Operating vehicle with vertically movable safety sensor

Abstract

An operating vehicle includes: a self-propelled unit (10) configured to move along a given path on a moving surface to advance along a main direction (X); a fork (20) associated with the operating portion (11) of the self-propelled unit (10) and vertically movable between a lower position and an upper position; a detection sensor (30) provided with a detection area (R) and arranged to emit a detection signal when an object is located within the detection area (R), said detection area (R) facing the space occupied by the fork (20); and the control module is connected to the self-propelling unit (10) and connected to the detection sensor (30), and the control module is arranged to control the self-propelling unit (10) to carry out safe operation under the condition that the detection sensor (30) sends a detection signal. The detection sensor (30) is vertically movable between a lower position and an upper position. And the horizontal height of the upper position is higher than that of the lower position.

Description

Technical Field

[0001] The invention relates to a loading vehicle provided with a lifting fork.

[0002] In particular, the invention relates to a loading vehicle provided with lifting forks arranged to be insertable under an object to be transported and arranged to raise and lower the object depending on the loading / unloading operations and transport operations to be performed.

[0003] The invention is particularly advantageous for use in self-propelled loading vehicles, such as AGVs or LGVs. Background Art

[0004] Typically, a self-driving loading vehicle is provided with a plurality of safety sensors designed to detect the presence of obstacles on the path followed under the control of the self-driving system.

[0005] Safety sensors are connected to the vehicle control module, which stops the vehicle or temporarily changes the vehicle's trajectory in the presence of an obstacle. Obviously, the main purpose and function of safety sensors is to prevent the vehicle from accidentally hitting an obstacle or the operator.

[0006] In a loading vehicle provided with lifting forks, the safety sensor is arranged in the area of ​​the vehicle close to the forks, so that the sensor faces the area of ​​action of the forks themselves. Usually, the safety sensor is located substantially in the middle of the forks and in the lower area of ​​the vehicle. The purpose of the safety sensor is to detect the presence of a person or an object in the operating area of ​​the forks, in particular in the step where the vehicle approaches the object to be loaded.

[0007] In existing vehicles, the safety sensors are located in a fixed position close to the ground as described above. In the case where the object supported by the forks is placed in an elevated position (e.g., placed on an elevated shelf or stacked on other objects) or is to be picked up from an elevated position, the safety sensors cannot detect the presence of obstacles in the action area of ​​the forks. This limitation poses a considerable safety risk, as an accidental impact with an object located at a relatively high level relative to the ground may result in the risk of the object falling. Summary of the invention

[0008] The purpose of the present invention is to solve the major safety deficiencies of existing vehicles.

[0009] A major advantage of the vehicle according to the invention is the ability to effectively detect obstacles in all steps and travel positions of the fork. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Other features and advantages of the invention will become more apparent from the following detailed description of an embodiment of the invention in question, which is illustrated by way of non-limiting example in the accompanying drawings, in which:

[0011] Figure 1 An isometric view of an operating vehicle according to the present invention is shown;

[0012] Figure 2 and Figure 3 A side view of a vehicle according to the invention is shown, wherein an object (O) is in two different lifted positions and some components of the vehicle have been removed to better illustrate other components. DETAILED DESCRIPTION

[0013] The operating vehicle according to the invention comprises a self-propelled unit (10) configured to move along a main direction (X) on a moving surface following a given path.

[0014] The self-propelled unit (10) is essentially the part of the vehicle that is responsible for movement. The self-propelled unit (10) known in the art generally comprises: a motor; a plurality of wheels, at least one of which is connected to the motor via a transmission system; and a steering system, arranged to allow the self-propelled unit to follow a straight and curved trajectory. The self-propelled unit (10) has an operating portion (11). In the preferred but non-exclusive embodiment depicted, the self-propelled unit comprises: two wheels (12), located below the operating portion (11); and a steering wheel (13), located below the self-propelled unit (10) in an area opposite to the operating portion (11). The steering wheel (13) is a drive wheel and can rotate around a vertical axis. The steering system with which the self-propelled unit (10) is equipped operates by achieving a controlled rotation of the steering wheel (13) around a corresponding vertical axis in a manner known in the art.

[0015] The vehicle according to the invention further comprises a fork (20) associated with the operating part (11) of the self-propelled unit (10). The fork (20) is vertically movable between a lower position and an upper position. In the lower position, the fork (20) can be inserted under the object to be loaded. Typically, in the lower position, the fork (20) is close to the ground. The distance of the fork from the ground is suitable to enable the fork to be inserted under the object to be loaded. For example, the height of the fork (20) from the ground when in the lower position is suitable to enable the fork to be inserted under a standardized pallet. The fork (20) in the upper position is located at a certain height from the ground, which height is related to the size and total weight of the vehicle and the object to be loaded and the maximum horizontal height of the object expected to be unloaded or picked up. The fork (20) can be arranged at any position between the lower position and the upper position.

[0016] In a possible embodiment of the vehicle, the operating part (11) is arranged in the rear region of the vehicle, i.e. in the region facing backwards with respect to the vehicle's direction of travel during most of the movement. In this case, the vehicle is generally driven with the forks facing backwards, except for steps in which the vehicle has to pick up an object. In these steps, the vehicle moves in reverse with the forks facing the object to be picked up.

[0017] In another possible embodiment of the vehicle, the operating part (11) is alternatively arranged in the front region of the vehicle, i.e. the region facing forwards with respect to the vehicle's direction of travel during most of the movement. In this case, the vehicle is usually driven with the forks facing forwards, including steps in which the vehicle has to pick up an object. In these steps, the vehicle moves forwards with the forks facing the object to be picked up.

[0018] In the following description, reference will be made to a forward displacement or movement, which means that the operating part (11) faces backwards, i.e. in the direction opposite to the forward direction. However, the self-propelled unit (10) can even be moved in the reverse direction (i.e. in the opposite direction) so that the operating part (11) becomes forward relative to the forward direction. The loading operation of the object (O) is basically carried out while reversing.

[0019] The self-propelled unit (10) further comprises a frame arranged to support the above mentioned components as well as other components of the vehicle (which components are not described in detail as they are known in the art).

[0020] In the depicted embodiment known in the art, the fork (20) comprises a pair of arms (21) parallel to each other and substantially horizontal, which extend from the vehicle away from the operating part (11). These arms (21) are intended to be inserted under the object to be loaded. The arms (21) are located in a substantially horizontal plane.

[0021] The fork (20) is associated with a mobile structure provided with a guide (20a) and an actuator arranged to enable the fork (20) to translate vertically. Preferably, the mobile structure is also arranged to enable the arms (21) to translate towards and away from each other along a horizontal direction perpendicular to the main direction (X).

[0022] In the preferred but non-exclusive embodiment depicted, the fork (20) is associated with a first support (22). The first support (22) is in turn connected to a second support (23) and can slide in a horizontal direction perpendicular to the main direction (X) by a guide system of known type. In particular, the first support (22) allows each arm (21) to slide towards and away from the other arm (21). The second support (23) is connected to the operating part (11) of the self-propelled unit (10) by a guide system of known type and can slide in a substantially vertical direction. A first motor device (known in the art) is arranged to slide the first support (22) relative to the second support (23). A second motor device (known in the art) is arranged to slide the second support (23) relative to the self-propelled unit (10). The first motor device and the second motor device can be activated in a known manner by a control module of the vehicle. The control module will be described in more detail in the following description.

[0023] The vehicle according to the invention further comprises a detection sensor (30) provided with a detection zone (R) facing the fork (20), i.e. facing the space occupied by the fork (20). The space occupied by the fork (20) is the space in which the fork (20) and any object loaded on the fork (20) may hit an obstacle during a movement having at least one direct component along the main direction (X).

[0024] In other words, the detection area (R) is configured to intercept obstacles (such as objects or people) that may be located in front of the vehicle (i.e., on the path followed by the vehicle during movement in the direction facing the fork (20). The detection sensor (30) is configured to emit a detection signal if an object is located within the detection area (R).

[0025] The detection sensor (30) is a well-known component in the art, and thus will not be described in detail. For example, the detection sensor (30) is a PLS type sensor.

[0026] The vehicle according to the invention comprises a control module connected to the self-propulsion unit (10) and to a detection sensor (30).

[0027] As is well known in the art, the control module referred to in this specification and the appended claims is generally referred to as a single unit, but in fact different functional modules (storage modules or operating modules) may be provided, each of which is responsible for controlling a given device or operating cycle of the vehicle. In essence, the universal control module may consist of a single electronic device programmed to perform the functions described, and the individual functional modules may correspond to hardware components and / or software routines that are part of the programming device. Alternatively or additionally, these functions may be performed by multiple electronic devices, and the above-mentioned functional modules may be distributed on these electronic devices. The unit may also rely on one or more processors to execute the instructions contained in the storage module.

[0028] In order to control the start and / or operation of the vehicle, the control module is connected to at least the following components of the vehicle: the motor of the self-propelled unit (10); the above-mentioned first motor device and the second motor device, which determine the movement of the fork (20); the above-mentioned steering system of the self-propelled unit (10); and possibly the vehicle's braking system. The control module can also regulate the operation of other known components of the vehicle through dedicated connections.

[0029] Specifically, the control module is configured to control the self-propelled unit (10) to operate safely when the detection sensor (30) sends a detection signal. For example, when the detection sensor (30) sends a detection signal, the control module is configured to use a control algorithm known in the art to stop the vehicle's motor and / or brake the vehicle itself and / or stop the fork (20). In addition, the control module is configured to guide the self-propelled unit (10) to move along a path defined by one or more operation algorithms by acting at least on the motor and steering system of the self-propelled unit (10), and the one or more operation algorithms are configured in a known manner to respond to the handling and / or collection needs of objects (O) within a factory or operation area (such as a warehouse, a production plant or other area).

[0030] Advantageously, in the vehicle according to the invention, the detection sensor (30) is vertically movable between a lower position and an upper position. Being vertically movable means that the detection sensor (30) is movable by performing a movement including at least one vertically directed component between said lower position and the upper position. The lower position is located at a level lower than the level of the upper position. Level (level) means the height relative to the resting surface of the vehicle or relative to the ground or a surface on which the vehicle can move.

[0031] When the detection sensor (30) is in the lower position, the detection area (30) faces the fork (20) when the fork (20) is in the lower position, that is, faces the space occupied by the fork (20).

[0032] When the detection sensor (30) is in the upper position, the detection area (30) faces the fork (20) when the fork (20) is in the upper position, ie, faces the space occupied by the fork (20).

[0033] Specifically, the detection sensor (30) is vertically movable so that the detection area (R) faces the fork (20), i.e., faces the space occupied by the fork (20), when the fork (20) is in any assumed position between the lower position and the upper position. In other words, the detection sensor (30) is movable so that the detection area (R) is at a level that facilitates detection of the presence of an obstacle in the space occupied by the fork (20), i.e., a space where the fork (20) and any object loaded on the fork (20) may hit an obstacle during a movement having at least one direct component along the main direction (X).

[0034] Essentially, since the detection sensor (30) can be vertically translated, the detection area (R) can be set to intercept obstacles, such as objects or people, located in front of the vehicle (i.e., on the path followed by the vehicle during movement in the direction facing the fork (20)), regardless of where the fork (20) is located between the lower position and the upper position.

[0035] The ability of the detection sensor (30) to translate vertically in the above-mentioned mode is a significant improvement over existing vehicles. In fact, the detection sensor (30) is activated during the entire step of the vehicle approaching the location of the object to be picked up or the object expected to be unloaded, or during the entire step of the fork (20) moving between the lower position and the upper position, regardless of the level of the fork (20). In the event that the fork (20) and / or the object loaded on the fork (20) may hit an obstacle, the detection sensor (30) is able to send a detection signal to the control module, which can implement a predicted safe operation to avoid the collision.

[0036] In a first possible preferred but non-exclusive embodiment, the detection sensor (30) can be vertically moved between a lower position and an upper position in a manner that is integral with the fork (20). For example, the detection sensor (30) is associated with the fork (20) or is associated with a structure that is integral with the fork (20). To this end, a person skilled in the art can think of various solutions without detailed description. This first possible embodiment makes full use of the movement system for moving the fork (20) and can realize the movement of the detection sensor (30) in a simple and economical manner.

[0037] In a second possible embodiment, the detection sensor (30) is able to move vertically between a lower position and an upper position independently of the fork (20). For example, in order to achieve the vertical movement, the detection sensor (30) is associated with a guidance system (comprising, for example, a vertical guide) and is associated with its own motor device, i.e. a motor device different from the motor device that achieves the movement of the fork (20). In this case, the motor device of the detection sensor (30) is connected to the control module of the vehicle and is controlled by the control module of the vehicle. In this second possible embodiment, the positioning of the detection sensor (30) can be controlled independently of the positioning of the fork (20) and the detection sensor (30) can therefore be positioned more flexibly according to the optimal position to correctly detect obstacles.

[0038] In the preferred but non-exclusive embodiment depicted, the detection sensor (30) is located in a substantially neutral position relative to the arm (21) of the fork (20).

[0039] Preferably, the detection sensor (30) is connected to a support (31), which in turn is connected to the fork (20). For example, the first support (31) is connected to the second support (23) of the fork (20), or to another component integral with the fork (20). In a second possible embodiment of the above combination, the support (31) can alternatively slide along a vertical guide (not depicted) in a manner known in the art.

[0040] The vehicle according to the present invention is also provided with a stabilizer (40) which is superposed with the fork (20) and is spaced apart from the fork by a variable spacing. Specifically, the stabilizer (40) can move vertically toward and away from the fork (20). The function performed by the stabilizer (40) is to position itself above the fork (20) and in contact with the object (O) supported by the fork, thereby stabilizing the position of the object (O) and preventing the object from tilting or falling.

[0041] The stabilizer (40) comprises a flat frame (41) defining a substantially horizontal plane. The flat frame (41) is intended to be positioned above an object (O) and in contact with the object. Motor means (known in the art) are provided for actuating the vertical displacement of the flat frame (41). A support structure (42) provided with a vertical guide system is connected to the flat frame (41) to support and guide the movement of the flat frame. In the depicted preferred but non-exclusive embodiment, the support structure (42) comprises a vertical upright (42a) along which a carriage (42b) slides and which in turn is connected to the flat frame (41).

Claims

1. An operating vehicle, comprising: A self-propelled unit (10) configured to move along a given path on a moving surface while advancing in a main direction (X); a fork (20) associated with the operating part (11) of the self-propelled unit (10) and vertically movable between a lower position and an upper position; A detection sensor (30) is provided with a detection area (R), and the detection sensor is configured to send a detection signal when an object is located in the detection area (R), and the detection area (R) faces the space occupied by the fork (20); a control module connected to the self-propelled unit (10) and to the detection sensor (30), the control module being configured to control the self-propelled unit (10) to perform a safe operation when the detection sensor (30) sends a detection signal; Features: The detection sensor (30) is vertically movable between a lower position and an upper position; When the detection sensor (30) is in the lower position, the detection area (30) faces the space occupied by the fork (20) when the fork (20) is in the lower position; When the detection sensor (30) is in the upper position, the detection area (30) faces the space occupied by the fork (20) when the fork (20) is in the upper position.

2. The vehicle according to claim 1, wherein: The detection sensor (30) is vertically movable between a lower position and an upper position in a manner formed integrally with the fork (20).

3. The vehicle according to claim 2, wherein: The detection sensor (30) is associated with the fork (20) or with a structure integral with the fork (20).

4. The vehicle according to claim 3, wherein: The detection sensor (30) is associated with a support (31) connected to the fork (20).

5. The vehicle according to claim 1, wherein: The detection sensor (30) is vertically movable between a lower position and an upper position independently of the fork (20).

6. The vehicle according to claim 5, wherein: The detection sensor (30) is associated with a guidance system and a motor device connected to the control module and controlled by the control module independently of the motor device provided for moving the fork (20).

7. The vehicle according to one of the preceding claims, wherein: The fork (20) includes a pair of arms (21) parallel to each other and substantially horizontal, the pair of arms extending from the vehicle away from the operating portion (11), and wherein the detection sensor (30) is substantially located at a middle position relative to the arms (21) of the fork (20).

8. The vehicle according to one of the preceding claims, comprising a stabilizer (40) superposed on the fork (20) and spaced apart from the fork by a variable spacing so as to be vertically movable towards and away from the fork (20).

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