Fork tine sensors for detecting cross traffic

Abstract

The invention relates to a forklift (101) having at least two environmental sensors (105a, 105b) mounted on different fork tines (103a, 103b), wherein at least a portion of the detection range (111a, 111b) of the environmental sensors is directed outward transversely to the forklift (101).

Description

Technical Field

[0001] The invention relates to a forklift having at least one first environment sensor and at least one second environment sensor which are mounted on different fork tines. Background Art

[0002] EP 24 68 678 A1 discloses a forklift truck with fork tine sensors. These fork tine sensors are used to control the removal of loads. Accordingly, the fork tine sensors point forward in the direction of travel of the forklift truck.

[0003] From the publication JP 2005 104 652 A1 another forklift is known which has fork tine sensors for controlling the removal of the load. These fork tine sensors point inwards with their detection range transversely to the forklift. Summary of the Invention

[0004] The present invention is to improve the operational safety of a forklift. This task is achieved by the forklift according to the present invention. The preferred improved solution is described below and Figure 1 The examples shown in .

[0005] A forklift is a vehicle with lifting forks. The forks have several (usually exactly two) teeth that are used to pick up the load. The forks can be adjusted in height to facilitate picking up the load and setting it down at the destination.

[0006] The forklift according to the present invention has at least two environmental sensors. These environmental sensors are used to detect at least a portion of the forklift's environment. The environmental sensors are configured to detect that portion of the forklift's environment that is within the detection range of each environmental sensor. The environmental sensors are preferably optical cameras, radars, lidars, or distance sensors. These environmental sensors can form a single environmental sensor individually or in pairs. In the latter case, the environmental sensors are stereo sensors or stereo cameras, each consisting of two spaced-apart imaging units.

[0007] The environmental sensors are designed as tine sensors. This means that they are mounted on the tines. Furthermore, the invention also provides that the environmental sensors are mounted on different tines. Specifically, two environmental sensors are not mounted on the same tine. In particular, a forklift can have exactly two tines (a right tine and a left tine) and exactly two environmental sensors (a left environmental sensor and a right environmental sensor). The right environmental sensor is mounted on the right tine, while the left environmental sensor is mounted on the left tine. The terms "lower right" and "lower left" are used here to refer to the driver's perspective, that is, the perspective of the forklift driver pointing forward in the direction of travel when driving in a straight line.

[0008] According to the present invention, the environmental sensors are each oriented transversely to the forklift truck over at least a portion of their detection range. Thus, the right environmental sensor points to the right, while the left environmental sensor points to the left. Orientation transverse to the forklift truck is equivalent to orientation perpendicular to the forklift truck's longitudinal axis. When traveling in a straight line, the forklift truck's longitudinal axis extends in the direction of travel.

[0009] Specifically, according to the present invention, the detection range of the tine sensors is at least partially oriented in the transverse direction, that is, orthogonally relative to the longitudinal direction of the forklift. Consequently, at least a portion of each detection range of the tine sensors extends in the transverse direction. This means that at least one beam emanating from the respective sensor and extending in the transverse direction is at least partially within the detection range of the sensor. In particular, the initial portion of the beam is within the detection range. Preferably, the beam is completely within the detection range.

[0010] Preferably, the surrounding sensors are oriented with their detection range exactly transversely to the forklift truck. This means that the center axis or optical axis of the respective detection range is oriented transversely to the forklift truck.

[0011] The detection range of each of the environmental sensors is at least partially directed outward. This means that at least a portion of the detection range from the respective sensor extends outward relative to the forklift truck. Consequently, at least a portion of the detection range extends away from the forklift truck. Consequently, the fork tines are not located in this portion of the detection range. Preferably, the environmental sensors are oriented so that they do not detect the fork tines at all.

[0012] If there are exactly two environmental sensors, their detection ranges point away from each other. This orientation is preferably mirror-symmetrical. The environmental sensors and their detection ranges are located on different sides of a plane of symmetry. The plane of symmetry preferably extends parallel to the longitudinal axis and the height axis of the forklift truck. The detection ranges are located completely on different sides of the plane of symmetry. Thus, the detection range of one environmental sensor is located completely on one side of the plane of symmetry, while the detection range of the other environmental sensor is located completely on the other side of the plane of symmetry.

[0013] Like the tines of the fork, the environmental sensors are also spaced apart from each other. Therefore, the range between the environmental sensors or between the tines is not detected by the environmental sensors. In particular, the range can be limited by a first plane extending parallel to the longitudinal axis and the height axis of the forklift and a second plane also parallel to the longitudinal axis and the height axis of the forklift. The range extends between the first plane and the second plane. Preferably, the first plane and the second plane also intersect with the environmental sensors, respectively. The detection range of the environmental sensors extends completely on different sides of the first plane and on different sides of the second plane. Therefore, the first detection range of the first environmental sensor is located on the first side of the first plane and on the first side of the second plane, while the detection range of the second environmental sensor is located on the second side of the first plane, which is different from the first side, and on the second side of the second plane, which is different from the first side.

[0014] Preferably, the environmental sensors are also oriented horizontally with at least a portion of their detection range. This means that the beam extends horizontally. In particular, the central axis or optical axis of the environmental sensors can be oriented horizontally.

[0015] The present invention enables the detection of objects approaching a forklift by means of environmental sensors. This prevents an impending collision. The present invention is advantageous because the tine sensors are mounted in an exposed position. This allows the tine to detect cross traffic that might not be visible from other locations on the forklift due to obstructions. This situation often occurs at intersections.

[0016] The forklift is preferably developed as part of a system that includes, in addition to the forklift, a data processing device. The data processing device is configured to detect approaching objects using signals from the environmental sensors. This means that the environmental sensors are connected to the data processing device in a signal-conducting manner.

[0017] The data processing device can be structurally integrated into the forklift as a controller or can also be implemented as a separate device. If it is a separate device, the environmental sensor is preferably connected to the data processing connection via a wireless signal connection.

[0018] The signals from the environmental sensors are evaluated by a data processing device and checked for approaching objects. The method for identifying approaching objects, implemented by the data processing device, preferably includes a sub-step for identifying the object and a sub-step for identifying the object's motion. Corresponding identification methods are known from the prior art. Therefore, neural networks or stochastic methods are suitable for identifying objects and their motion.

[0019] The data processing device is preferably adapted to detect an impending collision between an approaching object and a forklift. To this end, the data processing device preferably evaluates the movement of the approaching object and the movement of the forklift. Based on these movements, the travel paths of the object and the forklift can be inferred. Preferably, the trajectory of the forklift and / or the trajectory of the approaching object are also taken into account. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The preferred embodiment of the present invention is Figure 1 In which,

[0021] Figure 1 A forklift is shown in detail. DETAILED DESCRIPTION

[0022] Forklift 101 Figure 1 103a and 103b. The lifting fork has a left fork tine 103a and a right fork tine 103b. A left fork tine sensor 105a is installed on the left fork tine 103a, and a right fork tine sensor 105b is installed on the right fork tine 103b.

[0023] There is an obstacle 107 beside the forklift 101, which blocks the driver's view of the forklift 101 from the side traffic approaching the forklift 101 from the left. Therefore, the approaching object 109 is blocked by the obstacle 107.

[0024] The detection range 111a of the left tine sensor 105a extends from the left tine sensor 105a to the left in the transverse direction of the forklift 101. Correspondingly, the detection range 111b of the right tine sensor 105b extends from the right tine sensor 105b to the right in the transverse direction of the forklift 101. The two detection ranges 111a and 111b point outward away from each other. Therefore, the object is within the detection range 111a of the left tine sensor 105a.

[0025] An impending collision between object 109 and forklift 101 can be automatically detected by a corresponding algorithm implemented in the controller of forklift 101. Alternatively, it is also possible to visually display the signals of tine sensors 105a, 105b to the driver of forklift 101, for example, on a display. There is also the possibility of warning the driver before an impending collision via an acoustic signal.

[0026] Reference Signs List

[0027] 101 Forklift

[0028] 103a Left fork tine

[0029] 103b right fork tine

[0030] 105a Left fork sensor

[0031] 105b right fork tine sensor

[0032] 107 obstacles

[0033] 109 objects

[0034] 111a detection range

[0035] 111b detection range

Claims

1. A forklift (101) comprising at least one first environmental sensor (105a) and at least one second environmental sensor (105b) mounted on different fork tines (103a, 103b); characterized in that The first environmental sensor (105a) and the second environmental sensor (105b) are each directed outwardly with at least a portion of their detection ranges (111a, 111b) transversely to the forklift (101), wherein a range between the first environmental sensor (105a) and the second environmental sensor (105b) is not detected by the first environmental sensor (105a) and the second environmental sensor (105b), wherein the range is bounded by a first plane extending parallel to the longitudinal axis of the forklift (101) and a second plane extending also parallel to the longitudinal axis of the forklift (101), and wherein a first detection range of the first environmental sensor (105a) is located on a first side of the first plane and on a first side of the second plane, while a detection range of the second environmental sensor (105b) is located on a second side of the first plane different from the first side and on a second side of the second plane different from the first side.

2. A system having a data processing device; characterized in that A forklift truck (101) according to claim 1 is provided, wherein the data processing device is designed to detect an approaching object (109) by means of signals from a first surroundings sensor (105a) and / or a second surroundings sensor (105b).

3. System according to the preceding claim, characterized in that The data processing device is configured to detect an impending collision of an approaching object (109) with the forklift (101) using signals from the first surroundings sensor (105a) and / or the second surroundings sensor (105b).

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