EP1641704B1 - Dispositif de detection mobile fixe au moyen de charge d'un chariot elevateur a fourche - Google Patents

Dispositif de detection mobile fixe au moyen de charge d'un chariot elevateur a fourche Download PDF

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Publication number
EP1641704B1
EP1641704B1 EP04731005A EP04731005A EP1641704B1 EP 1641704 B1 EP1641704 B1 EP 1641704B1 EP 04731005 A EP04731005 A EP 04731005A EP 04731005 A EP04731005 A EP 04731005A EP 1641704 B1 EP1641704 B1 EP 1641704B1
Authority
EP
European Patent Office
Prior art keywords
load
sensor
load sensor
forklift
lifting fork
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.)
Expired - Lifetime
Application number
EP04731005A
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German (de)
English (en)
Other versions
EP1641704A1 (fr
Inventor
Ralf BRÖSEL
Sven Horstmann
Lars KÜTTNER
Andreas Stopp
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.)
STOPP, ANDREAS
Original Assignee
Daimler AG
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Filing date
Publication date
Application filed by Daimler AG filed Critical Daimler AG
Publication of EP1641704A1 publication Critical patent/EP1641704A1/fr
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Publication of EP1641704B1 publication Critical patent/EP1641704B1/fr
Anticipated expiration legal-status Critical
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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 a method for operating a movable load sensor for the load detection and monitoring on a forklift, and a movable load sensor device on a forklift according to the preambles of claims 1 and 7.
  • the EP 0800129 B1 shows an industrial truck, in particular a counterbalance forklift, which is optionally operated manually or automatically.
  • the forklift is equipped with a control system which is in communication with the drive, the steering, the brake system and the movement control of the fork.
  • a means is provided for entering and storing possible travel routes and a transport task.
  • an odometry system and an image processing system with at least one navigation camera is used for the autonomous determination of the vehicle position in space, wherein the navigation camera is mounted on the opposite side of the fork in the upper region of the driver's roof.
  • At least one other camera is for detecting the presence, position and orientation of a pallet. Whereby this camera is fork-side, motion-same to the fork, attached to the truck. The control of the fork and / or the vehicle takes place depending on the position, the orientation of the pallet and the transport task. In addition, a means is provided, whereby the vehicle is braked in the presence of obstacles.
  • the patent application WO 94/05586 shows an apparatus and a method for controlling a container crane .
  • the positions of points on an edge of the loading gear or a container received therein and a point of an edge located in a destination measured and converted into signals for controlling the crane drive.
  • the sensors used here are customary 2D rangefinders which use a laser beam or a microwave beam as the measurement beam. By additionally swiveling the scanning plane of the 2D rangefinder, a surface scan is generated. For this reason, the sensor is movably received in the direction of the selected edge to be scanned.
  • Such a 3D range image sensor supplies to the measured points in each case all three space coordinates.
  • the forklift may be an automatic or semi-automatic forklift truck.
  • the orientation of the load means by means of the device in a certain position relative to the load.
  • the device comprises a camera, by means of which images of the load are scanned.
  • a light source homogeneously illuminating the light source, which is mechanically connected to the camera, a clear image of the load consisting of shadows and reflections is detected opto-electronically by means of the camera.
  • the camera and the light source are connected to the load means such that they are arranged to be movable together with the load means.
  • a one-dimensional camera arrangement is sufficient; the second dimension is generated by the movement of the load means during scanning. So that the field of view of the camera is not covered by the load, the camera is located below the load medium. Only when lowering the load means on the ground, the camera is held by a mechanical stop and raised telescopically above the level of the load means, so as to prevent damage to the camera. However, when raising the camera above the level of the load means the field of view of the camera is at least partially obscured by structural parts of the load means, in particular a view of the load or the lifting fork is then no longer possible. In addition, the movement of the camera arranged light sources are at least partially hidden by structural parts of the load means, whereby a homogeneous illumination is then no longer possible.
  • a transport vehicle is shown with a mast and a lifting fork.
  • the lifting fork is connected via a load means with the mast and can be moved in the vertical direction along the mast up and down.
  • a camera unit is arranged, which is used as a load sensor.
  • the load sensor is movable within a fixed predetermined range in the vertical direction relative to the load means, wherein the fixed predetermined range a raised and a lowered position includes.
  • the raised position is a parking position in which the load sensor is above the level of the lifting fork.
  • the load sensor is below the level of the lifting fork.
  • a forklift is shown with a sensor suitable for ambient detection, which detects the actual height adjustment of the lifting fork.
  • the sensor is arranged here away from the mast of the forklift on the lifting fork. When moving the lifting fork, the sensor moves in the vertical direction together with the lifting fork relative to the mast of the forklift.
  • the sensor is arranged to be movable in the vertical direction relative to the lifting fork. The image information captured by the sensor is presented to the driver on an image display.
  • the invention is therefore based on the object to provide a movable load sensor device on the load means of a forklift and a method for operating the load sensor according to the preambles of claims 1 and 7, which makes it possible the load means of the forklift taking into account dynamic environmental changes with high accuracy to be positioned.
  • a movable load sensor is used for load detection and monitoring on a forklift.
  • the load sensor is mounted and aligned on the forklift in such a way that the load and / or the lifting fork and / or the surroundings ahead of the forklift can be detected.
  • the sensor data detected by means of the load sensor are then evaluated by means of a computer unit.
  • the load sensor is in this case mounted to move with the load means with respect to the mast movable on the forklift.
  • the load sensor can additionally be moved relative to the load means.
  • the load sensor for example, if the field of view of the camera is obscured by structural parts of the forklift, be moved within a fixed predetermined range with respect to the load means.
  • the position and orientation of the load can also be checked during transport by the movability of the load sensor relative to the load means.
  • a linear drive may be provided on the load means for moving the load sensor.
  • the invention first makes it possible to take into account dynamic changes in the environment of the forklift during the docking process. For example, a load parked by a worker, unlike automatically positioned loads, is not always exactly at the same position. It can also happen, for example, that a load is accidentally moved during a docking operation by the load means of the forklift itself.
  • the targeted application of the load sensor allows the load to be precisely recorded at all times, even under difficult lighting conditions in industrial environments, and the load can then be positioned with high accuracy to suit dynamic changes in the environment.
  • the load means is usually raised while driving.
  • the load sensor is thereby moved in the vertical direction into a position below the level of the lifting fork.
  • the detected environment information can then be used, for example, for path planning or further processing in the context of an obstacle detection, in order, e.g. Avoid collisions.
  • the load means is also in the raised state, but the load sensor is advantageously moved in a vertical direction into a position above the level of the lifting fork.
  • the load can be accurately detected with respect to its position and orientation by means of the load sensor even while driving in order to be able to detect a slippage of the load in good time.
  • Slippage of the load can also be detected with the load sensor, if this is below the level of the lifting fork.
  • e.g. advantageously detects a slippage of the load relative to the lifting fork.
  • the load sensor in the horizontal direction in a position left or right next to the lifting fork is movable.
  • the load sensor When transporting a load with the forklift, it is possible to look past the load with the load sensor laterally. For example, thus the lateral distance between load and track boundary can be better detected.
  • a look on the side next to the lifting fork is a great advantage.
  • a lateral method of the load sensor may be advantageous, for example, a load may be sampled from a suitable view prior to docking.
  • the load sensor can additionally be tilted in the vertical direction and / or pivoted in the horizontal direction in order to fully exploit the possibility of different views can.
  • the load sensor it is also conceivable to combine a plurality of different sensors as a movable load sensor and if necessary to carry out a sensor data fusion.
  • the environmental information acquired by means of different sensors can be compared with the information from the odometry system of the forklift.
  • the movable load sensor (1) is shown on a forklift (7).
  • the load sensor (1) is connected together with the relative to the mast (5) movable load means (6).
  • the load sensor (1) in this case within a predetermined range in addition to the lifting fork (2) is movable.
  • the environmental information acquired by the load sensor may then be used be evaluated by the computer unit (4).
  • the computer unit (4) can also be provided for controlling the forklift and the sensor system.
  • the Fig. 2a shows an example of a detailed view of the load sensor (1), which is connected to the load means (6) and moved together.
  • the load sensor (1) is here moved by means of the linear drive (3) relative to the lifting fork (2) within a predetermined range.
  • the load sensor (1) is below the level of the lifting fork (2).
  • This variant is particularly suitable for operation of the forklift with lifted load means (6).
  • Fig. 2b a detail view of the load sensor (1) is shown, 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 placed completely on the ground without damaging the linear drive (3) or the load sensor (1).
  • a forklift (7) is shown with the device according to the invention.
  • the forklift (7) is just on the approach to receiving a load (8).
  • the load means (6) is still in the raised state before docking.
  • the load sensor (1) is therefore preferably below the level of the lifting fork (2).
  • a pan-tilt head (9) is provided, with which the load sensor (1) can be pivoted and tilted and thus different views can be realized.
  • the load sensor (1) is in this case aligned such 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) by means of the linear drive (3) above the level of the lifting fork (2) is raised.
  • the retraction of the lifting fork (2) into the pockets of the Euro pallet (11) can be detected accurately during the docking process even in difficult lighting conditions and deviations in the position can be corrected if necessary.
  • 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 in the context of an obstacle detection. If the load sensor (1) is moved only slightly below the level of the lifting fork (2), at the same time, if necessary, a slipping of the load (8) relative to the lifting fork (2) can be determined.
  • the load sensor (1) during the transport of a load (8) above the level of the lifting fork (2) is raised.
  • the load (8) during transport with the forklift (7) can be accurately detected, while at the same time a part of the route and the lifting fork (2) can be observed.
  • the load sensor (1) is additionally movable in the horizontal direction.

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

Claims (12)

  1. Procédé permettant de faire fonctionner un capteur de charge (1) mobile pour la reconnaissance et la surveillance d'une charge et destiné à un chariot à fourche, ce capteur de charge (1) permettant de détecter la charge (3) et / ou la fourche élévatrice (2) et / ou l'environnement situé en face du chariot élévateur à fourche (7) et les données détectées par le capteur (1) sont ensuite évaluées à l'aide d'une unité de calcul (4), le capteur de charge (1) pouvant se déplacer par rapport au mât (5) du chariot élévateur à fourche (7) simultanément au moyen de charge (6) et le capteur de charge (1) pouvant se déplacer à la verticale à l'intérieur d'une zone prédéfinie par rapport au moyen de charge (6), caractérisé en ce que le capteur de charge (1) peut se déplacer horizontalement à gauche ou à droite à proximité de la fourche élévatrice (2).
  2. Procédé selon la revendication 1, caractérisé en ce que le capteur de charge (1) peut être incliné verticalement et / ou pivoté horizontalement.
  3. Procédé selon la revendication 1 ou 2, caractérisé en ce que le capteur de charge (1) peut se déplacer verticalement dans une position supérieure ou inférieure au niveau de la fourche élévatrice (2).
  4. Procédé selon l'une quelconque des revendications précédentes, caractérisé en ce que des informations d'éloignement sont utilisées pour la reconnaissance et la surveillance.
  5. Procédé selon l'une quelconque des revendications précédentes, caractérisé en ce que des informations visuelles sont utilisées pour la reconnaissance et la surveillance.
  6. Procédé selon l'une quelconque des revendications précédentes, caractérisé en ce que des informations acoustiques sont utilisées pour la reconnaissance et la surveillance.
  7. Dispositif détecteur de charge mobile (1) permettant la reconnaissance et la surveillance destiné à un chariot à fourche, le capteur de charge (1) étant orienté de manière telle qu'il détecte la charge (1) et / ou la fourche élévatrice (2) et / ou l'environnement situé en face du chariot élévateur à fourche, et il est prévu une unité de calcul (4) permettant d'évaluer les données détectées par le capteur de charge (1), le capteur de charge (1) étant disposé de telle sorte qu'il puisse se déplacer par rapport au mât (5) du chariot élévateur à fourche (7) simultanément au moyen de charge (6) et un moyen étant prévu avec lequel le capteur de charge (1) puisse se déplacer verticalement dans une zone prédéfinie par rapport au moyen de charge (6), caractérisé en ce qu'un moyen est prévu avec lequel le capteur de charge (1) peut en outre se déplacer horizontalement à gauche ou à droite à proximité de la fourche élévatrice (2).
  8. Procédé selon la revendication 1, caractérisé en ce que le capteur de charge (1) peut être incliné verticalement et / ou peut pivoter horizontalement.
  9. Dispositif détecteur selon la revendication 7 ou 8, caractérisé en ce qu'il est prévu un moyen avec lequel le capteur de charge (1) peut se déplacer verticalement dans une position supérieure ou inférieure au niveau de la fourche élévatrice (2).
  10. Dispositif détecteur selon l'une quelconque des revendications 7 à 9, caractérisé en ce que le capteur de charge (1) est au moins un dispositif de balayage laser.
  11. Dispositif détecteur selon l'une quelconque des revendications 7 à 10, caractérisé en ce que le capteur de charge (1) est au moins un capteur formant une image.
  12. Dispositif détecteur selon l'une quelconque des revendications 7 à 11, caractérisé en ce que le capteur de charge (1) est au moins un capteur à ultrasons.
EP04731005A 2003-05-26 2004-05-04 Dispositif de detection mobile fixe au moyen de charge d'un chariot elevateur a fourche Expired - Lifetime EP1641704B1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE10323641A DE10323641A1 (de) 2003-05-26 2003-05-26 Bewegliche Sensoreinrichtung am Lastmittel eines Gabelstaplers
PCT/EP2004/004715 WO2004103882A1 (fr) 2003-05-26 2004-05-04 Dispositif de detection mobile fixe au moyen de charge d'un chariot elevateur a fourche

Publications (2)

Publication Number Publication Date
EP1641704A1 EP1641704A1 (fr) 2006-04-05
EP1641704B1 true EP1641704B1 (fr) 2009-10-21

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EP04731005A Expired - Lifetime EP1641704B1 (fr) 2003-05-26 2004-05-04 Dispositif de detection mobile fixe au moyen de charge d'un chariot elevateur a fourche

Country Status (6)

Country Link
US (1) US20080011554A1 (fr)
EP (1) EP1641704B1 (fr)
JP (1) JP2006528122A (fr)
AT (1) ATE446276T1 (fr)
DE (2) DE10323641A1 (fr)
WO (1) WO2004103882A1 (fr)

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DE10323641A1 (de) 2005-01-05
JP2006528122A (ja) 2006-12-14
EP1641704A1 (fr) 2006-04-05
ATE446276T1 (de) 2009-11-15
WO2004103882A1 (fr) 2004-12-02
DE502004010271D1 (de) 2009-12-03

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