and a point on an edge located in a target location are measured by means of at least one sensor and converted into signals for actuating the crane drive.
- Common 2D range finders are used as sensors, which use a laser beam or a microwave beam as the measuring beam.
- a surface scan is generated by additionally pivoting the scanning plane of the 2D range finder. For this reason, the sensor is movably received in the direction of the selected edge to be scanned.
- Such a 3D distance image sensor delivers all three spatial coordinates for the measured points.
- US 4279328 shows a device for aligning lifting means, in particular the load means of a forklift.
- the forklift can be an automatically or semi-automatically operated forklift.
- the device is aligned in a specific position relative to the load by means of the device.
- the device comprises a camera, by means of which images of the load are scanned.
- the camera detects a clear image of the load consisting of shadows and reflections optoelectronically.
- the camera and the light source are connected to the load means in such a way that they are movably arranged together with the load means.
- a one-dimensional camera arrangement is sufficient; the second dimension is generated by the movement of the load during scanning.
- the camera is located so that the field of vision of the camera is not covered by the load means below the load means. Only when the load means is lowered onto the floor is the camera held by a mechanical stop and raised telescopically above the level of the load means in order to prevent damage to the camera. However, when the camera is raised above the level of the load means, the field of view of the camera is at least partially covered by construction parts of the load means, in particular a view of the load or the lifting fork is then no longer possible.
- the light sources arranged in the same movement as the camera are at least partially covered by structural parts of the load means, as a result of which homogeneous illumination is then no longer possible. For this reason it is necessary to steer blindly without any visual information using prior knowledge when setting down the load means or when entering the fork pockets (docking) of a Euro pallet.
- the disadvantage of a control based solely on prior knowledge is that dynamic changes in the environment are not taken into account and the positioning of the load means is relatively inaccurate.
- the invention is therefore based on the object of creating a movable load sensor on the load means of a forklift and a method for operating the load sensor according to the preambles of claims 1 and 8, which makes it possible to take the load means of the forklift into account with dynamic changes in the environment with high accuracy position.
- a movable load sensor is used for load detection and monitoring on a forklift.
- the load sensor is attached and aligned on the forklift in such a way that the load and / or the lifting fork and / or the environment in front of the forklift can be detected.
- the sensor data recorded by means of the load sensor are then evaluated by means of a computer unit.
- the load sensor is attached to the forklift so that it can move with the load means relative to the mast. In an inventive manner, the load sensor can additionally be moved relative to the load means.
- the load sensor can advantageously be moved within a predefined range relative to the load means.
- Another advantage is that the position and orientation of the load can also be checked during transport due to the movability of the load sensor relative to the load means.
- a linear drive can be provided on the load means.
- the invention only makes it possible to take into account dynamic changes in the environment of the forklift during the docking process. For example, in contrast to automatically positioned loads, a load placed by a worker is not always exactly in the same position. It can also happen, for example, that a load is inadvertently shifted by the load device of the forklift during a docking process.
- the load can be detected precisely at any time, even under difficult lighting conditions in the industrial environment, and the load means can then be positioned with high accuracy, adapted to dynamic changes in the environment.
- the load means is usually raised while driving.
- the load sensor is moved in a vertical direction to a position below the level of the lifting fork. This allows the environment in front of the forklift truck to be detected well with the load sensor.
- the recorded environmental information can then be used, for example, for route planning or for further processing in the context of obstacle detection, for example to avoid collisions.
- the load means is also in the raised state, but the load sensor is advantageously moved vertically into a position above the level of the lifting fork.
- the load sensor is advantageously moved vertically into a position above the level of the lifting fork.
- the load sensor can also be used to determine whether the load has slipped if it is below the level of the lifting fork.
- slipping of the load relative to the lifting fork is detected in an advantageous manner.
- the load sensor can be moved in the horizontal direction to a position to the left or right of the lifting fork.
- the load sensor can be moved in the horizontal direction to a position to the left or right of the lifting fork.
- Sensors that record distance information are particularly suitable for load detection and monitoring, and a wide variety of sensors are known to the person skilled in the art.
- commercially available laser scanners have proven their worth when used as load sensors.
- Such laser scanners record 2D distance data in the close range with a depth resolution of approx. 1 cm at a distance radius of approx. 8 m and at a viewing angle of at least 180 degrees.
- visual information is used for load detection and monitoring.
- imaging sensors such as cameras are used, which include CCD arrays.
- FIG. 1 forklift with a movable load sensor.
- FIG. 2 a detailed view of the movable load sensor with positioning below the lifting fork
- FIG. 2b detailed view of the movable load sensor with positioning above the lifting fork
- FIG. 1 shows an example of the movable load sensor (1) according to the invention on a forklift (7).
- the load sensor (1) is connected together with the load means (6) which can be moved relative to the mast (5).
- Environmental information captured by the load sensor can then can be evaluated by means of the computer unit (4).
- the computer unit (4) can in principle also be provided for controlling the forklift and the sensors.
- FIG. 2a shows an example of a detailed view of the load sensor (1), which is connected and movable together with the load means (6).
- the load sensor (1) is moved by means of the linear drive (3) relative to the lifting fork (2) within a predetermined range.
- Embodiment according to Fig. 2a is the load sensor
- FIG. 2b a detailed view of the load sensor (1) is shown in Fig. 2b, in which the load sensor (1) is above the level of the lifting fork (2).
- the mechanism for the linear drive (3) is also above the level of the lifting fork (2). This makes it possible for the lifting fork (2) to be completely lowered onto the floor without damaging the linear drive (3) or the load sensor (1).
- FIG. 3 shows a forklift (7) with the device according to the invention.
- the forklift (7) is currently on the way to pick up a load (8).
- Load means (6) is still in the raised state before the docking process.
- the load sensor (1) is therefore preferably below the level of the lifting fork (2).
- a pan-tilt head (9) is provided, by means of which the load sensor (1) can be pivoted and tilted and thus different views can be realized.
- the load sensor (1) is aligned in such a way that both the travel path (10) and the load (8) are detected.
- the load means (6) for receiving the load (8) is lowered.
- the load sensor (1) is raised above the level of the lifting fork (2) by means of the linear drive (3).
- Fig. 5 shows the transport of a load (8) with the forklift (7).
- the load sensor (1) is located below the lifting fork (2) in order to detect the travel path of the forklift, for example as part of an obstacle detection. If the load sensor (1) is only moved slightly below the level of the lifting fork (2), the load (8) may also slip at the same time relative to the lifting fork (2).
- Level of the lifting fork (2) is raised.
- the load (8) can be detected precisely during transport with the forklift (7), and at the same time a part of the travel path and the lifting fork (2) can be observed.
- the load sensor (1) can additionally be moved in the horizontal direction.
Landscapes
- 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
Description
Claims
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US10/555,365 US20080011554A1 (en) | 2003-05-26 | 2004-05-04 | Movable sensor device on the loading means of a forklift |
AT04731005T ATE446276T1 (de) | 2003-05-26 | 2004-05-04 | Bewegliche sensoreinrichtung am lastmittel eines gabelstaplers |
DE502004010271T DE502004010271D1 (de) | 2003-05-26 | 2004-05-04 | Bewegliche sensoreinrichtung am lastmittel eines gabelstaplers |
JP2006529734A JP2006528122A (ja) | 2003-05-26 | 2004-05-04 | フォークリフトの荷物支持手段上の可動センサ装置 |
EP04731005A EP1641704B1 (de) | 2003-05-26 | 2004-05-04 | Bewegliche sensoreinrichtung am lastmittel eines gabelstaplers |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE10323641.4 | 2003-05-26 | ||
DE10323641A DE10323641A1 (de) | 2003-05-26 | 2003-05-26 | Bewegliche Sensoreinrichtung am Lastmittel eines Gabelstaplers |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2004103882A1 true WO2004103882A1 (de) | 2004-12-02 |
Family
ID=33461871
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/EP2004/004715 WO2004103882A1 (de) | 2003-05-26 | 2004-05-04 | Bewegliche sensoreinrichtung am lastmittel eines gabelstaplers |
Country Status (6)
Country | Link |
---|---|
US (1) | US20080011554A1 (de) |
EP (1) | EP1641704B1 (de) |
JP (1) | JP2006528122A (de) |
AT (1) | ATE446276T1 (de) |
DE (2) | DE10323641A1 (de) |
WO (1) | WO2004103882A1 (de) |
Cited By (10)
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EP1764340A2 (de) * | 2005-09-14 | 2007-03-21 | Still Gmbh | Flurförderzeug mit einem im Bereich eines Hubgerüsts angeordneten Umgebungssensor |
EP1710204A3 (de) * | 2005-04-08 | 2007-11-14 | Still Gmbh | Flurförderzeug mit einer an einem vertikal beweglichen Gabelträger angeordneten Vorrichtung zur Kommunikation mit einem Identifikationssystem |
EP1834922A3 (de) * | 2006-03-16 | 2009-08-19 | Still Gmbh | Flurförderzeug mit einem Hubmast |
BE1018160A3 (nl) * | 2008-05-26 | 2010-06-01 | Egemin Nv | Automatisch gestuurd voertuig en werkwijze voor het sturen daarbij toegepast. |
EP2208704A1 (de) * | 2009-01-15 | 2010-07-21 | Jungheinrich Aktiengesellschaft | Gabelzinke für eine Lastgabel eines Flurförderzeugs |
EP2385014A1 (de) * | 2010-05-03 | 2011-11-09 | Siemens Aktiengesellschaft | Flurförderzeug mit einer Einrichtung zur Identifizierung eines geladenen Transportgutes, und Verfahren zur Identifizierung eines geladenen Transportgutes eines Flurförderzeugs |
WO2015110539A1 (de) * | 2014-01-24 | 2015-07-30 | Terex Mhps Gmbh | Automatisch geführtes container-portalhubgerät mit bewegbarer sensoranordnung |
US9932213B2 (en) | 2014-09-15 | 2018-04-03 | Crown Equipment Corporation | Lift truck with optical load sensing structure |
EP3309112A1 (de) | 2016-10-14 | 2018-04-18 | Kabushiki Kaisha Toyota Jidoshokki | Gabelstapler und verfahren zum betrieb davon |
WO2019003068A1 (fr) | 2017-06-27 | 2019-01-03 | Compagnie Générale Des Établissements Michelin | Chariot élévateur comportant une butée de chargement |
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-
2003
- 2003-05-26 DE DE10323641A patent/DE10323641A1/de not_active Withdrawn
-
2004
- 2004-05-04 WO PCT/EP2004/004715 patent/WO2004103882A1/de active Application Filing
- 2004-05-04 DE DE502004010271T patent/DE502004010271D1/de not_active Expired - Lifetime
- 2004-05-04 EP EP04731005A patent/EP1641704B1/de not_active Expired - Lifetime
- 2004-05-04 JP JP2006529734A patent/JP2006528122A/ja active Pending
- 2004-05-04 AT AT04731005T patent/ATE446276T1/de not_active IP Right Cessation
- 2004-05-04 US US10/555,365 patent/US20080011554A1/en not_active Abandoned
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US4279328A (en) * | 1978-04-28 | 1981-07-21 | Ab Volvo | Device for orienting a lifting means, for example, in relation to a load |
US5586620A (en) * | 1995-05-12 | 1996-12-24 | Crown Equipment Corporation | Remote viewing apparatus for fork lift trucks |
EP0800129A1 (de) * | 1996-04-03 | 1997-10-08 | FIAT OM CARRELLI ELEVATORI S.p.A. | Flurförderzeug, das wahlweise manuell oder automatisch betreibbar ausgebildet ist |
EP0985632A1 (de) * | 1998-09-09 | 2000-03-15 | Forrest Sower | Gabelhubwagens |
WO2002064490A1 (fr) * | 2001-02-16 | 2002-08-22 | Kabushiki Kaisha Toyota Jidoshokki | Dispositif de levage d"appareil photographique et dispositif support pour manipulation de charge d"un vehicule industriel et vehicule industriel associe |
EP1361190A1 (de) * | 2001-02-16 | 2003-11-12 | Kabushiki Kaisha Toyoda Jidoshokki | Kamerahebevorrichtung und lasthandhabungstragvorrichtung eines hubwagens und hubwagen |
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EP1710204A3 (de) * | 2005-04-08 | 2007-11-14 | Still Gmbh | Flurförderzeug mit einer an einem vertikal beweglichen Gabelträger angeordneten Vorrichtung zur Kommunikation mit einem Identifikationssystem |
EP1764340A2 (de) * | 2005-09-14 | 2007-03-21 | Still Gmbh | Flurförderzeug mit einem im Bereich eines Hubgerüsts angeordneten Umgebungssensor |
EP1764340A3 (de) * | 2005-09-14 | 2007-06-27 | Still Gmbh | Flurförderzeug mit einem im Bereich eines Hubgerüsts angeordneten Umgebungssensor |
EP1834922A3 (de) * | 2006-03-16 | 2009-08-19 | Still Gmbh | Flurförderzeug mit einem Hubmast |
BE1018160A3 (nl) * | 2008-05-26 | 2010-06-01 | Egemin Nv | Automatisch gestuurd voertuig en werkwijze voor het sturen daarbij toegepast. |
EP2208704A1 (de) * | 2009-01-15 | 2010-07-21 | Jungheinrich Aktiengesellschaft | Gabelzinke für eine Lastgabel eines Flurförderzeugs |
EP2385014A1 (de) * | 2010-05-03 | 2011-11-09 | Siemens Aktiengesellschaft | Flurförderzeug mit einer Einrichtung zur Identifizierung eines geladenen Transportgutes, und Verfahren zur Identifizierung eines geladenen Transportgutes eines Flurförderzeugs |
WO2015110539A1 (de) * | 2014-01-24 | 2015-07-30 | Terex Mhps Gmbh | Automatisch geführtes container-portalhubgerät mit bewegbarer sensoranordnung |
US9932213B2 (en) | 2014-09-15 | 2018-04-03 | Crown Equipment Corporation | Lift truck with optical load sensing structure |
EP3309112A1 (de) | 2016-10-14 | 2018-04-18 | Kabushiki Kaisha Toyota Jidoshokki | Gabelstapler und verfahren zum betrieb davon |
WO2019003068A1 (fr) | 2017-06-27 | 2019-01-03 | Compagnie Générale Des Établissements Michelin | Chariot élévateur comportant une butée de chargement |
CN110799445A (zh) * | 2017-06-27 | 2020-02-14 | 米其林集团总公司 | 包括装载止挡件的升降运输车 |
CN110799445B (zh) * | 2017-06-27 | 2021-03-19 | 米其林集团总公司 | 包括装载止挡件的升降运输车 |
US11155451B2 (en) | 2017-06-27 | 2021-10-26 | Compagnie Generale Des Etablissements Michelin | Lift truck comprising a loading stop |
Also Published As
Publication number | Publication date |
---|---|
EP1641704B1 (de) | 2009-10-21 |
DE502004010271D1 (de) | 2009-12-03 |
ATE446276T1 (de) | 2009-11-15 |
EP1641704A1 (de) | 2006-04-05 |
US20080011554A1 (en) | 2008-01-17 |
DE10323641A1 (de) | 2005-01-05 |
JP2006528122A (ja) | 2006-12-14 |
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