Ground vehicle with detection means at the prong tines

Abstract

A ground transport vehicle includes: a vehicle body; a pair of fork tines extending longitudinally to corresponding fork ends; a plurality of wheels, at least one of which is associated with each fork tine; a plurality of detection units; and a control unit. Here, one of the detection units is associated with each fork tine, and each detection unit is disposed below the corresponding fork tine between its associated wheel. Detection units associated with two fork tines are aligned with each other such that their respective detection areas collectively cover at least the passage formed by the respective extensions of the two fork tines before the fork ends. Alternatively, a detection unit is associated with at least one fork tine, disposed below the corresponding fork tine between its associated wheel and the fork end, and the detection unit associated with the fork tine is configured such that its detection area substantially covers the entire passage formed by the respective extensions of the two fork tines before the fork ends.

Description

Technical Field

[0001] This invention relates to a ground transport vehicle, particularly a lift vehicle, comprising: a vehicle body; a pair of fork tines extending longitudinally from the vehicle body to corresponding fork ends; a plurality of wheels on which the ground transport vehicle stands on a travel surface and moves forward in a driven and deflected manner, wherein at least one of the wheels is associated with each fork tine; a lifting mechanism designed to adjust the height of the fork tines above the travel surface; a plurality of detection units designed to detect objects in the environment surrounding the ground transport vehicle within a detection area and output corresponding data; and a control unit coupled operationally to at least one detection unit and designed to receive and process the data output by the at least one detection unit. Background Technology

[0002] This is particularly important in the case of automated and autonomous ground transportation vehicles, where the ability to detect their surroundings as seamlessly as possible is crucial to meet required safety standards in the event of potential collisions with moving or stationary objects. However, in driver-operated ground transportation vehicles, such monitoring devices also contribute to improved safety levels, for example, by providing signals to the driver based on their output, or by allowing the vehicle to autonomously perform appropriate response actions directly.

[0003] Especially in ground transport vehicles where load rollers are integrated into the fork teeth to take over the function of the vehicle's front wheels and can be vertically moved by means of a lifting mechanism to accommodate and transport loads, it is generally impossible to cover the entire surrounding environment of the vehicle with only two detection units, and it is also impossible to seamlessly cover the entire area in front of the vehicle, i.e., in the longitudinal extension of the fork teeth, with a detection unit located on the vehicle body. This is because the aforementioned load rollers may cover or obscure a significant angular range from the field of view of the detection unit, thus creating unmonitored dead zones.

[0004] On the other hand, for example, EP 3 034 452 A1 proposes directly integrating the detection unit into the tip of the fork tines in the corresponding ground transport vehicle to provide an unrestricted forward field of view. However, practice has shown that such detection units may have limited angular coverage, potentially creating monitoring gaps immediately in front of the fork tines. Consequently, the detection unit is primarily used as an auxiliary system or as a non-safety-related identification element, such as to better detect the area in front of the fork tines during loading. Furthermore, integrating functional components into the tip of the fork tines is technically demanding and costly. Summary of the Invention

[0005] Therefore, the object of the present invention is to improve this ground transport vehicle so that the entire passage in front of the fork tip can be substantially covered without dead zones, while simultaneously achieving relatively inexpensive and simple integration of the detection unit required for this purpose into the ground transport vehicle without major redesign.

[0006] To achieve this objective, in the ground transport vehicle according to the invention, one of the detection units is associated with each fork tooth, wherein the corresponding detection unit is located on the underside of the corresponding fork tooth at a position in the longitudinal direction of the fork tooth between the wheel associated with the fork tooth or the foremost wheel among the wheels associated with the fork tooth and the fork end, and the detection units associated with two fork teeth are aligned with each other such that their respective detection areas collectively substantially cover the entire passage formed before the fork end by the respective fictitious extensions of the two fork teeth, or the detection unit is associated with one of the fork teeth, wherein the detection unit is located on the underside of the corresponding fork tooth at a position in the longitudinal direction of the fork tooth between the wheel associated with the fork tooth or the foremost wheel among the wheels associated with the fork tooth and the fork end, and the detection unit associated with the fork tooth is configured such that its detection area substantially covers the entire passage formed before the fork end by the respective extensions of the two fork teeth.

[0007] By positioning the detection unit on the underside of one or two fork tines at locations within the area covered by the passing vehicle before it obstructs ground transport, it is ensured that the passage before the two fork tines can be monitored substantially completely and without gaps. Specifically, in embodiments where a detection unit is located at each fork tine, the detection areas of at least two detection units can be superimposed in the region of the fork tines before the fork tip, for example, by each of the two detection units having a monitoring area of ​​approximately 90°. Conversely, embodiments with only one detection unit require an expanded monitoring area, which may be on the order of 150°.

[0008] Therefore, in the ground transport vehicle according to the invention, complete monitoring of the area in front of the ground transport vehicle can be ensured in a structurally simple manner. It is self-evident that, for example, in an embodiment of such a ground transport vehicle where multiple wheels are provided in each fork tin, the commonly supported wheel pair is located at the position of the corresponding detection unit in the longitudinal direction of the respective fork tin, before the foremost wheel among the wheels.

[0009] Although the path monitored by the detection unit can theoretically extend infinitely forward from the fork tip, it is still reasonable to define specific interruption criteria so that classifying objects detected at a predetermined minimum distance from the vehicle is no longer problematic. For this purpose, in the case of a detection unit capable of determining the distance in two dimensions, control software can be provided for this purpose, or in the case of a sensor with an inherently limited range, the minimum distance can also be determined within that range. Here, the reference size of the minimum distance can be formed by the braking path of the ground vehicle, thereby ensuring that if an object appears in the monitored path, the ground vehicle can always be fully braked before a collision. Furthermore, in some embodiments, the path to be monitored may not begin directly before the fork tip, but rather at a small distance away, thereby only slightly compromising the safety effect of the monitoring.

[0010] Although the ground transport vehicle according to the invention can operate automatically or autonomously as described above, and the data provided by the detection unit can make a valuable contribution to the detection of the environment surrounding the ground transport vehicle, the ground transport vehicle according to the invention can also be operated by a human driver or remotely controlled, wherein the detection unit can then perform supplementary safety purposes.

[0011] In this type of ground transport vehicle, the vehicle body is often also referred to as the drive unit because it houses all the components required for the ground transport vehicle to move forward, such as traction motors, steering equipment, and energy storage devices, such as batteries.

[0012] In an improved form of the ground transport according to the invention, at least one of the detection units can also be associated with the vehicle body, particularly in the following embodiment, where the entire area of ​​at least one side of the ground transport can be monitored in addition to the passage before the fork tines, wherein in this embodiment at least two of the detection units are associated with the vehicle body and each of them is aligned with a detection unit associated with the fork tines, such that their respective detection areas collectively cover at least the entire area of ​​one side of the ground transport.

[0013] Here, in particular, the detection unit associated with the vehicle body and the detection unit associated with the fork tip can be configured such that their respective detection areas together substantially cover the entire space outside the outer contour of the ground transport vehicle, that is, in particular, monitoring of the longitudinal direction of the ground transport vehicle from the rear is also achieved, so that it can also travel in the direction opposite to the extension of the fork tip with improved safety.

[0014] In one embodiment of the detection unit associated with each fork tooth, the detection units can be aligned with each other as mentioned, such that their respective detection areas collectively form an overlap between the two fork teeth. This overlap improves the safety and redundancy of the ground transport vehicle, thereby contributing to an increased safety level.

[0015] Although the manner and method of mounting the detection unit at the fork tooth are entirely free and can be coordinated with the specific design and size of the fork tooth and the detection unit, as long as proper positioning and alignment can be achieved, in one embodiment, the detection unit associated with the fork tooth can be connected to the fork tooth by means of a substantially vertically extending attachment element.

[0016] In addition, different types of detection units can be used, as long as they can achieve sufficient spatial coverage. In particular, known and freely available laser scanners or ultrasonic sensors can be used, such as ESPE laser scanners with multiple laser diodes that can monitor a wide detection area.

[0017] To ensure adequate protection of at least one detection unit from collisions with objects that may be located on the traveling surface, the fork tip may also have a sidewall formed in the area of ​​the at least one detection unit, the sidewall extending downward beyond the detection unit and / or terminated in the longitudinal direction. Here, it is important to note again that the corresponding monitoring area of ​​each detection unit remains accessible and is not covered or affected by the sidewalls.

[0018] Specifically, for this purpose, the fork tip may have a shorter sidewall extending downward in the longitudinal direction before at least one detection unit than in the region of at least one detection unit, or may not have such a sidewall, in order to ensure a free field of view for at least one detection unit. In order to achieve optimal protection for at least one detection unit without restricting its field of view, the profile of the downwardly extending sidewall may substantially correspond to the profile of the detection region of at least one detection unit.

[0019] While coupling between at least one detection unit and control unit can be established using any known technology, such as wireless transmission, in one implementation, this coupling can also be established using a bus system. The bus system can be integrated specifically for this purpose in a ground transportation vehicle, or it can be a bus system designed for exchanging data between various components within a vehicle.

[0020] In a similar manner, the control unit can be integrated into or formed through a higher-level control unit of the ground transportation vehicle, or in an alternative embodiment, it can be configured as a separate component and coupled to the higher-level control unit in operation.

[0021] Finally, the control unit can also be designed to determine the operating mode of the ground vehicle based on data received from the detection unit, for example, allowing the vehicle speed to be increased only if the evaluation of the data provided by the detection unit concludes that there are no objects to be classified as problematic in a predetermined area around the ground vehicle and especially in the direction of travel ahead of the ground vehicle. Attached Figure Description

[0022] Other features and advantages of the invention will become apparent from the following description of its embodiments when considered together with the accompanying drawings. The drawings illustrate in detail:

[0023] Figure 1 A schematic top view showing the monitoring area indicated by the ground transport vehicle and multiple detection units according to the present invention;

[0024] Figure 2 Show Figure 1 A magnified view of the details of the fork tip of a ground transport vehicle; and

[0025] Figure 3 Shown from the lower diagonal Figure 2 A view of the fork end in the image. Detailed Implementation

[0026] exist Figure 1 The first part shows a top view of the ground transport vehicle according to the invention, which is purely schematic and is indicated by reference numeral 10.

[0027] Here, the ground transport vehicle 10 is basically a self-operating lift vehicle of a known type, and includes a vehicle body 12 and a pair of fork teeth 14 and 16 extending from the vehicle body 12 in the longitudinal direction L to the corresponding fork ends 14a, 16a, which can be moved in the vertical direction by means of a lifting mechanism (not shown) for accommodating loads.

[0028] In the illustrated embodiment, a total of four wheels 18a-18d are provided at the ground transport vehicle 10, wherein two wheels 18c and 18d are associated with one of the two fork tips 14 and 16, respectively, while the other two wheels 18a and 18b are associated with the vehicle body 12. Alternatively, it is evident that embodiments of the ground transport vehicle according to the invention with different wheel configurations, such as having only three wheels, are also conceivable, wherein a single wheel of the three wheels is associated with the vehicle body 12 and each wheel is associated with one of the fork tips 14 and 16.

[0029] In addition, Figure 1 There are a total of four detection units 20a-20d with corresponding detection areas 22a-22d. Two of the detection units, 20a and 20b, are associated with the vehicle body 12, such that the detection units are positioned on the outside of the vehicle body at their rear ends in the longitudinal direction L, so that the detection areas 22a and 22b of the detection units can jointly cover the entire area behind the ground transport vehicle 10 on the side of the ground transport vehicle 10.

[0030] Conversely, the two detection units 20c and 20d are associated with one of the fork tines 14 and 16, respectively, and are positioned below the corresponding fork tines 14 and 16, between the wheel 18c or 18d associated with the fork tines 14 and 16 and the corresponding fork ends 14a or 16a, in the longitudinal direction L of the fork tines. This is achieved by having two monitoring areas 22c and 22d with overlapping portions 22e, which begin in the longitudinal direction L on the side of the two fork ends 14a and 14b facing towards the vehicle body 12, such that the entire passage 24 between the corresponding extensions of the two fork tines 14 and 16 is covered before the fork ends 14a and 16a. Together with the detection areas 22a and 22b of the two detection units 20a and 20b associated with the vehicle body 12, the entire space outside the outer contour of the ground transport vehicle 10 is monitored without creating any gaps or dead zones.

[0031] To illustrate the monitoring area 22c of the detection unit 20c associated with the fork tooth 14, also refer to Figure 2 ,exist Figure 2 The monitoring area is shown again in a magnified view. Here it is shown that the detection area 22c of the detection unit 20c is approximately 90° and oriented toward the fork tip 14, such that the central axis M between the two fork tips 14 and 16 is intersected by the detection area 22c before the two fork ends 14a and 16c.

[0032] Finally, also refer to Figure 3 ,exist Figure 3The fork teeth 14 and 16 are shown from a slightly lower angle, from which it can be identified that these two detection units 20c and 20d are surrounded by corresponding downward-pulling sidewalls 26, which extend downward in the vertical direction beyond the detection units 20c and 20d and are formed terminally in the longitudinal direction L, so as not to... Figure 2 The described detection areas 22c and 22d have an effect. In particular, there is no such sidewall in the region prior to detection units 20c and 20d in the longitudinal direction L, and the contour of the downwardly extending sidewall substantially corresponds to the contour of the detection area in at least one detection area. It can also be identified that detection units 20c and 20d are attached to the underside of the fork teeth 14 and 16 by means of a simple angle plate 28.

[0033] exist Figure 3 As can also be seen in the view: in the embodiment shown here, the two wheels 18c and 18d are configured as a wheel pair, which ensures permanent ground contact when the fork tips 14 and 16 are raised, but creates a significant dead zone when the detection unit is positioned behind the fork tips in the longitudinal direction L.

Claims

1. A ground transportation vehicle (10), comprising: - Vehicle body (12); - Pairs of fork tines (14, 16) extending from the vehicle body (12) in the longitudinal direction (L) to the corresponding fork ends (14a, 16a). - Multiple wheels (18a-18d) on which the ground transport vehicle stands on the travel surface and moves forward in a driven and deflected manner, wherein at least one of the wheels (18c, 18d) is associated with each of the fork tines (14, 16). - A lifting mechanism designed to: adjust the height of the fork tips (14, 16) above the traveling surface; - At least one detection unit (20a-20d) designed to: detect objects in the surrounding environment of the ground transport vehicle within a detection area (22a-22d) and output corresponding data; and - A control unit, which is coupled to the at least one detection unit (20a-20d) in operation and is designed to: receive and process the data output by the at least one detection unit (20a-20d); The characteristic feature is that one of the detection units (20c, 20d) is associated with each of the fork tines (14, 16), wherein the corresponding detection unit (20c, 20d) is located on the underside of the corresponding fork tine (14, 16) at a position between the fork tine and the fork tip (14a, 16a) in the longitudinal direction (L) of the fork tine, on the wheel (18c, 18d) associated with the fork tine (14, 16) or the fork tip of the fork tine associated with the fork tine (14, 16). The detection units (20c, 20d) associated with the two fork tips (14, 16) are aligned with each other such that their respective detection areas (22c, 22d) overlap in the area behind and between the fork ends (14a, 16a) to collectively substantially cover the entire channel formed by the respective extensions of the two fork tips (14, 16) before the fork ends (14a, 16a).

2. The ground transport vehicle (10) according to claim 1. Its features are, Each of the two detection units (20c, 20d) has a monitoring area of ​​approximately 90°, or a single detection unit (20c, 20d) has a monitoring area of ​​approximately 150°.

3. The ground transport vehicle (10) according to claim 1 or 2. Its features are, At least one of the detection units (20a, 20b) is also associated with the vehicle body (12).

4. The ground transport vehicle (10) according to claim 3. Its features are, At least two of the detection units (20a, 20b) are associated with the vehicle body (12), wherein one of the detection units (20a, 20b) is aligned with the detection unit (20c, 20d) associated with the fork tip (14, 16) such that their respective detection areas (22a-22d) collectively cover at least the entire area on one side of the ground transport vehicle (10).

5. The ground transport vehicle (10) according to claim 4. Its features are, The detection units (20a, 20b) associated with the vehicle body (12) and at least one detection unit (20c, 20d) associated with the fork tips (14, 16) are configured such that their respective detection areas (22a-22d) collectively cover substantially the entire space outside the outer contour of the ground transport vehicle (10).

6. The ground transport vehicle (10) according to claim 1 or 2. Its features are, One of the detection units (20a, 20b) is associated with each of the fork teeth (14, 16), and the detection units (20c, 20d) are aligned with each other such that their respective detection areas (22c, 22d) are collectively formed in the superposition (22e) in front of the two fork teeth (14, 16).

7. The ground transport vehicle (10) according to claim 1 or 2. Its features are, At least one of the detection units (20c, 20d) associated with the fork tips (14, 16) is connected to the fork tips (14, 16) by means of a substantially vertically extending attachment unit (28).

8. The ground transport vehicle (10) according to claim 1 or 2. Its features are, At least one of the detection units (20a-20d) is configured as a laser scanner.

9. The ground transport vehicle (10) according to claim 1 or 2. Its features are, The fork teeth (14, 16) have sidewalls (26) formed in the region of at least one of the detection units (20c, 20d), the sidewalls extending downward beyond the detection units (20c, 20d) and / or forming terminally in the longitudinal direction.

10. The ground transport vehicle (10) according to claim 9. Its features are, The fork teeth (14, 16) have a shorter sidewall (26) extending downward in the longitudinal direction (L) before at least one of the detection units (20c, 20d) than in the region of at least one of the detection units (20c, 20d), or have no such sidewall (26).

11. The ground transport vehicle (10) according to claim 10. Its features are, The profile of the downwardly extending sidewall (26) substantially corresponds to the profile of the detection area (22c, 22d) of at least one of the detection units (20c, 20d).

12. The ground transport vehicle (10) according to claim 1 or 2. Its features are, The coupling between the detection unit (20a-20d) and the control unit is established by means of a bus system.

13. The ground transport vehicle (10) according to claim 1 or 2. Its features are, The control unit is integrated into or formed through the control unit of the upper level of the ground transport vehicle (10).

14. The ground transport vehicle (10) according to claim 1 or 2. Its features are, The control unit is designed to determine the operating mode of the ground transport vehicle (10) based on data received from the detection units (20a-20d).

15. The ground transport vehicle (10) according to claim 1 or 2, wherein the ground transport vehicle (10) includes a lift vehicle.

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