EP1767488A2 - Système pour assister le conducteur d'un chariot élévateur lors de la conduite - Google Patents

Système pour assister le conducteur d'un chariot élévateur lors de la conduite Download PDF

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Publication number
EP1767488A2
EP1767488A2 EP06018414A EP06018414A EP1767488A2 EP 1767488 A2 EP1767488 A2 EP 1767488A2 EP 06018414 A EP06018414 A EP 06018414A EP 06018414 A EP06018414 A EP 06018414A EP 1767488 A2 EP1767488 A2 EP 1767488A2
Authority
EP
European Patent Office
Prior art keywords
truck
signal
transponder
antenna
transponders
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.)
Granted
Application number
EP06018414A
Other languages
German (de)
English (en)
Other versions
EP1767488B1 (fr
EP1767488A3 (fr
Inventor
Ernst-Peter Dr.-Ing. Magens
Frank Dr.-Ing. Mänken
Martin Dipl.-Ing. Von Werder
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.)
Jungheinrich AG
Original Assignee
Jungheinrich AG
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 Jungheinrich AG filed Critical Jungheinrich AG
Publication of EP1767488A2 publication Critical patent/EP1767488A2/fr
Publication of EP1767488A3 publication Critical patent/EP1767488A3/fr
Application granted granted Critical
Publication of EP1767488B1 publication Critical patent/EP1767488B1/fr
Active legal-status Critical Current
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
    • B66F17/00—Safety devices, e.g. for limiting or indicating lifting force
    • B66F17/003—Safety devices, e.g. for limiting or indicating lifting force for fork-lift trucks
    • 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 system for assisting a driver of a truck while driving according to claim 1.
  • the maximum speed of a truck is prescribed by the authorities. Moreover, the speed is determined by the use and the requirements in operation. In order to accelerate the handling, it is naturally desirable to drive the vehicle at maximum speed as often as possible. When approaching critical points, such as hall passages or on shelves or the like, the driver must reduce the speed in good time so as not to bring about any danger. Usually, it is up to the driver to influence the speed depending on the location and destination. It is also known, in the area in which trucks are operated to set up signs that serve to regulate traffic.
  • the transponders On the pallets are usually two or more transponders mounted on the truck also usually more than one antenna is mounted in order to bring about communication with the transponders. From the last-mentioned document is also known to provide the transponders with a battery and to arrange them in certain places, for example in a hall to address a locality for the storage of pallets. When addressed, the transponders generate, for example, a UHF signal which is evaluated in an electronic evaluation device and, for example, identifies a relevant pallet because it is provided with a corresponding identifier via the transponder.
  • the invention has for its object to provide a system for supporting the driver of an industrial truck, which gives the driver directly special traffic conditions within his workspace.
  • transponders equipped with a battery are arranged at predetermined locations of the working area of the industrial truck.
  • a network connection for the transponder is likewise possible.
  • the attachment of such transponder is preferably carried out in places where the driver must be particularly attentive, for example in the vicinity of thoroughfares, near shelves or the like, which usually cause him to reduce the driving speed.
  • the memory of the transponder information is therefore included on what function of the truck in the transponder is offered or prohibited, for example, lifting height of a mast, speed, driving with internal combustion engine in the hall, etc.
  • the driver can be specified, for example, which speed he preferred should stop when he comes near or that he should bring the vehicle to a halt.
  • the transponder is provided according to an embodiment with a battery, so that a sufficient range can be achieved, for example, up to 10 m.
  • the circuit in the transponder is preferably designed so that its transmission circuit is normally switched off, so that energy consumption does not take place. Only when a signal, preferably an LF signal from the transponder is received with the aid of an antenna, this is activated and sends, for example, a UHF signal. It is conceivable to stop transmitting the UHF signal when a certain time has elapsed. However, it is also conceivable to send the UHF signal at intervals and to determine in the interim times whether an activation signal has been received. Only if this is the case will the transponder send a UHF signal.
  • the UHF signal by means of a more or less integrated antenna received.
  • the antenna can protrude outward from a housing for the evaluation unit, if it is made of metal, for example, or if it is arranged inside a housing if it is permeable to microwaves.
  • Such receiving antennas are known per se.
  • the antenna of the evaluation unit can also serve as a transmitting antenna, wherein the transmission signal selectively forms only the wake-up signal for a transponder, if it has a battery, or even transmit the energy to a transponder so that it can send its data.
  • the driver then receives a corresponding indication of the instantaneous "traffic situation" on a display and can therefore adjust, for example, by throttling the driving speed, by retracting the mast, switching the drive from the internal combustion engine to battery operation, etc.
  • the invention is an assistance system for the driver, via which the driver additional information is provided without taking the full responsibility and control of the truck.
  • the invention increases safety in the operation of the truck, thereby causing fewer accidents by providing additional information to the driver.
  • the system according to the invention leads to a reduction of damage to building equipment, for example roller shutters.
  • the invention can be installed on existing equipment and trucks, without this being associated with a significant overhead. If the transponders send only temporary UHF signals, long battery life will result.
  • a first antenna is mounted on the driver's roof of the truck. Because of the relatively low frequency in an LF transmit signal, the first antenna requires a relatively large extension. There is sufficient space on the driver's protection roof for this.
  • the transmission circuit for the preferably LF signal.
  • the transmission circuit is also housed in the evaluation unit, wherein between the evaluation and the first antenna extends a cable.
  • a monitoring circuit can be provided which monitors the individual functions of the truck, such as driving speed, lifting height, size of the recorded load, type of drive in a hybrid drive (internal combustion engine and battery-powered electric motor), etc.
  • the transponder data is stored, which prohibits or Bids can correspond to traffic signs, eg maximum Lifting height, maximum speed, stop function, etc. If the evaluation device of the truck receives such a signal, the data is compared with the current data in the monitoring circuit. If the vehicle does not exceed the maximum speed prescribed in the area of the transponder, no display will be made. However, if the maximum speed is exceeded, this is indicated to the driver on the display. The same applies, for example, to the lifting height.
  • the current lifting height of the mast is compared with the data. If there is a difference, ie if the current lifting height exceeds the prescribed lifting height, this is indicated to the driver. If the vehicle does not stop at a desired location, as dictated by the traffic sign or by the data in the transponder, this is also displayed to the driver so that he receives a corresponding indication of the prohibition or bid function.
  • location-related information is stored and transmitted in the transponder, which are read by the truck's system, the information being presented to the driver depending on the condition of the truck, ie only in those cases where the current function is not the stored prohibition - or bidder function, but should do so.
  • transponders from other sources, for example a transponder on a roller door, which, for example, activates the transponder when the roller shutter is closed or vice versa.
  • FIG. 1a shows a system with a first antenna 12, which is designed as a foil or plastic plate, and is attached to a driving protection roof 14 of the stacker 10.
  • a housing or a box is indicated, which has a second antenna 18 and in which a transmission circuit for LF is arranged and a receiving circuit for UHF and an evaluation circuit.
  • a signal with, for example, 125 kHz is transmitted via the antenna 12, wherein the range is about 10 m maximum.
  • a transponder 20 If a transponder 20 is located in this area, it will send a UHF signal, for example at the frequency of 868 MHz, upon receipt of the LF signal.
  • the transponder 20 is equipped with a battery and normally switched off. Only upon receipt of the LF signal, the transmission circuit of the transponder 10 is turned on, so that the described UHF signal is sent.
  • the UHF signal is received by the antenna 18 and evaluated in the evaluation circuit.
  • On the housing 16 On the housing 16 is an interface for connection to an on-board computer in the stacker 10, which by a Display 22 is indicated in Fig. 1.
  • the transponder is located for example in the area of a hall gate, which allows a passage only up to a certain height.
  • the transponder 20 is attached to the road sign or in its immediate vicinity.
  • the information stored in the transponder 20 and sent upon activation therefore corresponds, for example, the content of the road sign 24 (bidding or prohibition function). This is, as shown in Fig. 1, reproduced on the display.
  • the driver recognizes therefore that he is approaching a hall gate, the passage height is limited.
  • the connection between the evaluation unit in the housing 16 and the computer is provided by a cable 26.
  • the transmission circuit for the LF signal is arranged. Therefore, a cable 28 is provided between the housing 16 and the antenna 12 on the driver's shelter 14.
  • Fig. 2 at 30 the plan of a warehouse is arranged, are arranged in the shelf assemblies 32 and 34, respectively.
  • By hatched areas 36, 38 zones are indicated in which the driver of the truck, which is shown in Fig. 2 in three different positions, must drive very carefully, especially at reduced speed.
  • a transponder 20 according to FIG. 1 is arranged in each of these areas.
  • an open gate 40 and a closed gate 42 is also shown, to which in turn in each case a transponder 20 is assigned.
  • the transponder 20 signals to the driver that the gate is closed, therefore he must stop in time, for example, to wait until the roller shutter opens.
  • the transponder 20 at the gate 40 indicates, for example, as in FIG. 1, the passage height.
  • the transponders 20 in the vulnerable areas 36, 38 indicate to the driver that he should reduce the speed.
  • a monitoring circuit can be provided, which monitors the individual functions of the truck 10 and, for example. Data about the speed, height of the mast, size of the load, etc. currently stores.
  • the transponders now store functions of the truck which are either prohibited or commanded at the location or in the vicinity of the transponder. For example, e.g. prescribed with which lifting height the gate of a building can be passed. It can also be prescribed which maximum speed may be driven.
  • the UHF signal contains data about the bidding or prohibition functions which the monitoring circuit compares with the current function. If there is a difference between the functions stored in the transponders and the current functions, e.g. If the vehicle is too fast or if the lift height is too high, this will be indicated to the driver. The same applies, for example, when a vehicle has a hybrid drive and drives from the outdoors into the hall. It must be ensured that in the hall is not driven by internal combustion engine.

Landscapes

  • Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Transportation (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Mechanical Engineering (AREA)
  • Civil Engineering (AREA)
  • Traffic Control Systems (AREA)
  • Forklifts And Lifting Vehicles (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Warehouses Or Storage Devices (AREA)
  • Radar Systems Or Details Thereof (AREA)
EP06018414A 2005-09-24 2006-09-02 Système pour assister le conducteur d'un chariot élévateur lors de la conduite Active EP1767488B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE102005045721A DE102005045721A1 (de) 2005-09-24 2005-09-24 System zur Unterstützung eines Fahrers eines Flurförderzeugs während der Fahrt

Publications (3)

Publication Number Publication Date
EP1767488A2 true EP1767488A2 (fr) 2007-03-28
EP1767488A3 EP1767488A3 (fr) 2008-08-20
EP1767488B1 EP1767488B1 (fr) 2010-05-05

Family

ID=37529412

Family Applications (1)

Application Number Title Priority Date Filing Date
EP06018414A Active EP1767488B1 (fr) 2005-09-24 2006-09-02 Système pour assister le conducteur d'un chariot élévateur lors de la conduite

Country Status (4)

Country Link
US (1) US7688223B2 (fr)
EP (1) EP1767488B1 (fr)
CN (1) CN100577556C (fr)
DE (2) DE102005045721A1 (fr)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9354070B2 (en) 2013-10-31 2016-05-31 Crown Equipment Corporation Systems, methods, and industrial vehicles for determining the visibility of features
DE102018104984A1 (de) 2018-03-05 2019-09-05 Jungheinrich Aktiengesellschaft Steuerung von wenigstens zwei fahrbaren Flurförderzeugen in einer Warenlogistikeinrichtung
DE102018104986A1 (de) 2018-03-05 2019-09-05 Jungheinrich Aktiengesellschaft Verfahren zum Betreiben eines Flurförderzeugs
DE202018105041U1 (de) 2018-09-04 2019-12-05 Comnovo Gmbh Torsicherheitssystem zum Verhindern von Kollisionen zwischen einem Fahrzeug und einem Tor und ein Computerprogramm
DE102018115035A1 (de) 2018-06-22 2019-12-24 Jungheinrich Ag Verfahren zum Betreiben eines Flurförderzeugs

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US8230976B2 (en) * 2008-04-16 2012-07-31 The Raymond Corporation Pallet truck with calculated fork carriage height
DE102009038926A1 (de) * 2009-08-26 2011-03-03 Jungheinrich Aktiengesellschaft Flurförderzeug mit Fahrzeugsteuerung
US20110227747A1 (en) * 2010-03-19 2011-09-22 Wirefree Corporation Collision avoidance
US8517294B2 (en) * 2010-03-30 2013-08-27 Shred-Tech Corporation Motor vehicle for collecting paper and having battery to assist in propulsion
US9143843B2 (en) * 2010-12-09 2015-09-22 Sealed Air Corporation Automated monitoring and control of safety in a production area
DE102011082273A1 (de) * 2011-09-07 2013-03-07 Jungheinrich Aktiengesellschaft Gewerbliches Fahrzeug mit in Richtung nach oben sensierendem Radarsensor
US11756427B1 (en) 2014-04-15 2023-09-12 Amanda Reed Traffic signal system for congested trafficways
US9424749B1 (en) 2014-04-15 2016-08-23 Amanda Reed Traffic signal system for congested trafficways
CN114212733B (zh) 2015-05-06 2024-03-29 克朗设备公司 用于工业车辆标签读取器的诊断标签
CN110294436B (zh) 2015-05-06 2021-02-09 克朗设备公司 用于工业车辆操作的标签布局
JP7085576B2 (ja) * 2020-02-27 2022-06-16 三菱ロジスネクスト株式会社 移動制御システム、移動体、制御方法及びプログラム
US12091303B2 (en) 2020-09-14 2024-09-17 Lance A. Stacy Motorized vehicles having sensors and methods of operating the same
US12319250B2 (en) 2021-05-10 2025-06-03 Lance A. Stacy Brake systems, vehicles including such systems, methods of operating such systems, and methods of installing such systems
CN115472026B (zh) * 2021-06-10 2023-06-20 湖南九九智能环保股份有限公司 一种料棚智慧荧光地标指挥车辆行驶方法及系统
DE102024107218B3 (de) * 2024-03-13 2025-09-04 Ifm Electronic Gmbh Assistenzsystem für selbstfahrende Flurförderfahrzeuge mit Sicherheitssystem

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Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9354070B2 (en) 2013-10-31 2016-05-31 Crown Equipment Corporation Systems, methods, and industrial vehicles for determining the visibility of features
DE102018104984A1 (de) 2018-03-05 2019-09-05 Jungheinrich Aktiengesellschaft Steuerung von wenigstens zwei fahrbaren Flurförderzeugen in einer Warenlogistikeinrichtung
DE102018104986A1 (de) 2018-03-05 2019-09-05 Jungheinrich Aktiengesellschaft Verfahren zum Betreiben eines Flurförderzeugs
EP3543204A2 (fr) 2018-03-05 2019-09-25 Jungheinrich Aktiengesellschaft Procédé de fonctionnement d'un chariot de manutention
US10926953B2 (en) 2018-03-05 2021-02-23 Jungheinrich Ag Control of at least two mobile industrial trucks in a goods logistics facility
US11275386B2 (en) 2018-03-05 2022-03-15 Jungheinrich Ag Method for operating an industrial truck
DE102018115035A1 (de) 2018-06-22 2019-12-24 Jungheinrich Ag Verfahren zum Betreiben eines Flurförderzeugs
EP3587339A1 (fr) 2018-06-22 2020-01-01 Jungheinrich Aktiengesellschaft Procédé de fonctionnement d'un chariot de manutention
DE202018105041U1 (de) 2018-09-04 2019-12-05 Comnovo Gmbh Torsicherheitssystem zum Verhindern von Kollisionen zwischen einem Fahrzeug und einem Tor und ein Computerprogramm
WO2020048919A1 (fr) 2018-09-04 2020-03-12 Comnovo Gmbh Système de sécurité de porte servant à empêcher des collisions entre un véhicule et une porte ainsi que programme informatique
US12168904B2 (en) 2018-09-04 2024-12-17 Comnovo Gmbh Gate safety system for preventing collisions between a vehicle and a gate

Also Published As

Publication number Publication date
CN100577556C (zh) 2010-01-06
EP1767488B1 (fr) 2010-05-05
US7688223B2 (en) 2010-03-30
EP1767488A3 (fr) 2008-08-20
CN1935623A (zh) 2007-03-28
DE102005045721A1 (de) 2007-03-29
DE502006006888D1 (de) 2010-06-17
US20070069907A1 (en) 2007-03-29

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