• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    In a method for determining lifting mast oscillations in an industrial truck with a lifting device (15), with vertically controlled load lifting means (9) at the lifting device (15), in particular a load fork (5), as well as a load lifting means (9) or the lifting device ( 15) an optical ambient sensor (13), which can determine the distances to ambient points in the vicinity of the industrial truck in relation to the optical ambient sensor (13), as well as a control counter which receives signals from the optical ambient sensor (13). varvid ,. the control counter from the determined distances to the ambient points calculates the frequency and / or the amplitude and / or the phase position of an oscillation of the lifting device (15).
    公开号:SE1450009A1
    申请号:SE1450009
    申请日:2014-01-09
    公开日:2014-07-11
    发明作者:Joachim Tödter；Andreas Kühn
    申请人:
    IPC主号:
    专利说明:

    Mechanically. A user person must then let such mass oscillations subside first, before one can, for example, drive further into the shelf.
    Systems for avoiding such mast oscillations are known, in order to enable a safer and faster storage or deposition in a storage place. In these systems, the movement of the vehicle or a sliding movement is controlled by a sliding slot of a sliding mast truck so that the mast oscillations are minimal, for example by steering against them.
    For such opposing control, sensors for forcing the oscillations are compulsorily required. Examples of such sensors are strain gauge strips, which are mounted on the mast profile of the lifting mast. But also other types of sensors such as, for example, road and / or force meters at a tilting device of the lifting mast are known for this purpose.
    A disadvantage of the prior art is that additional sensors for determining mast oscillations must be provided. This means increased costs, additional assembly work during the completion of the industrial truck as well as for the calibration of the sensors. However, additional space must also be provided and the sensors must be protected against damage during the often careless driving of the industrial truck.
    Comparable problems also occur with industrial trucks with so-called telescopic outriggers, which are also referred to as telescopic trucks in an embodiment with a load fork as load-bearing means. In these, a load receiving device, in particular a load fork, is controlled, but also a load receiving device, for example for a container, in a cantilever, which can for instance be driven out through several mutually controlled parts. In this case, the outrigger, in contrast to a lifting mast, is not directed vertically, but is inclined at an angle over the front of the industrial truck. Through the cantilever, the angular inclination of which can be changed, a movement of the load-bearing device both in height and forward can thus first be performed.
    According to the prior art, industrial trucks are also known, in which systems for optical monitoring are arranged for driver support during storage, in particular at high lift heights. These are, for example, camera systems with monitors for visibility monitoring for the driver, which depict a work area. In such systems it is further known to arrange a space recording of the surroundings, as either over stereo images or a distance measurement, such as for instance Time Of Flight (TOF), where the surroundings are measured especially with the distances in relation to the camera, in order to enable more precise instructions to the driver or automatic steering movements of the industrial truck.
    Furthermore, other optical sensors are also known for determining markings or loads, as well as load shelves, which can sense the distance in relation to these points. Examples of such optical sensors are laser scanners, which are oriented either in certain directions in relation to the load receiving means or a load fork, or scan areas.
    EP 1 975 114 A1 discloses an industrial truck with a sensor in the form of a strain gauge, in which the oscillations are compensated by a counter-control.
    The object of the invention is to provide a method for sensing oscillations of a lifting device of an industrial truck as well as to provide an industrial truck which easily and in a cost-effective manner avoids the above-mentioned disadvantages.
    This object is solved by a method for determining oscillations of a lifting device with the features according to claim 1 as well as an industrial truck with the features according to claim 10. Advantageous embodiments of the invention appear from the subclaims. The object is solved according to the invention by a method for determining lifting device oscillations in an industrial truck with a lifting device, with height-receiving load receiving means at the lifting device, in particular a load fork, as well as an optical ambient sensor arranged at the load receiving means or at the lifting device. environment in relation to the optical environment sensor, as well as a control counter, which receives signals from the optical environment sensor, where the control counter calculates from the sensed distances to the environment points the frequency and / or phase position of an oscillation of the lifting device. Advantageously, the control counter can calculate the frequency of a lifting device oscillation through the distance to the ambient points, by monitoring the temporal change of the distances to the ambient points. Optical ambient sensors are often already present in the upper area of the lifting device or with a load-bearing device, in particular a fork carrier for a load fork, in industrial trucks, in order to support the driver within the framework of driver assistance systems through an optical evaluation of the environment. For example, this could be a camera image, to give the driver a better view of a warehouse or a load to be picked up or a work area. However, ambient sensors are also conceivable, which, for example, detect a run-in distance when running into a shelf, for example to warn of a collision. When a distance to an ambient point in the direction of an oscillation surface of the lifting device is determined by the control counter, an amplitude of the oscillation of the lifting device can also be determined from the distance. In the case of a standing vehicle, for example, the difference between the maximum distance and the minimum distance corresponds to the total amplitude of a mast oscillation in relation to, for example, a load shelf with its fixed ambient points, when the distance in the surface of the oscillation is determined. By means of the method, the already existing optical ambient sensors can advantageously be used for determining the oscillations of the lifting device. The optical ambient sensor arranged in the upper area of the lifting device or a load lifting device or, for example, in a multi-part lifting mast or telescopic outrigger at the mast part which travels furthest or outwardly, advantageously determines the amplitude for compensating for lifting device oscillations directly at the place. occurs and not at a distance based on a lifting mast or telescopic boom. In this way, for example, effects from the play of guide rollers of the mast bar in relation to the roller tracks at a lifting mast can have an unadulterated effect.
    Advantageously, the optical ambient sensor is a 3D camera, such as a Time Of Flight camera or a stereo camera.
    With a Time Of Flight camera, the distance from the camera to each pixel in a camera image can be determined. In this way, from images which are taken for the purpose of a digital image processing or determination of the environment, a change of the distance to the camera to a fixed point with a oscillation period can also be determined and thus a load device oscillation, when the camera is applied to the lifting device. In one embodiment of the method, the optical environment sensor is a laser scanner.
    Laser scanners are used, for example, in autonomous industrial trucks or semi-automated industrial trucks for determining the environment. These offer a cost-effective possibility to determine the environment of the industrial truck in space, whereby a distance is determined in a certain direction through the laser scanner. From these values, a rotation of the mounting point of the laser scanner in relation to an ambient point and thus a lifting device swing can thereby be determined in a simple and also cost-effective manner corresponding to the method according to the invention, when the laser scanner is mounted at the upper end of a lifting mast or telescopic boom as an example. on lifting devices.
    Advantageously, the optical ambient sensor determines the relative position of a pallet and / or a storage location in relation to the industrial truck by the control counter, as well as determines control commands for entering the pallet and / or storage location with the load handler, as instructed and / or performed automatically.
    Thus, the optical ambient sensor acts as part of a driver assistance system. In this way, the method according to the invention can be implemented cost-effectively without additional components only through a corresponding software for a control counter. The industrial truck can be a vehicle for narrow spaces.
    Especially in vehicles for narrow spaces, such driver assistance systems and semi-automated or automated operating control systems have been available for a long time, as in these a particularly precise control in the narrow space conditions of narrow aisles a warehouse is required.
    The travel distances of a driving device of the industrial trucks can be determined by the steering counter, the distances being taken into account at the distances by the steering counter. The lifting device can be a telescopic boom.
    In one embodiment of the method, the lifting device is a lifting mast.
    In an embodiment of the invention, the industrial truck is a sliding mast truck, the lifting mast of which is moved with a sliding slot, whereby the sliding distances of the sliding slits can be determined by the guide counter and at distances the sliding distances are taken into account through the guide counter.
    If the speed of movement and the actual distance of the slide slot are taken into account when calculating the distance, these corresponding errors can be corrected by these. In general, in the method according to the invention a correction can take place, when by some adjusting devices or vehicle movements the lifting mast and in particular the mounting point of the optical ambient sensor is simultaneously accelerated or moved in relation to the surroundings.
    According to an embodiment of the invention, the industrial truck has a tilt drive means for the lifting mast and an inclination angle can be determined by the guide counter, a correction distance for the optical ambient sensor resulting from the angle of inclination being taken into account at a distance through the guide counter.
    The correction distance is then given from the angle of inclination, taking into account the distance from the mounting point to the optical ambient sensor in relation to the axis of rotation of the lifting mast.
    The control counter can, by actuating a driving drive device and / or a sliding slot drive device of a sliding mast truck and / or a tilting drive device of the lifting mast and / or a lifting drive device of the lifting mast, counteract the mast oscillations of the lifting mast. 10 15 20 25 30 In total, in industrial trucks, which are partly controlled automatically or in which specific actuators are controlled by the vehicle control as a control counter, a correction for the mast oscillations can be implemented very cost-effectively and easily with software only, as the industrial truck already has an optical environment sensor for a driver assistance system. another reason.
    The problem is also solved by an industrial truck with a lifting device, with vertically controlled load receiving means at the lifting device, in particular a load fork, as well as an optical ambient sensor arranged at the load receiving means or lifting device, which can determine distances at ambient points in the industrial truck's environment. as well as a control counter which receives signals from the ambient optical sensor, the control counter performing a previously described method. The industrial truck has the advantages already stated.
    According to one embodiment, the optical sensor, in particular a 3D camera and / or a laser scanner, is part of a driver assistance system, with which a driver is shown work areas and / or required control commands and / or required control commands can be performed automatically.
    By means of such driver assistance systems, for example, an additional camera view can be provided for a specific area up in the bearing shelves, which is difficult for the driver to see from the position of view further down, or control commands can be suggested for driving into a bearing position or lowering a load handled by the driver. Furthermore, driving commands for driving into a warehouse or depositing a load can also be carried out automatically through the driver assistance system.
    Additional advantages and features are explained in more detail in the embodiments shown in connection with the schematic drawing figures. Here Fig. 1 shows an industrial truck in which the method according to the invention is carried out in a perspective view and Fig. 2 schematically shows the loading fork of the industrial truck according to Fig. 1 as well as a shelf in a side view.
    Fig. 1 shows an industrial truck in a perspective view. The industrial truck is a push mast truck with a first wheel arm 1 with a running roller 2 and a second wheel arm 3, as well as a running roller 2, each of which is covered by protective plates 7, 8. However, the invention is also useful in all other types of industrial trucks and in particular forklifts, such as for example counterbalanced forklifts, or for example a high-lift forklift with a lifting device, in particular in the form of a telescopic spreader or lifting mast. In the case of the sliding mast truck shown as an example, a load fork 5 is attached to a lifting mast 4 as a lifting device 15 as a load receiving means 9, which has fork arms 12. A battery is arranged behind the lifting mast 4. The load fork 5 can be raised or lowered vertically at the lifting mast 4. The lifting mast 4 is mounted on a sliding slot 14 and can be pushed forward between the wheel arms 1, 3, to take up a load. At a load fork carrier 11, a Time Of Flight camera 10 is provided, which acts as an optical ambient sensor and is arranged for a driver assistance system, for example a sensing in space for a storage place to be entered and presentation of driving / steering commands, which are to be performed to reach the warehouse next to the driver.
    Fig. 2 schematically shows the loading fork 5 with fork arms 12 of the industrial truck in Fig. 1 as well as a shelf 16 in a side view. The shelf 16 has a front shelf carrier 17 as well as a rear shelf carrier 18 and in the shelf 16 a pallet 20 is parked. The Time Of Flight camera 10 determines for a driver assistance system the position of the pallet 20 in the shelf 16, to assist the driver in entering the pallet. In this way, the control counter from the distances determined by said Time Of Flight camera 10 in relation to fixed points in the surroundings, in this case the shelf 16, can determine the oscillation frequency of the lifting mast 4 and its amplitude, which are clarified by the double arrow. A possible movement of the slide slot 14 and / or the industrial truck is then calculated by the control counter from the distances or with the aid of these, so that it does not lead to any false values. In the view of Fig. 2, the lifting mast 4 is extended and the load receiving means 9 is lifted at it, so that through the distances directly the mainly due to the amplitudes occurring in the mast oscillations in the upper region of the lifting mast 4 are determined. Advantageously, in the case of an industrial truck which already has an optical environment sensor 13, no further component is required to carry out the method according to the invention. In this way, a correction of the lifting mast oscillations can be carried out easily and efficiently.
    权利要求:
    Claims (1)
    [1]
    A method for determining lifting mast oscillations in an industrial truck with a lifting device (15), with load-bearing means (9) movably guided at the lifting device (15), in particular a load fork (5), both as an optical ambient sensor (13) arranged at the load receiving means (9) or the lifting device (15), which can determine the distances to ambient points in the vicinity of the industrial truck in relation to the optical ambient sensor (13), as well as a control counter which receives signals from the optical ambient sensor (13), characterized in that, from the determined distances to the ambient points, the control counter calculates the frequency and / or the amplitude and / or the phase position of an oscillation of the lifting device (15). Method according to claim 1, characterized in that the optical ambient sensor (13) is a 3D camera, for example a Time Of Flight camera (10) or a stereo camera. Method according to claim 1 or 2, characterized in that; the optical ambient sensor (13) is a laser scanner. Method according to one of Claims 1 to 3, characterized in that, by the optical ambient sensor (13), a relative position of a pallet (20) and / or a storage location in relation to the industrial truck is determined by the control counter, as well as control commands are determined for driving into the pallet (20) and / or the storage site with the load-bearing means (9), which are carried out according to instructions and / or automated. Method according to one of Claims 1 to 4, characterized in that the industrial truck is a vehicle for narrow passages. Method according to one of Claims 1 to 5, characterized in that the travel distances of a driving drive device of the industrial truck can be determined by the steering counter, the distances being taken into account by the steering counter during the driving distance. Method according to one of Claims 1 to 6, characterized in that the lifting device is a telescopic boom. Method according to one of Claims 1 to 6, characterized in that the lifting device (15) is a lifting mast (4). Method according to claim 8, characterized in that the industrial truck is a sliding mast truck, the lifting mast (4) of which is moved with a sliding slide (14), wherein the sliding distances of the sliding slide (14) can be determined by the guide counter and that the distances are taken into account by the guide counter. Method according to Claim 8 or 9, characterized in that the industrial truck has an inclined drive device for the lifting mast (4) and that an inclination angle can be determined by the guide counter, one taking into account from the inclination angle at the distances the resulting correction distance of the optical ambient sensor (13). . Method according to one of Claims 8 to 10, characterized in that, by actuating a driving drive device and / or a sliding drive device (14) of a sliding truck and / or a tilting drive device of the sliding mast and / or a lifting drive device of the lifting mast, the control counter counteracts mast oscillations. ). Industrial truck with a lifting device (15), with height-controlled load-receiving means (9) at the lifting device (15), in particular a load fork (5), as well as an optical ambient sensor (9) or the lifting device (15) arranged at the lifting device (15). 10), which can determine the distances to ambient points in the vicinity of the industrial truck relative to the ambient optical sensor (13), as well as a control counter which receives signals from the ambient optical sensor (10), the control counter performing a method according to any one of claims 1 to Industrial truck according to claim 12, characterized in that the optical ambient sensor (13), in particular a 3D camera and / or a laser scanner, is part of a driver assistance system, with which a driver can be assigned work areas and / or required control commands are performed automatically. .
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    同族专利:
    公开号 | 公开日
    DE102013100191A1|2014-07-10|
    SE540616C2|2018-10-02|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    DE102007015488A1|2007-03-30|2008-10-02|Still Wagner Gmbh|Vibration compensation on the mast of a truck|US10071894B2|2015-08-03|2018-09-11|The Raymond Corporation|Oscillation damping for a material handling vehicle|
    GB2558908A|2017-01-19|2018-07-25|Linde Ag|Pressure Vessel retention apparatus, pressure vessel collision warning system and method of monitoring transportation of a pressure vessel retention apparat|
    DE102019213972A1|2019-09-13|2021-03-18|Robert Bosch Gmbh|Method for outputting a control signal to a mobile work machine|
    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    DE201310100191|DE102013100191A1|2013-01-10|2013-01-10|Method for detecting lifting device vibration in truck with lifting device, involves calculating frequency, amplitude and phase position of vibration of lifting device by control computer from detected distances to surrounding points|
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