Industrial truck with a sensor device designed as an environmental sensor

Abstract

Driverless industrial truck with a sensor device (2) designed as a 2D sensor for monitoring an environmental area (UB), and with an electronic control (3) which is operatively connected to the sensor device (2), characterized in that the sensor device (2) is arranged on the industrial truck (1) so as to be tiltable about a substantially horizontal pivot axis (S) and an actuator (5) which is operatively connected to the electronic control (3) is provided, with which actuator the sensor device (2) can be pivoted about the pivot axis (S), wherein the electronic control (3) is designed such that the sensor device (2) is pivoted downwards about the pivot axis (S) between a first alignment position (A1), in which the monitoring area (UB) of the sensor device (2) is arranged parallel to a roadway (F), and a second alignment position (A2), wherein the electronic control (3) is able to detect the position of the sensor device (2) from the positions defined in the alignment positions (A1,A2) detected signals of the sensor device (2) determine a gradient (ST) of the roadway (FB) and / or a gradient (GF) of the roadway (FB) and / or determine an obstacle (HS) located on the roadway (FB) which is located within and below the monitoring area (UB) in the first alignment position (A1) of the sensor device (2).

Description

[0001] The invention relates to a driverless industrial truck with a sensor device designed as a 2D sensor for monitoring an environmental area, and with an electronic control system that is operatively connected to the sensor device.

[0002] Industrial trucks, particularly driverless industrial trucks, are equipped with an environmental sensor that monitors the surrounding area within the travel path and thus the surroundings of the industrial truck for obstacles in order to prevent collisions between the truck and an obstacle, such as a person. This applies in particular to driverless, and thus fully automated and autonomously operated industrial trucks in warehouse areas. Common designs of such autonomously operated industrial trucks are reach trucks, storage and retrieval machines, pallet trucks, and tractors. To detect and monitor the surrounding area, such industrial trucks use sensor devices that are time-of-flight measuring systems, such as ultrasonic, radar, or laser sensors, for example, 2D laser scanners.

[0003] The sensor device arranged on the industrial truck detects obstacles in the travel path of the industrial truck and, if an obstacle is detected in the travel path, a warning signal is issued and / or the industrial truck is stopped by means of the electronic control and an intervention in the drive of the industrial truck in order to avoid a collision with the obstacle.

[0004] However, if a known industrial truck equipped with a sensor device configured as an environmental sensor is traveling on an uneven road surface and there is an incline in the path of the industrial truck ahead of the truck, the sensor device mounted on the industrial truck will detect the incline as an obstacle before the incline is reached and issue a corresponding warning signal and / or stop the industrial truck. This will result in a false alarm and / or an unnecessary stop of the industrial truck, since the sensor device only detected an incline on which there is no obstacle.

[0005] DE 10 2006 012 205 A1 discloses an industrial truck with a 3D sensor for detecting the lifting height and inclination of a load handling device.

[0006] DE 10 2008 062 534 A1 discloses a vehicle with a front camera and a display device in the driver’s field of vision.

[0007] DE 10 2011 080 720 A1 discloses a driver assistance system with a front camera and a display in the driver’s field of vision.

[0008] The KR 10 2000 0 031 836 A1 discloses a collision avoidance system of a vehicle using a camera.

[0009] DE 10 2014 117 399 A1 discloses a driverless vehicle with a laser scanner and an additional depth camera.

[0010] The present invention is based on the object of providing an industrial truck of the type mentioned at the outset in which false alarms and / or unnecessary stopping of the industrial truck resulting from the road surface condition are avoided.

[0011] This object is achieved according to the invention in that the sensor device is arranged on the industrial truck so as to be tiltable about a substantially horizontal pivot axis and an actuator is provided which is operatively connected to the electronic control and with which the sensor device can be pivoted about the pivot axis, wherein the electronic control is designed such that the sensor device is pivoted downwards about the pivot axis between a first alignment position, in which the monitoring area of ​​the sensor device is arranged parallel to a roadway, and a second alignment position, wherein the electronic control determines an incline of the roadway and / or a decline of the roadway and / or determines an obstacle located on the roadway from the signals of the sensor device detected in the alignment positions,which is located within and below the monitoring area in the first alignment position of the sensor device (2). In the industrial truck according to the invention, the sensor device is arranged on the industrial truck so as to be tiltable about a horizontal pivot axis and can be tilted about this pivot axis by means of an actuator. In the industrial truck according to the invention, the sensor device is pivoted downwards between a first alignment position and a second alignment position, wherein the sensor device monitors a monitoring area for obstacles in both alignment positions. From the signals of the sensor device recorded in the alignment positions, i.e. detected or undetected obstacles in the monitoring area in the travel path of the industrial truck,The electronic control system detects an incline and / or a decline of the road surface and / or an obstacle located on the road surface. This can prevent false alarms and / or unnecessary stops of the industrial truck resulting from the road surface conditions, such as an incline and / or a decline. Furthermore, by tilting the sensor device downwards, low obstacles located below the monitoring area in the first alignment position of the sensor device can be detected.

[0012] According to an advantageous embodiment of the invention, the electronic control system is designed such that the sensor device is pivoted at regular intervals between the first alignment position and the second alignment position. This makes it possible to continuously monitor the travel path of the industrial truck for inclines and / or declines and / or low obstacles on the roadway.

[0013] According to an advantageous embodiment of the invention, the electronic control is designed such that, in order to determine a gradient of the roadway for an object detected in the first alignment position within the monitoring area of ​​the sensor device, the sensor device is pivoted downward by the electronic control by means of the actuator by an inclination angle into the second alignment position, and the inclination angle of the object is calculated from the distances to the detected object in the two alignment positions and the inclination angle of the sensor device. The electronic control can determine the distance of a detected object from the signals of the sensor device.To determine the gradient of the roadway in the path of the industrial truck and thus the gradient of the roadway in front of the industrial truck, the electronic control system uses the actuator to pivot the sensor device downwards by a specified angle of inclination into the second alignment position after an object has been detected in the monitoring area of ​​the sensor device in the first alignment position, and the distance of the object in the second alignment position is determined. The electronic control system can then calculate the gradient of the object from the two distances of the detected object in the two alignment positions and the inclination angle of the sensor device.

[0014] In order to determine a gradient of the roadway from the gradient angle of the object, the electronic control is designed according to a further development in such a way that the gradient angle of the object is compared with a predetermined value, for example a value stored in the electronic control, and the electronic control recognizes the object as a gradient of the roadway if the gradient angle of the object is smaller than the predetermined value. A gradient of the roadway usually has a small gradient angle of a few degrees. By comparing the calculated gradient angle of the object with a predetermined value, the electronic control can thus reliably distinguish and recognize whether the detected object is an obstacle on the roadway or a gradient of the roadway in the path of the industrial truck.

[0015] Advantageously, the electronic control system is designed such that, once a gradient in the roadway has been detected, the alignment of the sensor device is compensated by controlling the actuator, and the alignment of the sensor device is adapted to the gradient of the roadway. The alignment of the sensor device is compensated such that, in the compensated first alignment position, the sensor device is oriented such that, in the monitoring area of ​​the sensor device, the rising roadway in front of the industrial truck is not detected as an obstacle, for example, by pivoting the sensor device upward by the calculated gradient angle compared to the previous first alignment position, thus avoiding a false alarm and / or stopping of the industrial truck due to the gradient of the roadway.

[0016] According to an advantageous development of the invention, the electronic control system is operatively connected to an inclination sensor, in particular an acceleration sensor, that detects the inclination of the industrial truck. Using such an inclination sensor, the electronic control system can easily determine the inclination of the industrial truck in the longitudinal direction of the vehicle and thus determine when the industrial truck is traveling on an incline of the roadway.

[0017] The electronic control system is advantageously designed in such a way that the sensor device's alignment compensation is terminated after the incline has been determined. After the industrial truck has climbed the incline, the sensor device's alignment compensation is terminated and reversed, for example, by pivoting the sensor device, which is in the corrected first alignment position, downward by the calculated incline angle.

[0018] According to a further development of the invention, the electronic control system is designed such that the incline angle of the object is compared with a predetermined value, for example, a value stored in the electronic control system, and the control system detects the object as an obstacle if the incline angle is greater than the predetermined value. Obstacles, such as people, lead to a large calculated incline angle. By comparing the calculated incline angle of the object with a predetermined value, the electronic control system can thus reliably distinguish and detect whether the detected object is an obstacle on the roadway or a gradient in the path of the industrial truck.

[0019] If the object is detected as an obstacle by the electronic control system, the electronic control system will initiate a stop of the industrial truck in order to avoid a collision of the industrial truck with the obstacle.

[0020] According to an advantageous embodiment of the invention, the electronic control is designed such that, in order to determine a gradient of the roadway, the electronic control pivots the sensor device from the first alignment position by means of the actuator downwards by an inclination angle into the second alignment position, and in the second alignment position, a check is carried out to determine whether an object is detected in the monitoring area. The electronic control can determine the distance of a detected object from the signals of the sensor device.To detect a missing lane in the path of the industrial truck and thus a gradient in the lane ahead of the truck, the electronic control system uses the actuator to pivot the sensor device by a predetermined angle of inclination from the first alignment position downwards to the second alignment position and checks whether an object is detected in the monitoring area of ​​the sensor device in the second alignment position. By pivoting the sensor device downwards to the second alignment position, the monitoring area is tilted downwards, so that the electronic control system can easily determine whether or not there is a lane ahead of the industrial truck based on the detection or non-detection of an object in the monitoring area.

[0021] The electronic control system is advantageously designed in such a way that, if an object is detected in the second alignment position, the electronic control system assumes the presence of a roadway or detects an obstacle lying on the roadway. If, in the downwardly pivoted second alignment position, the sensor device detects an object in the monitoring area, the electronic control system can conclude that there is still a roadway in front of the industrial truck. In the downwardly pivoted second alignment position, the sensor device can also detect a low obstacle on the roadway that is located below the monitoring area in the first alignment position of the sensor device.

[0022] The electronic control system is designed in such a way that if an object is detected in the second alignment position, the electronic control system detects a gradient in the roadway or a lack of roadway. If the sensor device does not detect an object in the monitoring area in the downward-pivoted second alignment position, the electronic control system can conclude that there is a gradient in the travel path in front of the industrial truck or that the roadway is completely missing.

[0023] If an object is detected missing in the second alignment position, i.e., if a gradient or a missing road surface is detected by the electronic control system, the electronic control system advantageously issues a warning signal and / or initiates a reduction in the truck's speed. The reduction in speed can continue until the truck comes to a standstill to avoid traveling down the gradient or entering the area of ​​a missing road surface.

[0024] Further advantages and details of the invention are explained in more detail with reference to the embodiment shown in the schematic figures. Fig. 1 an industrial truck according to the invention in a side view, Fig. 2 a circuit diagram of the industrial truck according to the invention, Fig. 3a and Fig. 3b Illustrations illustrating the determination of a gradient of the roadway using the tiltable sensor device, Fig. 4a to 4c are illustrations illustrating the determination of a road gradient using the tiltable sensor device, Fig. 5 a diagram illustrating the detection of an obstacle on the roadway using the tiltable sensor device.

[0025] In the Fig. 1 shows an industrial truck 1 according to the invention, which is a driverless and thus autonomously operated industrial truck, with a sensor device 2 designed as an environmental sensor. The sensor device 2 is designed as a 2D sensor, in particular a 2D laser scanner, which is arranged on a front side of the industrial truck 1, for example, a vehicle frame 4 of the industrial truck 1, located at the front in the direction of travel. The sensor device 2 serves to monitor an environmental area located in front of the industrial truck 1 in the travel path for obstacles.

[0026] The industrial truck 1 is provided with an electronic control device 3, which - as in connection with the Fig. 2 is visible - is in operative connection with the sensor device 2.

[0027] In the industrial truck 1 according to the invention, the sensor device 2 is arranged on the industrial truck 1 so as to be tiltable about a substantially horizontal pivot axis S. For adjusting and thus pivoting the sensor device 2 about the pivot axis S, an actuator 5 is provided, which is used for controlling - as in the Fig. 2 - is in operative connection with the electronic control 3.

[0028] The industrial truck 1 is further provided with an inclination sensor 6, for example an acceleration sensor, which detects the inclination, in particular the longitudinal inclination of the industrial truck 1, which - as shown in the Fig. 2 - is in operative connection with the electronic control 3.

[0029] The sensor device 2 monitors a monitoring area UB in front of the industrial truck 1 for objects, for example, obstacles such as people in the path of the industrial truck. When an object is detected, the electronic control system 3 can calculate the distance of the object from the industrial truck 1.

[0030] In the industrial truck 1 according to the invention, the electronic control 3 is designed such that the sensor device 2 is pivoted downwards about the pivot axis S between a first alignment position A1 and at least one second alignment position A2, for example at regular time intervals, in order to detect a gradient ST of the roadway FB ( Fig. 3a and Fig. 3b) and / or a gradient GF of the roadway FB ( Fig. 4a to 4c) and / or a low obstacle HS located on the roadway FB ( Fig. 5) to be determined.

[0031] In the alignment positions A1 and A2, the sensor device 2 has a monitoring area UB of the same size and thus a safety distance of the same size, i.e., a monitoring zone of the same size. The alignment position A2, which is tilted downward relative to the alignment position A1, only changes the orientation of the monitoring area UB of the sensor device 2.

[0032] The determination of a gradient ST of the roadway FB in front of the industrial truck 1 is carried out in the following using the Fig. 3a and Fig. 3b is described in more detail.

[0033] In the Fig. 3a shows the industrial truck 1 in which the sensor device 2 is in the first alignment position A1. The monitoring area UB of the sensor device 2 is preferably arranged parallel to the roadway FB in the first alignment position A1. If in the first alignment position A1 of the sensor device 2 - as shown in Fig. 3a - an object is detected in the monitoring area UB of the sensor device 2, the electronic control 3 determines the distance D1 of the industrial truck 1 to the object. Subsequently, the sensor device 2 is pivoted downwards by a specific angle of inclination α into the second alignment position A2 by the electronic control 3 by means of the actuator 5, as shown in Fig. 3b, and the electronic control 3 determines the distance D2 of the industrial truck 1 to the object in the second alignment position A2. The electronic control 3 then calculates the inclination angle of the object from the two determined distances D1 and D2 of the detected object in the two alignment positions A1 and A2 and the inclination angle α of the sensor device 2.

[0034] The electronic control 3 then compares the calculated inclination angle of the object with a predetermined value, for example a value stored in the electronic control 3, for example an angle value in the range of 10° - 15°.

[0035] The electronic control unit 3 detects the object as a gradient ST of the roadway FB if ​​the calculated gradient angle of the object is smaller than the specified value. A gradient ST of the roadway FB generally has a small gradient angle of a few degrees. If the comparison of the calculated gradient angle of the object with the specified value has shown that it is a gradient ST of the roadway FB, the electronic control unit 3 controls the actuator 5 in such a way that a compensation of the alignment of the sensor device 2 is carried out and the alignment of the sensor device 2 is adapted to the gradient ST of the roadway FB. The compensation of the alignment of the sensor device 2 is carried out in such a way that the sensor device 2 is offset from the first alignment position A1 of the Fig. 3a is pivoted upward by the calculated gradient angle into a compensated first alignment position, so that the monitoring area UB of the sensor device 2 runs parallel to the gradient ST and the gradient ST of the roadway FB located in front of the industrial truck 1 is not detected as an obstacle. This can prevent a false alarm and / or a stop of the industrial truck 1 due to the gradient ST of the roadway FB.

[0036] As soon as the industrial truck 1 travels up the incline ST, this can be determined by the electronic control system 3 using the incline sensor 6. Based on the signals from the incline sensor 6, the electronic control system 3 can calculate the incline, for example the longitudinal incline of the vehicle, of the industrial truck 1. After traveling up the incline ST, the electronic control system 3 ends and reverses the compensation of the alignment of the sensor device 2 by appropriately controlling the actuator 5, for example by pivoting the sensor device 2, which is in the corrected first alignment position, back down by the calculated incline angle of the incline ST or by the incline angle of the industrial truck 1. By pivoting the sensor device 2 back, it is achieved that the monitoring area UB of the sensor device 2 is parallel to the incline ST even after traveling up the incline ST.

[0037] The electronic controller 3 detects the object as an obstacle on the travel path FB if ​​the calculated incline angle of the object is greater than the specified value. Obstacles, such as people, result in a large calculated incline angle. If the comparison of the calculated incline angle of the object with the specified value shows that it is an obstacle, the electronic controller 3 initiates a stop of the industrial truck 1 to prevent a collision of the industrial truck 1 with the obstacle in the travel path.

[0038] The determination of a gradient GF of the roadway FB in front of the industrial truck 1 is carried out in the following using the Fig. 4a to 4c are described in more detail.

[0039] In the Fig. 4a shows the industrial truck 1 in which the sensor device 2 is in the first alignment position A1. The monitoring area UB of the sensor device 2 is preferably arranged parallel to the roadway FB in the first alignment position A1. Fig. 4a shows a situation in which, in the first alignment position A1 of the sensor device 2, an object is detected in the monitoring area UB of the sensor device 2 which is at a distance D1 from the industrial truck 1.

[0040] To determine a gradient GF of the roadway FB, the sensor device 2 is pivoted by the electronic control 3 by means of the actuator 5 from the first alignment position A1 at regular time intervals by a certain angle of inclination β downwards into the second alignment position A2, as shown in the Fig. 4b and Fig. 4c, and checks whether an object is detected in the monitoring area UB of the sensor device 2 in the second alignment position A2. The electronic control system 3 can determine the distance of a detected object from the signals from the sensor device 2. In order to determine a gradient GF of the roadway FB or a missing roadway FB in the travel path of the industrial truck 2, the electronic control system 3 pivots the sensor device 2 at regular intervals by the predetermined angle of inclination β from the first alignment position A1 downwards into the second alignment position A2 by means of the actuator 5 and checks whether an object is detected in the monitoring area UB of the sensor device 2 in the second alignment position A2. By pivoting the sensor device 2 downwards into the second alignment position A2, the monitoring area UB is inclined downwards, so that the detection orIf an object is not detected in the downwardly inclined monitoring area UB when the sensor device 2 is in the second alignment position A2, the electronic control system 3 can easily determine whether or not there is still a lane FB in front of the industrial truck 1.

[0041] If in the second alignment position A2 the sensor device 2 - as in the Fig. 4b - an object is detected in the monitoring area UB of the sensor device 2 at the same or lesser distance D1, the electronic control 3 assumes the presence of a roadway FB.

[0042] If in the second alignment position A2 the sensor device 2 - as in the Fig. 4c - no object is detected in the monitoring area UB of the sensor device 2, the electronic control system 3 detects a gradient GF of the roadway FB or a missing roadway. If an object is detected in the second alignment position A2 and thus a gradient GF or a missing roadway FB is detected, the electronic control system 3 issues a warning signal and / or initiates a speed reduction of the industrial truck 1. The speed reduction can occur until the industrial truck 1 comes to a standstill in order to avoid traveling on the gradient GF or traveling into the area of ​​a missing roadway FB.

[0043] By pivoting the sensor device 2 into the second, downwardly inclined alignment position A2 at regular intervals, the electronic control 3 can continue to - as in the Fig.5 - a low obstacle HS lying on the roadway FB can be detected within the distance D1, which is located within and below the monitoring area UB in the first alignment position A1 of the sensor device 2 and thus cannot be detected in the first alignment position A1 of the sensor device 2. The obstacle HS can, for example, be a load fork 10 or a counterbalance forklift 11 lowered onto the roadway FB.

[0044] The inclination angles α and β by which the sensor device 2 is pivoted downward can be the same or different. The distance D1 can be the monitored safety distance.

[0045] By pivoting the sensor device 2 downwards into the second alignment position A2, the electronic control system 3 can thus easily determine whether there is an incline ST, a decline GF, or a low obstacle HS in the travel path of the industrial truck 1. If an incline ST is detected, a false alarm and / or a stopping of the industrial truck 1 due to the incline ST in front of the industrial truck 1 can be easily avoided by compensating the alignment of the sensor device 2 depending on the longitudinal incline of the industrial truck 1, which is determined using the inclination sensor 6. The task performed by the sensor device 2 of monitoring the area surrounding the industrial truck 1 for obstacles, for example people, and thus the safety function of the sensor device 2 is retained.

Claims

[1] Driverless industrial truck with a sensor device (2) designed as a 2D sensor for monitoring an environmental area (UB), and with an electronic control (3) which is in operative connection with the sensor device (2), characterized bythat the sensor device (2) is arranged on the industrial truck (1) so as to be tiltable about a substantially horizontal pivot axis (S), and an actuator (5) is provided which is operatively connected to the electronic control (3) and by means of which the sensor device (2) can be pivoted about the pivot axis (S), wherein the electronic control (3) is designed such that the sensor device (2) is pivoted downwards about the pivot axis (S) between a first alignment position (A1), in which the monitoring area (UB) of the sensor device (2) is arranged parallel to a roadway (F), and a second alignment position (A2), wherein the electronic control (3) determines an incline (ST) of the roadway (FB) and / or a decline (GF) of the roadway (FB) and / or determines an obstacle (HS) located on the roadway (FB) from the signals of the sensor device (2) detected in the alignment positions (A1, A2),which is located within and below the monitoring area (UB) in the first alignment position (A1) of the sensor device (2). [2] Industrial truck according to claim 1, characterized by , the electronic control (3) is designed such that the sensor device (2) is pivoted at regular time intervals between the first alignment position (A1) and the second alignment position (A2). [3] Industrial truck according to claim 1 or 2, characterized bythat the electronic control (3) is designed such that, in order to determine a gradient (ST) of the roadway (FB) for an object detected in the first alignment position (A1) in the monitoring area (UB) of the sensor device (2), the sensor device (2) is pivoted by the electronic control (3) by means of the actuator (5) by an angle of inclination (α) downwards into the second alignment position (A2) and the gradient angle of the object is calculated from the distances (D1, D2) of the detected object in the two alignment positions (A1, A2) and the angle of inclination (α) of the sensor device (2). [4] Industrial truck according to claim 3, characterized bythat the electronic control (3) is designed such that the gradient angle of the object is compared with a predetermined value and the electronic control (3) recognizes the object as a gradient (ST) of the roadway (FB) if the gradient angle of the object is smaller than the predetermined value. [5] Industrial truck according to claim 4, characterized by that the electronic control (3) is designed such that after a detected gradient (ST) of the roadway (FB) by controlling the actuator (5) a compensation of the orientation of the sensor device (2) is carried out and the orientation of the sensor device (2) is adapted to the gradient (ST) of the roadway (FB). [6] Industrial truck according to one of claims 1 to 5, characterized by that the electronic control (3) is operatively connected to an inclination sensor (6), in particular an acceleration sensor, which detects the inclination of the industrial truck (1). [7] Industrial truck according to claims 5 and 6, characterized by that the electronic control (3) is designed in such a way that after the determination of the driving on the gradient (ST), the compensation of the orientation of the sensor device (2) is terminated. [8] Industrial truck according to one of claims 3 to 7, characterized by that the electronic control (3) is designed such that the angle of inclination of the object is compared with a predetermined value and the control (3) recognizes the object as an obstacle if the angle of inclination is greater than the predetermined value. [9] Industrial truck according to claim 8, characterized by that the electronic control (3) is designed in such a way that after the obstacle is detected, the electronic control (3) initiates a stop of the industrial truck (1). [10] Industrial truck according to one of claims 1 to 9, characterized bythat the electronic control (3) is designed such that, in order to determine a gradient (GF) of the roadway (FB), the electronic control (3) by means of the actuator (5) pivots the sensor device (2) from the first alignment position (A1) by an angle of inclination (β) downwards into the second alignment position (A2) and checks in the second alignment position (A2) whether an object is detected. [11] Industrial truck according to claim 10, characterized by that the electronic control (3) is designed in such a way that, when an object is detected in the second alignment position (A2), the electronic control (3) assumes the presence of a roadway (FB) or detects the obstacle (HS) lying on the roadway (FB) which is located within and below the monitoring area (UB) in the first alignment position (A1) of the sensor device (2). [12] Industrial truck according to claim 10 or 11, characterized bythat the electronic control (3) is designed in such a way that if an object is not detected in the second alignment position (A2), the electronic control (3) detects a gradient (GF) of the roadway (FB) or a missing roadway (FB). [13] Industrial truck according to claim 12, characterized by that the electronic control (3) is designed in such a way that if an object detected in the second alignment position (A2) is missing, the electronic control (3) issues a warning signal and / or initiates a reduction in the speed of the industrial truck (1).

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