Visual field supplementing device and forklift
By setting up a combination of camera, ground sensor and lifting mechanism on the forklift, the problem of unclear and easy damage to the forklift camera during high-level operation is solved, and the adaptive adjustment and clear vision support of the camera are achieved.
Patent Information
- Application Number
- CN202421985216.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-08-16
- Publication Date
- 2025-07-29
- Estimated Expiration
- 2034-08-16
AI Technical Summary
The existing forklift cameras have unclear vision and are easily obstructed when operating at high positions, or the camera is crashed due to the problem of the forks falling to the ground.
Using a combination of a camera, a ground sensor and a lifting mechanism, the camera is lifted and lowered simultaneously with the fork. The height data is sensed by the ground sensor. The lifting mechanism controls the extension or retraction of the camera to ensure that impact is avoided within a safe range.
It realizes adaptive adjustment of the camera when the height of the fork changes, avoids crashes and provides clear field of view support, and does not interfere with fork picking operations.
Smart Images
Figure CN223163144U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to an industrial handling vehicle, in particular to a vision supplement device for a forklift. Background Art
[0002] For some existing reach forklifts and three-way stackers, the forks can reach a very high lifting height, up to about 15 meters. When lifted to such a height, it is impossible to clearly judge the relative position between the fork and the pallet only by the human eye. Therefore, in the prior art, a camera is generally used to supplement the vision. For example Figure 1 , a conventional camera 2 is attached to the side of the fork 1. When the fork 1 is inserted into the pallet 3, affected by insufficient light and the specifications of the pallet 3, the picture taken by the camera 2 is often unclear or often blocked. On the other hand, the camera cannot be simply installed below the fork, otherwise the camera will be damaged when the fork lands. Summary of the Utility Model
[0003] Therefore, in view of the above problems, the utility model proposes a vision supplement device with an optimized structure, and also proposes a forklift with the vision supplement device.
[0004] The utility model is realized by adopting the following technical solutions:
[0005] The utility model proposes a vision supplement device for being installed on a forklift, which includes a camera, a ground clearance sensor and a lifting mechanism. The camera is directly or indirectly connected to the fork of the forklift so as to be able to synchronously lift and lower with the fork. The camera is used to at least shoot a picture forward of the fork. The ground clearance sensor is used to sense the ground clearance height data of the camera or the fork. The lifting mechanism can drive the camera to rise or fall relative to the fork according to the ground clearance height data provided by the ground clearance sensor.
[0006] Wherein, preferably, the camera driven by the lifting mechanism has a retracted position where the lower bottom surface is higher than the lower plane of the fork and an extended position where the lower bottom surface is lower than the lower plane of the fork.
[0007] Wherein, preferably, it further includes a controller. The ground clearance sensor can feed back the ground clearance height data to the controller. The controller presets a safety value, and the controller controls the lowering or rising of the lifting mechanism by judging whether the ground clearance height data is greater than or less than the safety value.
[0008] Wherein, preferably, the ground clearance sensor is fixedly arranged on the forklift and can be triggered by the lifting stroke of the fork, so as to sense the ground clearance height of the fork.
[0009] Wherein, preferably, the ground clearance sensor is a wire-pulling encoder with the wire-pulling end fixed to the fork; or, the ground clearance sensor includes a plurality of mechanical switches / proximity sensors fixedly arranged at different heights of the lifting stroke of the fork.
[0010] Preferably, the camera and the ground clearance sensor are arranged in a relatively fixed manner, and the lifting mechanism drives the camera and the ground clearance sensor to lift together. The ground clearance sensor senses the ground clearance height data of itself relative to the ground to obtain the ground clearance height data of the camera.
[0011] Preferably, it further includes a fixed bracket and a sliding bracket. The sliding bracket and the fixed bracket are slidably connected in the height direction. The camera and the ground clearance sensor are fixedly installed on the sliding bracket. The lifting mechanism is fixedly installed on the fixed bracket, and the lifting end of the lifting mechanism is fixedly connected to the sliding bracket. The fixed bracket is fixedly connected to the forklift fork or the lifting mast; or, both the camera and the ground clearance sensor are fixedly connected to the lifting end of the lifting mechanism, and the lifting mechanism is fixedly connected to the forklift fork or the lifting mast.
[0012] Preferably, the ground clearance sensor is an ultrasonic sensor / a reflective optoelectronic sensor with the transmitting end facing downwards.
[0013] Preferably, the lifting mechanism is an oil cylinder or a cylinder or a linear stepper motor.
[0014] Preferably, the camera is configured to be relatively at the rear side position of the forklift fork.
[0015] Based on the above vision supplement device, the present utility model further provides a forklift, which includes a forklift fork, a lifting mast and the above vision supplement device.
[0016] The present utility model has the following beneficial effects: By arranging the ground clearance sensor and the lifting mechanism, the camera of the present utility model can extend or retract automatically according to the height of the forklift fork, avoiding the camera being damaged when the forklift fork lands. And with such an arrangement, the camera can be set at the rear side position of the forklift fork, which will not interfere with the forklift fork picking operation and can provide a good vision. Description of the Drawings
[0017] Figure 1 is a schematic diagram of a forklift fork with a camera installed in the prior art;
[0018] Figure 2 is a schematic diagram of the forklift fork of the forklift in the embodiment inserted into the pallet;
[0019] Figure 3 is a three-dimensional schematic diagram of the forklift fork, the lifting mast and the vision supplement device in the embodiment;
[0020] Figure 4 is a front view of the forklift fork, the lifting mast and the vision supplement device in the embodiment. Detailed Embodiments
[0021] To further illustrate each embodiment, the present utility model provides attached drawings. These drawings are a part of the disclosure of the present utility model, mainly used to illustrate the embodiments and can be used to explain the operating principle of the embodiments in conjunction with the relevant descriptions in the specification. With reference to these contents, those of ordinary skill in the art should be able to understand other possible implementation manners and the advantages of the present utility model. The components in the drawings are not drawn to scale, and similar component symbols are usually used to represent similar components.
[0022] The present utility model will be further described below in conjunction with the attached drawings and specific implementation manners.
[0023] Referring to Figures 2 - 4 As shown, as a preferred embodiment of the present utility model, a forklift is provided, which includes a fork 1 and a lifting mast 2. The fork 1 can be inserted into a pallet 3 for carrying goods. In addition, the forklift further includes a vision supplement device 10. The vision supplement device 10 includes a camera 4, a ground clearance sensor 6, and a lifting mechanism 5. A fixed bracket 7 is fixedly connected to the lifting mast 2. A sliding bracket 8 and the fixed bracket 7 are slidably connected in the height direction. The camera 4 and the ground clearance sensor 6 are both fixedly connected to the sliding bracket 8. The lifting mechanism 5 is fixedly installed on the fixed bracket 7, and the lifting end of the lifting mechanism 5 (in this embodiment, the lifting end of the lifting mechanism 5 is its lower end) is fixedly connected to the sliding bracket 8. Since the vision supplement device 10 is integrally connected to the lifting mast 2, when the lifting mast 2 and the fork 1 are lifted or lowered, the entire vision supplement device 10 also rises and falls accordingly. When the lifting mechanism 5 operates, it drives the camera 4 and the ground clearance sensor 6 to rise or fall relative to the fork 1 through the sliding bracket 8.
[0024] The ground clearance sensor 6 is an ultrasonic sensor with the transmitting end facing downwards in this embodiment. Thus, the ground clearance sensor 6 can sense the ground clearance height data of itself relative to the ground. At the same time, the camera 4 and the ground clearance sensor 6 are arranged in a relatively fixed manner, that is, the height difference between the two is constant. Then, by obtaining the ground clearance height data of the ground clearance sensor 6, the ground clearance height data of the camera 4 can be calculated. For convenience, the camera 4 and the ground clearance sensor 6 are at the same height in this embodiment.
[0025] The vision supplement device 10 further includes a controller (not shown in the figure). The controller can be integrated in the lifting mechanism 5 or can be a remotely communicated controller. The ground clearance sensor 6 and the lifting mechanism 5 are both communicatively connected to the controller. The ground clearance sensor 6 feeds back the ground clearance height data to the controller, and the controller then controls the operation of the lifting mechanism 5. The controller presets a safety value. For example, the safety value can be preset to 1 meter. If the ground clearance height data is greater than 1 meter, the controller controls the lifting mechanism 5 to lower. If the ground clearance height data is less than 1 meter, the controller controls the lifting mechanism 5 to rise. The camera 4 driven by the lifting mechanism 5 has at least a retracted position where the lower bottom surface is higher than the lower plane of the fork 1 and an extended position where the lower bottom surface is lower than the lower plane of the fork 1.
[0026] After the above settings, when the forklift of this embodiment is working, the movement process of the vision supplement device 10 is as follows:
[0027] 1. In the normal state where the forklift forks 1 are not lifted, the camera 4 is in the retracted position;
[0028] 2. When the forklift forks 1 are lifted, the entire vision supplement device 10 is also lifted. Once the height of the camera 4 exceeds the safety value, the controller controls the lifting mechanism 5 to lower, and the camera 4 descends to the extended position;
[0029] 3. When the lifted forklift forks 1 descend, the entire vision supplement device 10 also descends. Once the height of the camera 4 is lower than the safety value, the controller controls the lifting mechanism 5 to rise, and the camera 4 rises to the retracted position.
[0030] The camera 4 can be a multi - vision and multi - direction camera, so as to be able to provide views within multiple different ranges. At least, the camera 4 should capture images in the forward direction of the forklift forks 1 to assist in providing the view of the forward insertion end of the forklift forks 1. By setting the ground - distance sensor 6 and the lifting mechanism 5, the camera 4 of this embodiment can extend or retract automatically according to the height of the forklift forks, avoiding the camera 4 being damaged when the forklift forks 1 land. And with such a setting, the camera 4 can be set at the rear side position of the forklift forks 1, which will not interfere with the fork - taking operation of the forklift forks 1 and can provide a good view.
[0031] The lifting mechanism 5 can be implemented by any driving mechanism such as an oil cylinder, a cylinder, or a linear stepper motor.
[0032] In this embodiment, the ground - distance sensor 6 is relatively fixed to the camera 4, and the lifting mechanism 5 drives the camera 4 and the ground - distance sensor 6 to lift and lower together. The function of the ground - distance sensor 6 is to sense its own height to further obtain the ground height of the camera 4. The ground - distance sensor 6 of this embodiment uses an ultrasonic sensor, and it can also be replaced by a reflective photoelectric sensor with the emitting end facing downwards. In other embodiments, the ground - distance sensor 6 can also sense the ground height of the forklift forks 1. For example, the ground - distance sensor 6 is replaced by a wire - drawing encoder with the wire - drawing end fixed to the forklift forks, or the ground - distance sensor 6 includes a plurality of mechanical switches / proximity sensors fixedly arranged at different heights in the lifting stroke of the forklift forks 1, and the lifting stroke of the forklift forks 1 triggers the mechanical switches / proximity sensors, thereby realizing the sensing of the ground height of the forklift forks 1. That is, as long as the camera 4 is directly or indirectly connected to the forklift forks 1 and can synchronously follow the forklift forks 1 to lift and lower, then it is feasible to sense either the height of the forklift forks 1 or the height of the camera 4.
[0033] In this embodiment, a fixed bracket 7 and a sliding bracket 8 are used to install the camera 4, the ground sensor 6, and the lifting mechanism 5. However, in other embodiments, other installation schemes can also be adopted. For example, both the camera 4 and the ground sensor 6 are directly fixedly connected to the lifting end of the lifting mechanism 5, and the lifting mechanism 5 is directly fixedly connected to the forklift fork 1 or the lifting mast 2. As long as the lifting mechanism 5 is directly or indirectly fixedly connected to the forklift fork 1 and its lifting end acts on the camera 4, it is acceptable.
[0034] Although the present invention has been specifically shown and described in conjunction with the preferred embodiments, those skilled in the art should understand that various changes in form and details made to the present invention without departing from the spirit and scope of the present invention defined by the appended claims all fall within the protection scope of the present invention.
Claims
1. A vision supplement device for installation on a forklift, characterized in that: It includes a camera, a ground clearance sensor and a lifting mechanism. The camera is directly or indirectly connected to the forklift's fork so as to be able to synchronously lift and lower along with the fork. The camera is used to at least capture images in the forward direction of the fork. The ground clearance sensor is used to sense the ground clearance data of the camera or the fork. The lifting mechanism can drive the camera to rise or fall relative to the fork according to the ground clearance data provided by the ground clearance sensor.
2. The visual field supplementing device according to claim 1, characterized in that: The camera driven by the lifting mechanism has a retracted position where the lower bottom surface is higher than the lower plane of the fork and an extended position where the lower bottom surface is lower than the lower plane of the fork.
3. The visual field supplement device according to claim 1, characterized in that: It also includes a controller. The ground clearance sensor can feedback the ground clearance data to the controller. The controller pre-sets a safety value. The controller controls the lowering or rising of the lifting mechanism by judging whether the ground clearance data is greater than or less than the safety value.
4. The visual field supplementing device according to claim 1, characterized in that: The ground clearance sensor is fixedly installed on the forklift and can be triggered by the lifting stroke of the fork, so as to sense the ground clearance of the fork.
5. The visual field supplementing device according to claim 4, characterized in that: The ground clearance sensor is a wire-pulling encoder with the wire-pulling end fixed to the fork; or, the ground clearance sensor includes a plurality of mechanical switches / proximity sensors fixedly arranged at different heights in the lifting stroke of the fork.
6. The visual field supplementing device according to claim 1, characterized in that: The camera and the ground clearance sensor are arranged in a relatively fixed manner. The lifting mechanism drives the camera and the ground clearance sensor to lift and lower together. The ground clearance sensor senses its own ground clearance data relative to the ground to obtain the ground clearance data of the camera.
7. The visual field supplementing device according to claim 6, characterized in that: It also includes a fixed bracket and a sliding bracket. The sliding bracket and the fixed bracket are slidably connected in the height direction. The camera and the ground clearance sensor are fixedly installed on the sliding bracket. The lifting mechanism is fixedly installed on the fixed bracket and the lifting end of the lifting mechanism is fixedly connected to the sliding bracket. The fixed bracket is fixedly connected to the forklift's fork or the lifting mast; or, both the camera and the ground clearance sensor are fixedly connected to the lifting end of the lifting mechanism, and the lifting mechanism is fixedly connected to the forklift's fork or the lifting mast.
8. The visual field supplementing device according to claim 6, characterized in that: The ground clearance sensor is an ultrasonic sensor / reflective optoelectronic sensor with the transmitting end facing downwards.
9. The visual field supplement device according to claim 1, wherein: The camera is configured to be in a position relatively at the rear side of the fork.
10. Forklift, including fork and lifting mast, characterized in that: It also includes a field of view supplement device as described in any one of claims 1-9.