Automatic forklift for lifting and transporting goods and related method

Abstract

This automatic forklift (1) comprises:-a vertically movable front fork (4) equipped with at least two arms (4a, 4b) for lifting goods,-a drive system (7) for moving the forklift, and-a control unit (9) capable of controlling the operation of the drive system to automatically guide the forklift and capable of controlling the vertical movement of the front fork (4). The forklift further comprises a non-contact detection device (10) for non-contact detection of goods that can be moved together with the front fork, said device being arranged above the arms (4a, 4b) of the front fork. The non-contact detection device (10) is capable of emitting a light beam that sweeps over at least one predefined planar detection area located above the arm of the front fork in order to detect the presence of the cargo to be lifted.

Description

Technical Field

[0001] The present invention relates to the field of autonomous vehicles for autonomous transport of goods, such as autonomous forklifts. Background Art

[0002] Autonomous vehicles for transporting goods are increasingly being used to increase productivity and improve logistics management in factories or warehouses.

[0003] An example of such a vehicle is an autonomous forklift, which can, for example, load and transport goods and position them at height without human intervention.

[0004] However, in environments such as factories or warehouses, human intervention is required in addition to automated operations, for example to check whether these operations are carried out correctly, or to perform tasks that machines cannot perform alone. Therefore, these environments are shared between humans and autonomous machines.

[0005] In this work environment, personal safety is of paramount importance, so specific procedures need to be put in place.

[0006] For example, in order to limit the risk of falling of transported goods, forklifts are usually equipped with mechanical sensors placed on the vertical uprights of the front forks used to lift and transport these goods.

[0007] Such a mechanical sensor takes the form of an end stop that pivots between a deployed position corresponding to the cargo not being present or not abutting the end stop and a retracted position corresponding to the cargo abutting the end stop.

[0008] However, when picking up goods from a storage rack, it is often difficult for the forks to reach a position that enables the mechanical sensors mounted behind the forks to detect the presence of the goods to be removed. This is especially true when the goods to be collected are placed back inside the rack. It is then sometimes necessary to replace the existing storage rack with a rack of a different design.

[0009] To overcome this shortcoming, one solution is to equip the forklift with a distance meter.

[0010] However, distance meters using a point measurement system cannot detect all types of goods. This may be the case, for example, when the goods to be inspected have holes or holes, especially in the case of tires. Summary of the invention

[0011] Therefore, in view of the above, the object of the present invention is to propose an automatic forklift capable of remote and contactless detection of goods to be transported, with a high level of detection reliability regardless of the size or shape of the goods to be detected.

[0012] A subject of the invention is an automatic forklift comprising a vertically movable front fork equipped with at least two fork plates for lifting loads, a drive system for moving the forklift and a control unit capable of commanding the operation of the drive system to automatically guide the forklift.

[0013] According to one general feature, the forklift further includes a non-contact cargo detection device that is movable with the front fork and is located above a fork plate of the front fork.

[0014] The detection device is capable of emitting a light beam that sweeps across at least one predefined planar detection area located above at least one of the fork plates of the front fork to detect the presence or absence of the cargo to be lifted.

[0015] According to another general characteristic, the control unit receives information from a contactless detection device indicating the presence or absence of a load to be lifted in said predefined planar detection zone.

[0016] According to another general feature, the control unit is able to command the operation of the drive system and the vertical movement of the front fork based on this information.

[0017] Incorporating this contactless detection device allows for remote inspection of all types of cargo, thus increasing the degree of reliability and safety compared to traditional inspections.

[0018] Goods can also be collected safely on the "tip of the forks" of the forklift. Therefore, there is no need to modify the design of existing storage racks.

[0019] Advantageously, said predefined planar detection area swept by the light beam emitted by the contactless detection device is horizontal.

[0020] Preferably, the predefined plane detection area swept by the light beam emitted by the non-contact detection device is located above the two fork plates. In this case, the plane detection area can at least partially extend laterally beyond the lateral width of the fork plates of the front fork.

[0021] As a variant, the contactless detection device can sweep over two different planar detection areas, namely a first predefined planar detection area located above a first fork plate of the front fork and a second predefined planar detection area located above a second fork plate of the front fork different from the first fork plate.

[0022] According to another feature, the front fork comprises at least two uprights supporting the fork plate, and the non-contact detection device is placed on one of the uprights.

[0023] In a particular embodiment, the automatic forklift further comprises an end stop placed on each of the uprights of the front fork and mounted so as to be pivotable between an extended position corresponding to the absence or non-contact of the cargo against the end stop and a retracted position corresponding to the cargo against the end stop, the contactless detection device placed on the upright being located above the associated end stop. Alternatively, it is still possible to plan the forklift without these end stops.

[0024] The automated forklift comprises an on-board locator device configured to acquire position data relating to the position of the forklift and to communicate with the control unit. The non-contact detection device is preferably distinct from the locator device.

[0025] Another aspect of the present invention relates to a method of lifting and transporting cargo using the automated forklift described above.

[0026] Lifting and transport methods include:

[0027] - a step for positioning the fork plate of the front fork relative to the load,

[0028] - at least a first step of detecting the goods by means of a contactless detection device,

[0029] - a step of lifting the goods if the goods are detected in the first detection step in at least a first predefined planar detection area swept by the light beam emitted by the contactless detection device, and

[0030] -Automation of forklift movement and steps for the transportation of goods.

[0031] For example, the first predefined detection area is defined by four points defining a rectangle.

[0032] In a specific embodiment, the method may include, before the step of lifting the cargo, a second step of continuously detecting the cargo by a non-contact detection device, and if the cargo is detected during the second detection step, performing the step of lifting the cargo.

[0033] For example, the step of lifting the cargo is performed after the timeout step, which itself is performed after the first detection step.

[0034] Preferably, the second cargo detection step is performed in at least a second predefined detection area located within the first detection area on the side of the contactless detection device.

[0035] In one embodiment, the cargo detection step is performed in a planar detection area common to the fork plates of the front forks.

[0036] In another embodiment, the cargo detection step is performed in two different planar detection areas, each of which is specific to one of the two fork plates of the front fork.

[0037] According to one feature, the method may include a sub-step of checking the rotation of the goods, performed by a non-contact detection device, during the steps of movement of the automatic forklift and transportation of the goods, the checking of the rotation of the goods being performed relative to each detection area, each detection area being specific to one of the two fork plates of the front fork, and if no goods are detected in the two detection areas at the same time, the step of stopping the movement of the automatic forklift and the transportation of the goods.

[0038] According to another feature, the method may include a sub-step of checking the position of the cargo performed by a non-contact detection device during the step of movement of the automatic forklift and transportation of the cargo, wherein the checking of the cargo position is performed relative to the first detection area, and if no cargo is detected in the first detection area, the step of stopping the movement of the automatic forklift and the transportation of the cargo.

[0039] According to another feature, the method may include a sub-step of checking the position of the cargo performed by a non-contact detection device during the steps of movement of the automatic forklift and transportation of the cargo, the checking the cargo position being performed relative to at least one predefined detection area, the at least one predefined detection area indicating sliding of the cargo and being located outside the first detection area on the side of the non-contact detection device, and if the cargo is detected in the predefined detection area indicating sliding of the cargo, the step of stopping the movement of the automatic forklift and the transportation of the cargo. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Other objects, features and advantages of the present invention will become apparent from a reading of the following description given by way of non-limiting example only and with reference to the accompanying drawings, in which:

[0041] [ Figure 1 ] is a perspective view of an automatic forklift according to an exemplary embodiment of the present invention;

[0042] [ Figure 2 ] schematically shows Figure 1 The status of the forklift in use;

[0043] [ Figure 3 ]yes Figure 1 A partial top view of a forklift, schematically depicting a first cargo detection area;

[0044] [ Figure 4 ] shows a flow chart of a method for lifting and transporting cargo according to one embodiment of the present invention;

[0045] [ Figure 5 ]yes Figure 1 A partial top view of a forklift truck schematically depicting two cargo tipping detection areas;

[0046] [ Figure 6 ] shows a flow chart of a method for lifting and transporting cargo according to another embodiment of the present invention;

[0047] [ Figure 7 ]yes Figure 1 A partial top view of a forklift, schematically depicting a first cargo detection area and a second cargo detection area;

[0048] [ Figure 8 ] shows a flow chart of a method for lifting and transporting cargo according to another embodiment of the present invention; and

[0049] [ Fig. 9 ]yes Figure 1 A partial top view of a forklift schematically depicting the cargo slip detection area. DETAILED DESCRIPTION

[0050] Figure 1 The main elements of an automated forklift 1 according to one embodiment of the invention are depicted.

[0051] The structure of the forklift 1 is given by way of example and does not limit the invention to the solely described structural configuration. It must be understood that the invention also relates to a forklift designed to operate in manual mode and which has been adapted to allow a second operating mode, namely automatic mode.

[0052] Figure 1 The automatic forklift 1 shown comprises a front fork carriage 3 equipped with a front fork 4, the front fork 4 comprising two fork plates 4a, 4b spaced laterally apart and extending forward. The front fork 4 further comprises two uprights 4'a, 4'b, each upright supporting one of the fork plates 4a, 4b.

[0053] The fork plates 4a, 4b of the front fork are usually used, for example, to be inserted into an inlet provided in a transport pallet supporting the cargo to be lifted. The uprights 4'a, 4'b allow the fork plates 4a, 4b to be raised so that the pallet or some other type of cargo to be transported can be lifted and the pallet or some other type of cargo can be positioned or collected at a height.

[0054] The front fork 4 is able to translate along the vertical mast 5 of the forklift in a vertical plane V defined by the front fork bracket 3. The uprights 4'a, 4'b are able to slide along the mast 5. The fork plates 4a, 4b of the front fork are parallel. The longitudinal axes of the fork plates 4a, 4b of the front fork 4 are parallel. These longitudinal axes are oriented parallel to the horizontal axis X and define a horizontal plane H called the lifting plane. The fork plates 4a, 4b of the front fork 4 are perpendicular to the vertical plane V. The fork plates 4a, 4b of the front fork are also preferably able to move laterally relative to each other.

[0055] As a variant, the fork plates of the front fork 4 may also be telescopic or retractable and / or be capable of being angularly oriented about their longitudinal axis.

[0056] In the exemplary embodiment shown, the forklift 1 further comprises a mechanical end stop 6, which is placed on each of the uprights 4'a, 4'b of the front fork and is mounted so as to be pivotable between a deployed position corresponding to the absence or non-abutment of the cargo against the end stop and a retracted position corresponding to the abutment of the cargo against the end stop. The end stop 6 is mounted at the lower end of the uprights 4'a, 4'b. Figure 1 In the figure, for ease of understanding, one of the end stops 6 is depicted as being in an extended position, and the other end stop is depicted as being in a retracted position.

[0057] As is known, the forklift 1 is equipped with a drive system 7 that enables the forklift 1 to move. The drive system includes at least one electric motor or internal combustion engine (not shown) that provides drive for wheels (not numbered) of the forklift 1.

[0058] The forklift 1 is also equipped with a vehicle-mounted locator device 8 and a vehicle-mounted control unit 9 ( Figure 2 ), the on-board control unit 9 receives information from the locator device 8 to automatically command the movement of the forklift.

[0059] The control unit 9 comprises the hardware and software means necessary to command the operation of the drive system 7 based on the information received from the positioner means 8. The control unit 9 is also able to command automatic movement of the front fork 4.

[0060] The forklift 1 is also equipped with a non-contact detection device 10 located above the fork plates 4a, 4b of the front fork 4. The detection device 10 is fixed to the column 4'a of the front fork and is located above the fork plates 4a, 4b. In the exemplary embodiment shown, the detection device 10 is fixed to the column 4'a above the associated end stop 6. The non-contact detection device 10 can move together with the column 4'a of the front fork. The detection device 10 is different from the positioner device 7.

[0061] As will be described in more detail later, the detection device 10 is capable of emitting a light beam which sweeps across at least one predefined planar detection area above the fork plates 4a, 4b in order to detect the presence of goods to be lifted by virtue of the load intersecting the light beam within the predefined planar detection area.

[0062] The detection device 10 is configured to acquire position data related to the position of the load to be lifted and to send information indicating the presence or absence of the load detected within the predefined planar detection area to the control unit 9. Based on the information received, the control unit 9 then commands the operation of the drive system 7 and the vertical movement of the front fork 4. The detection device 10 may be, for example, a laser sensor of the LiDAR type.

[0063] Now refer to Figure 2 and Figure 3 The operating principle of the automatic forklift 1 for detecting the presence or absence of the cargo 12 to be lifted on the shelf 13 is described.

[0064] In the initial phase, the control unit 9 commands the operation of the forklift 1 so that it moves close to the shelf 13 and raises the fork plates of the front forks 4 in order to position them relative to the goods 12 to be lifted. The forklift 1 is commanded by the control unit 9 based on the data from the positioner device 8. When the forklift 1 moves, it is commanded to maintain a minimum safety distance d from the shelf 13. During the initial phase, the forklift 1 is commanded to maintain a minimum safety horizontal distance between the overhanging end of the fork plates of the front forks 4 and the shelf 13 in order to allow the fork plates to pass safely through the shelf 13.

[0065] Next, the detection device 10 emits a light beam 14 which sweeps over at least a first predefined planar detection area 15 above the fork plates 4a, 4b of the front fork. The vertical projection of the detection area 15 covers the fork plates 4a, 4b of the front fork and the lateral space separating these fork plates.

[0066] In the exemplary embodiment shown, the detection area 15 is defined by four different points defining a rectangle, e.g. Figure 3 Point A schematically represents the point from which the light beam 14 leaving the device 10 is emitted. The detection area 15 is horizontal here. Alternatively, an area 15 inclined relative to the horizontal can be envisaged.

[0067] The length y of the long side of the rectangle defined by the points B, C, D and E is greater than the transverse extent of the fork plates 4a, 4b of the front fork, and the detection area 15 is centered relative to these fork plates. In other words, the planar detection area 15 extends transversely beyond the transverse extent of the fork plates 4a, 4b of the front fork. As an indication, the width w of the short side of the rectangle defined by the points B, C, D and E and therefore the depth of the detection area 15 may be equal to 50 mm.

[0068] The detection device 10 is configured to detect whether the cargo 12 is located within the detection zone 15. The device 10 detects the presence of the cargo 12 when the cargo 12 intersects the light 14 and is simultaneously located within the detection zone 15. The detection device 10 can detect that the cargo is located within the first detection zone 15 using distance measurements.

[0069] If the cargo does not intersect the light 14 emitted by the device 10, or if such an intersection exists but the detection device 10 detects that the device is separated from the cargo 12 by a distance outside the predefined planar detection area 15, the device 10 detects that the cargo 12 is not within the detection area.

[0070] A method 20 of lifting and transporting cargo using the automated forklift 1 will now be described. Figure 4 Method 20 is shown in FIG.

[0071] The method 20 starts with a pre-positioning step 21 during which the control unit 9 operates the forklift 1 to position it to be aligned under the load 12 to be lifted and positions the fork plates 4a, 4b of the front fork 4 to be vertically flush with the load.

[0072] During a subsequent positioning step 22 , the control unit 9 operates the forklift 1 in order to move the fork plates 4 a, 4 b closer to the load 12 .

[0073] The method then continues with a first step 23 of cargo detection performed by the device 10. The device 10 detects whether the cargo 12 is located within the detection zone 15 ( Figure 3 ). This is the case if the cargo 12 intersects the light beam 14 emitted by the device 10 and the cargo is located within the detection zone 15. The device 10 sends information to the control unit 9 indicating the presence or absence of the cargo to be lifted in the detection zone 15.

[0074] If the device 10 does not detect the load 12 in the detection area 15, the control unit 9 sets the timeout value T equal to the predetermined value t in step 24. The predetermined value t can be configured by the control unit 9 according to the travel speed of the forklift 1. In the following step 25, the control unit 9 uses a sensor (not marked) to verify whether the minimum safety distance d has been reached or whether the imaginary target point has been reached. If it has been reached, the control unit 9 stops the forklift 1 in step 26 to allow the operator to re-establish correct operation. If it has not been reached, the control unit 9 operates the forklift 1 by restarting from step 22 to continue moving the fork plates 4a, 4b closer to the load 12.

[0075] In the embodiment shown, if the device 10 detects the cargo 12 in the detection area 15 during step 23, the control unit 9 reduces the timeout value T by the predetermined value x during step 28a and verifies in the following step 28b whether the time value T is less than or equal to 0. If not, the control unit 9 operates the forklift 1 by restarting from step 22 to continue moving the fork plates 4a, 4b closer to the cargo 12.

[0076] If yes, it means that the timeout period has elapsed and the control unit 9 lifts the load by issuing a lifting command in step 29. Next, the control unit 9 commands the movement of the forklift 1 and the transport of the load during a step 30. To this end, the control unit 9 uses the information received from the locator device 8 in order to move the forklift 1 towards the intended destination of the load 12 to be transported.

[0077] In the described embodiment, the method comprises a detection step 23 followed by a timeout step. As a variant, the method may comprise only a detection step 23, without relying on a timeout.

[0078] In the embodiment described, a timeout T is initialized after the detection step 23 when no goods are detected in the detection zone 15. As a variant, the method may involve initializing a timeout before the locating step 22.

[0079] In the described embodiment, in the detection step 23, the detection area 15 of the detection device is common to the two fork plates 4a and 4b of the front fork 4. In other words, the vertical projection of the detection area 15 covers the fork plates 4a, 4b of the front fork and the lateral space separating these fork plates.

[0080] As a variant, each of the fork plates 4a, 4b of the front fork can be provided with a first detection area specific to it. In other words, the detection device 10 ( Figure 1 and Figure 2 ) can emit a light beam that sweeps over a first detection area 15a that is specific to the fork plate 4a of the front fork and is located above the fork plate 4a, and a first area 15b that is specific to the fork plate 4b, is located above the fork plate 4b and is different from the first detection area 15a, such as Figure 5 shown.

[0081] The vertical projection of the first detection area 15a covers the fork plate 4a of the front fork, and the vertical projection of the first detection area 15b covers the fork plate 4b. The first area 15a here is defined by four different points defining a rectangular area, such as B, C, D' and E', and the second area 15b is defined by four different points defining another rectangular area, such as B', C', D and E.

[0082] exist Figure 6 shown Figure 4In another variant embodiment of the method, in which like steps have like reference numerals, a second detection step 32 is provided, during which the device 10 Figure 7 The goods 12 are shown being inspected in the second inspection zone 17. In this embodiment, there is no time-out step.

[0083] In the exemplary embodiment shown, the second detection area 17 is defined by four different points defining a rectangle having a common long side with the rectangle defined by points B, C, D and E of the first detection area 15. The second detection area 17 is defined by points E, B, B', E'. The second detection area 17 is located within the first area 15 and on the side of the detection device 10. The width of the short side of the rectangle defined by points E, B, B', E' is less than the width of the short side of the rectangle defined by points B, C, D and E.

[0084] Reference again Figure 6 If no load 12 is detected in the second detection area 17 during the detection step 32, the method restarts from step 25 and then the control unit 9 moves the fork plates 4a, 4b closer to the load 12 by restarting from step 22 if the minimum safety distance d has not yet been reached.

[0085] If the load 12 is detected in the second detection zone 17 during the detection step 32 , the control unit 9 performs the lifting of the load by issuing a lifting command (step 29 ) and then commands the movement of the forklift 1 and the transport of the load during a step 30 .

[0086] In this embodiment, the first and second detection areas 15, 17 are each common to the two fork plates 4a and 4b of the front fork 4. Alternatively, it is also possible to provide, as described above, a first detection area that is each specific to one of the fork plates 4a, 4b, and a second detection area that is also each specific to one of the fork plates 4a, 4b.

[0087] exist Figure 8 In another variant embodiment of the method shown, in which identical steps have the same reference numerals, a sub-step 30a of checking the position of the goods 12 is provided during the step 30 of transporting the goods.

[0088] During sub-step 30a, the detection device 10 can use the previously described detection zone 15 to perform a detection of the cargo 12. If no cargo is detected in the zone 15, the control unit 9 considers that the cargo 12 cannot be safely transported, since this non-detection indicates a slip of the cargo, and the unit issues a stop command so that the operator can re-establish correct operation.

[0089] Alternatively, during sub-step 30a, the detection device 10 may perform detection of the cargo 12 using a detection area 18 indicating cargo sliding, which is located outside the first detection area 15 and corresponds to the triangle AFG, as shown in FIG. Fig. 9 The detection area 18 is located at the side of the detection device 10 and is at a certain distance from the rectangle defined by the points B, C, D and E of the first detection area 15 .

[0090] If cargo is detected in the detection area 18 indicating cargo slipping, the control unit 9 assumes that the cargo has slipped during transport and issues a command to stop the forklift 1 in step 31 of the method so that the operator can reestablish correct operation.

[0091] In another embodiment of the method, a sub-step of checking whether the goods have been rotated may be provided during the step of transporting the goods 30. As mentioned above, this is possible when each of the fork plates 4a, 4b of the front fork has its own specific detection area associated therewith.

[0092] In this case, during step 30 of transporting the goods, if no goods are detected simultaneously in the two detection areas associated with the two fork plates 4a, 4b of the front fork, the control unit 9 assumes that the goods have been rotated about the vertical axis Z during transport and issues an instruction to stop the forklift 1 in step 31 of the method so that the operator can re-establish correct operation.

Claims

1. An automatic forklift (1), comprising: - a vertically movable front fork (4) equipped with at least two fork plates (4a, 4b) for lifting goods, - a drive system (7) for moving the forklift (1), and - a control unit (9) capable of commanding the operation of the drive system (7) to automatically guide the forklift and capable of commanding the vertical movement of the front forks (4), characterised in that the forklift further comprises: - a non-contact cargo detection device (10), the detection device (10) being movable with the front fork (4) and being located above the fork plates (4a, 4b) of the front fork, the non-contact detection device (10) being capable of emitting a light beam (14) which scans at least one predefined planar detection area located above at least one of the fork plates (4a, 4b) to detect the presence or absence of cargo to be lifted, - The control unit (9) receives information from the contactless detection device (10) indicating the presence or absence of the load to be lifted in the predefined planar detection area and can command the operation of the drive system (7) and the vertical movement of the front fork (4) based on this information.

2. The automatic forklift according to claim 1, wherein: The predefined planar detection area swept by the light beam (14) emitted by the non-contact detection device (10) is horizontal.

3. The automatic forklift according to claim 1 or 2, wherein: The front fork (4) comprises at least two upright posts (4'a, 4'b) supporting fork plates (4a, 4b), and a non-contact detection device (10) is placed on one of the upright posts (4'a, 4'b).

4. The automatic forklift according to claim 3 further comprises an end stop (6), which is placed on each of the uprights (4'a, 4'b) of the front fork and is installed to be able to pivot between an extended position and a retracted position, the extended position corresponding to the absence of cargo or not abutting against the end stop, and the retracted position corresponding to the abutment of cargo against the end stop, and the non-contact detection device (10) placed on the uprights (4'a, 4'b) is located above the associated end stop (6).

5. An automated forklift according to any one of the preceding claims, comprising an on-board locator device (8) configured to acquire position data related to the position of the forklift and communicate with a control unit (9), the non-contact detection device (10) being distinct from the locator device (8).

6. A method (20, 20') for lifting and transporting goods (12), using an automatic forklift (1) according to any one of the preceding claims, characterized in that The method includes: - a step (22) of positioning the fork plates (4a, 4b) of the front fork (4) relative to the cargo (12), - at least a first step (23) of detecting the goods (12) by means of a contactless detection device (10), - a step (29) of lifting the goods if the goods (12) are detected in at least a first predefined planar detection area (15) swept by the light beam (14) emitted by the contactless detection device (10) in the first detection step, and - Step (30) of automatic forklift movement and cargo transportation.

7. The method according to claim 6, wherein: The first predefined detection area (15) is defined by four points defining a rectangle.

8. The method according to claim 6 or 7, comprising a second step (32) of continuously detecting the cargo by the non-contact detection device (10) before the step (29) of lifting the cargo, and if the cargo is detected during the second detection step (32), the step of lifting the cargo is performed.

9. The method according to claim 6 or 7, wherein: The step (29) of lifting the cargo is performed after the timeout step (28b), which itself is performed after the first detection step (23).

10. The method according to claim 8, wherein: A second cargo detection step (32) is performed in at least a second predefined detection area (17) located laterally of the contactless detection device (10) within the first detection area (15).

11. The method according to any one of claims 6 to 10, wherein: The cargo detection step is performed in a common plane detection area (15, 17) of the fork plates (4a, 4b) of the front forks.

12. The method according to any one of claims 6 to 10, wherein: The cargo detection step is performed in two planar detection areas (15a, 15b) each of which is specific to one of the two fork plates (4a, 4b) of the front fork.

13. The method according to claim 12, comprising a sub-step of checking the rotation of the cargo performed by the non-contact detection device (10) during the step (30) of moving the automatic forklift and transporting the cargo, the checking of the rotation of the cargo being performed relative to each detection area (15a, 15b) of one of the two fork plates (4a, 4b) specific to the front fork, and stopping the step (30) of moving the automatic forklift and transporting the cargo if no cargo is detected in the two detection areas (15a, 15b) at the same time.

14. The method according to any one of claims 6 to 13, comprising a sub-step (30a) of checking the position of the cargo performed by the non-contact detection device (10) during the step (30) of moving the automatic forklift and transporting the cargo, wherein the checking of the cargo position is performed relative to the first detection area (15), and if no cargo is detected in the first detection area (15), the step (30) of stopping the movement of the automatic forklift and the step (30) of transporting the cargo.

15. The method according to any one of claims 6 to 13, comprising a sub-step (30a) of checking the position of the cargo performed by the non-contact detection device (10) during the step (30) of moving the automatic forklift and transporting the cargo, the checking of the cargo position is performed relative to at least one predefined detection area (18), at least one predefined detection area (18) indicating sliding of the cargo and located outside the first detection area (15) on the side of the non-contact detection device (10), and if the cargo is detected in the predefined detection area (18) indicating sliding of the cargo, the step (30) of stopping the movement of the automatic forklift and the step (30) of transporting the cargo.

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