METHOD FOR STORAGE SUPPORT IN AN AREA CONVEYOR AND AREA CONVEYOR

Description

[0001] The invention relates to a method for supporting storage in an industrial truck and a corresponding industrial truck, in particular a forklift truck.

[0002] Visualization assistance systems are known in all types of vehicles, including industrial trucks such as forklifts.

[0003] The prior art is primarily characterized by marking areas in the two-dimensional image representation, as is known, for example, from EP 2 653 429 B1 or EP 2 653 430 B1, which disclose the features of the preamble of claim 1, or by enriching the image with text information. Systems also exist in which the movements of a vehicle component are drawn into the image using lines, such as tire tracks in a rearview camera, which move depending on the steering angle. In contrast, there are also systems in which the visualization appears completely rendered, such as the visualization of obstacles in the parking pilot using distance bars.

[0004] US 2016 / 0090283 A1 discloses a forklift truck comprising a load carrier and a forward-facing optical detector that moves with the load carrier. An optical analysis unit analyzes the image data from the optical detector and identifies the load carrier as a first three-dimensional object, detects a second three-dimensional object, and determines the three-dimensional position of the load carrier relative to the second object. This relative positioning can be used to position the load carrier accordingly. During manual operation, for example, messages can be displayed on a display device indicating how to adjust the position of the load carrier.

[0005] Document WO 2018 / 186790 A1 discloses a driver assistance system for a vehicle having a crane for loading objects. The system comprises a control unit configured to generate a presentation signal displayed on a display unit, and an object detection device that captures images of the vehicle and / or the vehicle's surroundings and is configured to generate an image data signal that is fed to the control unit. The control unit determines a three-dimensional representation of at least one object that is part of the vehicle and / or the surroundings. The control unit can determine a dynamically generated augmented reality (AR) image of at least part of the three-dimensional representation of the object and insert instructions into the presentation signal so that the 3D representation overlays the AR image.

[0006] Furthermore, DE 10 2007 063 226 A1 discloses a method for assisting an industrial truck in which the driver's perspective is displayed on a display system. Assistance is also provided during forward travel, for example, when transporting large and bulky loads that prevent the driver from having a direct view forward. The camera system shown therein also has a rear view for shunting operations and transport routes that are traveled in reverse. The steering angle of the industrial truck is detected by a sensor, and a possible path of the industrial truck, determined by the steering angle, is determined by a computing unit in relation to its longitudinal axis. The path is presented on the display device.

[0007] In the applicant's German patent application No. 10 2017 124 788.2, this system has been expanded to not only display a path corresponding to the detected steering angle, but also to overlay a load being transported on the industrial truck. The displayed path takes the dimensions of the transported load into account.

[0008] Based on this, the present invention is based on the object of further improving the support of the driver of an industrial truck.

[0009] This object underlying the invention is achieved by a method for supporting storage in an industrial truck, in particular a forklift truck, which comprises one or more cameras that capture or capture at least part of the surroundings of the industrial truck, and an image processing device that has an operator input interface and a display device at the driver's position of the industrial truck, on which two- or three-dimensional images captured by the one or more cameras and processed by the image processing device are or can be displayed, wherein the camera or at least one of the cameras captures at least part of a load-handling device of the industrial truck, wherein, following a request by means of input at the operator input interface or automatically, at least one three-dimensional object is superimposed on the displayed images and / or a view visible through the display device,which is further developed in that, with the aid of sensors and an evaluation algorithm, three-dimensional information relating to an object to be stored or retrieved or a movement of the industrial truck or its load-handling device is additionally determined and the result is superimposed as a three-dimensional object which effectively supports the control of the industrial truck and / or the load-handling device for the storage or retrieval of the object to be stored or retrieved.

[0010] The present invention creates a visualization concept for assistance systems for storage and retrieval and for the control of industrial trucks, which actively supports the driver.

[0011] The invention is based on the fundamental idea that the path of the industrial truck, predictable by the steering angle, is no longer displayed solely to allow the driver to assess whether the path is clear of obstacles. Instead, the driver's work is actively supported by a spatial analysis of the surroundings and relevant objects, as well as their informative display, which provides the driver with information to carry out, for example, storage or retrieval operations. For this purpose, the industrial truck is equipped with sensors and an evaluation algorithm that acquires three-dimensional information and correlates it with the industrial truck and its moving parts. This information provides targeted support for controlling the industrial truck and / or load handling equipment, particularly for storing or retrieving the object to be stored or retrieved, but also for avoiding obstacles and thus avoiding collisions.

[0012] In one embodiment, depth information captured by one or more depth sensors, in particular a camera configured as a 3D camera, particularly a TOF ("Time-of-Flight") camera, is used to calculate the spatial relationships for the overlay. Thus, the assistance system according to the method according to the invention has a camera or sensor system that can generate both 2D images and 3D images. These images and depth information can be converted, for example, into a so-called false-color image for visualization by encoding the distance in the color scheme. The false colors for the distance information can also be superimposed semi-transparently over the image.

[0013] In embodiments, a three-dimensional object to be overlaid represents a pallet, a rack element, an obstacle for storage or retrieval, a load-handling device, a corridor to be followed, and / or a suggested trajectory of the load-handling device for storage or retrieval and / or a directional arrow for this. These elements or the element are then rendered into the image displayed to the driver. Ideally, a pallet rendered in this way is projected directly over a real pallet in the image or view, for example.

[0014] In embodiments, the image processing device recognizes an object from depth information about a captured two-dimensional or three-dimensional image and detects its spatial extent and position, renders this as an object to be superimposed, and overlays it on the displayed images. For this purpose, a database of possible objects can advantageously be stored. These objects contain the geometric representations of these objects and are compared with the depth information of the images processed by the image processing device in order to recognize corresponding objects. Other object recognition methods are also possible within the scope of the present invention. Object recognition in two- or three-dimensional images can be carried out, for example, using machine learning, in particular neural networks trained for this purpose, or more conventional methods.

[0015] In embodiments, a three-dimensional object to be superimposed represents a driving corridor for the industrial truck to be followed by the driver, an obstacle for the industrial truck and / or a part of the industrial truck, or the industrial truck and / or directional arrows for this. In these cases, the object relates less to an object to be stored or retrieved, but rather to the movement of the industrial truck as a whole in relation to its surroundings. Directional arrows can, for example, represent a desired direction for a proposed movement sequence, or a current orientation of the industrial truck or its components.

[0016] In embodiments, distortions in the image display are taken into account when superimposing the at least one three-dimensional object. The resulting distortions are properties of the recording camera system and are known if the optics of the camera system are known. This improves the true-to-scale and true-to-perspective superimposition of the objects to be superimposed over the displayed image, particularly in the edge area, where distortions are typically more pronounced than in the center of the image.

[0017] Advantageously, the object is rendered for overlay, particularly semi-transparently. The object should be rendered as true to position, dimension, and perspective as possible, but may or should be recognizable as an artificially rendered object. A semi-transparent overlay has the advantage that the real object or the real environment beneath the rendered object is still clearly visible. This allows the driver to assess, as a reality check, how well the assistance system has detected the vehicle's position in relation to its surroundings and whether, for example, suggestions for movement patterns of the load handling device or industrial truck correspond sufficiently to reality that they can actually be implemented.

[0018] In one embodiment, the three-dimensional object to be superimposed is superimposed in an image sequence that represents a proposed movement sequence of the three-dimensional object to be superimposed, in particular an object to be stored or retrieved, a load-handling device of the industrial truck, and / or the industrial truck itself. The animation by generating and superimposing an image sequence over the displayed images makes it possible to represent a planned movement sequence before it is executed. In this way, with a stacking or retrieval assistant implemented in this way, it is possible to assess whether, for example, a stacking or retrieval process can proceed smoothly and whether the targeted target positions, for example of the load-handling device of the industrial truck, are reached precisely and without disruption.For this, the industrial truck should be positioned in front of a rack, with the forks of the load handling device at the height of the pallet to be picked up. The system then detects the pallet, its position, and its rotation in space and calculates a trajectory for controlling the driving and hydraulic functions to pick up the pallet. In this case, the system can render the truck's forks, which, in the initial state, are superimposed over the real forks in the camera image. In the animation, the forks move into the load according to the trajectory. The same applies to a suggested driving trajectory of the industrial truck around obstacles.

[0019] In some embodiments, such an image sequence is repeatedly played back upon operator request and, if necessary, modified upon operator input in order to optimize the planned movement sequence. As soon as the driver is satisfied with the movement sequence, the movement sequence shown in the image sequence is carried out semi-automatically, preferably upon operator request. In this case, semi-automated means that the movement sequence is initiated by the driver himself, but runs without his intervention, as shown in the image sequence. However, the driver has the option of intervening and stopping the movement sequence if an unforeseen situation occurs or safety is otherwise compromised. These measures enable the driver to assess whether the assistance system has correctly recognized the situation and whether execution of the semi-automated function will lead to the desired result.Even if the assistance system only displays information and works without vehicle intervention, the driver can be explained the movement to be performed using the animation.

[0020] The object underlying the invention is also achieved by a visualization assistance system for an industrial truck, in particular a forklift truck, comprising one or more cameras arranged to capture at least part of the surroundings of the industrial truck, wherein the camera or at least one of the cameras is arranged to capture at least part of a load-carrying means of the industrial truck, and with an image processing device which has an operator input interface and a display device at a driver's position of the industrial truck, which is designed to display images captured by the one or more cameras and processed by the image processing device, wherein the image processing device is designed to superimpose at least one three-dimensional object on the displayed images following a request by means of input at the operator input interface or automatically, which is further developed bythat the image processing device and, in particular, an electronic control device of the industrial truck is or are additionally designed to determine, with the aid of sensors and an evaluation algorithm, three-dimensional information relating to an object to be stored or retrieved or to a movement of the industrial truck or its load-handling device and to superimpose the result on the displayed images and / or a view visible through the display device as a three-dimensional object, which expediently supports the control of the industrial truck and / or the load-handling device for storing or retrieving the object to be stored or retrieved.

[0021] The visualization assistance system implements the same features as the method according to the invention and therefore shares the features, advantages and properties of the method.

[0022] In some embodiments, the sensors are designed as depth sensors, particularly as a TOF camera. Also included are systems in which the imaging sensor is designed independently of the sensor for environmental detection and is suitably calibrated to it. For example, a 3D TOF camera can be additionally combined with a 2D camera for image display to the driver. The offset of the two systems is known through calibration and is taken into account when rendering the objects into the 2D image.

[0023] Furthermore, in one embodiment, the display device comprises a permanently installed display, in particular comprising a touchscreen display as an operator input interface, and / or a wearable AR headset. A wearable AR headset ("AR" = "Augmented Reality") is suitable for displaying information to the driver wearing the headset and superimposing it on the driver's view, including a positionally and orientationally accurate representation of superimposed objects. For correct display via an AR headset, the transformation from the glasses to the reference coordinate system must be determined and taken into account, for example, through tracking or inside-out tracking. A corresponding AR headset can also display images from a rear camera to the driver without the driver having to turn around, or images from other cameras on the industrial truck, which can be semi-transparently superimposed on the driver's view.This is useful, for example, if an object to be visualized is obscured by parts of the image, for example when there is a load on it.

[0024] In the case of a headset, a separate user input interface is provided. With a permanently installed display, this can be designed as a touchscreen display and thus also fulfill the function of the user input interface. However, parts of the user input interface can also be provided separately from the display.

[0025] In embodiments, the image processing device and, in particular, the electronic control device of the industrial truck is or are designed to implement the method features of a previously described method according to the invention. An additional electronic control device separate from the image processing device may have the task of sending control pulses to the moving parts of the industrial truck and, in this function, is a central part of the industrial truck. In this case, the electronic control device and the image processing device communicate with each other and exchange control signals, so that, for example, the control device can instruct the image processing device to display specific information to the driver in certain situations.The control device and the image processing device also communicate with each other when a suggested movement sequence is displayed to the driver as an image sequence. After determining that the movement sequence corresponds to reality, the driver gives the instruction to perform the movement sequence. This movement sequence is then controlled in reality by the control device.

[0026] However, the control device and the image processing device can also be integrated into a common electronic central computer of the industrial truck and implemented as different functionalities through programming. It is also possible for the display device to have a computing unit integrated as an image processing device.

[0027] From a software perspective, the functionalities described above can be implemented, for example, through a targeted combination of available software libraries.

[0028] Examples of applications of the method and the visualization system include the visualization of retrieval, the visualization of a trajectory for storage, and the visualization of an "approach path" during approach, similar to an aircraft's approach corridor, showing the user what the ideal approach looks like. Further examples include the semi-transparent display of load carriers and shelf elements, the division in the form of a directional arrow indicating the shelf direction, which can also take into account a target compartment from the goods management system (WMS), or the marking of elements or pixels from the environment where there is a risk of collision with vehicle parts in the direction of movement.

[0029] Furthermore, the object underlying the invention is also achieved by an industrial truck, in particular a forklift truck, with a previously described visualization assistance system according to the invention, which thus realizes the same properties, features and advantages as the previously described visualization assistance system according to the invention and the previously described method according to the invention.

[0030] Further features of the invention will become apparent from the description of embodiments of the invention together with the claims and the accompanying drawings. Embodiments of the invention may incorporate individual features or a combination of several features.

[0031] Within the scope of the invention, features marked with "in particular" or "preferably" are to be understood as optional features.

[0032] The invention is described below, without limiting the general inventive concept, using exemplary embodiments with reference to the drawings, whereby express reference is made to the drawings for all details of the invention not explained in more detail in the text. They show: Fig. 1 shows a schematic representation of an industrial truck, Fig. 2 shows a schematic block diagram of a visualization assistance system according to the invention, Fig. 3 shows an image displayed to the driver of an industrial truck, Fig. 4 shows the image with an indicated sequential overlay of a three-dimensional object with respect to a proposed movement sequence and Fig. 5 shows a further representation of an image displayed to the driver with overlaid three-dimensional objects.

[0033] In the drawings, identical or similar elements and / or parts are provided with the same reference numbers, so that a repeated presentation is omitted.

[0034] Fig. 1 shows a schematic representation of an industrial truck 10, which has a load-handling device 12 on a mast, as well as a driver's cab with a driver's position 14, a display device 16, and several cameras 20, 22, 24, which record the surroundings of the industrial truck 10, and whose recorded images can be displayed on the display device 16. The camera 20 has a view towards the load-handling device 12, the camera 22 provides an overview, and the camera 24 provides a rearward view, which is helpful for reversing the industrial truck 10.

[0035] The forward-looking camera 20 can be configured as a normal camera or as a 3D camera, for example, as or in combination with a TOF camera ("TOF" = "Time-of-Flight"). An additional depth sensor can be present that acquires additional depth information in addition to the images captured by the camera 20, which is correlated with the acquired images through suitable calibration. The industrial truck 10 further comprises an image processing device 30 that records and processes the images captured by the cameras 20, 22, 24 and, if applicable, depth information, and can display the processed images on the display device 16. Furthermore, a control device 32 is optionally included, which can convert operating inputs from the driver into control signals for the industrial truck 10 or the mast and the load-handling device 12, and which communicates with the image processing device 30.

[0036] In Fig. 2A schematic block diagram of a visualization assistance system according to the invention is shown, which comprises the cameras 20, 22, 24 and optionally a depth sensor 26, which transmit their recorded data to the image processing device 30, which processes them and displays them on a display 17 of the display device 16. Optionally, the image processing device 30 also receives inputs from a control device 32 of the industrial truck 10, for example, to simulate and suggest certain movement sequences on request or to calculate and suggest a trajectory for the industrial truck 10, similar to a flight corridor or driving corridor. Furthermore, the visualization assistance system comprises an operator input interface 18, which in the Fig. 2In the example shown, it can optionally be part of the display device 16. For this purpose, the display 17 can be designed as a touchscreen display and thus also assume the function of the operator input interface 18. Furthermore, the display can also have separate operating elements, such as buttons, switches, or the like, and thus also serve as an operator input interface 18. However, the operating elements of the operator input interface 18 can also be separate from the display 17 and thus not be part of the display device 16.

[0037] Furthermore, the display device 16 can also be designed as an AR headset through which the driver can see the surroundings, wherein, however, the AR headset can display both three-dimensional objects to be superimposed on the surroundings visible to him, or images from the cameras 20, 22, 24, which may be displayed semi-transparently, which in turn can be superimposed with rendered three-dimensional objects.

[0038] The Fig. 3 to 5 show examples of how the visualization assistance according to the invention can be implemented. Fig. 3shows an image 40 recorded by the front camera 20 of the industrial truck 10 and showing a pallet 44 placed on a rack 42 as well as the forks of the load handling device 12 of the industrial truck 10. If the camera 20 is fixedly mounted on the industrial truck 10, the forks of the load handling device 12 will move when moving through the displayed image section of image 40.

[0039] In this case, the industrial truck 10 is still offset from the pallet 44 to be picked up. The task in this case is to move the forks of the load handling device 12 in such a way that they can be inserted safely and precisely into the receiving openings of the pallet 44.

[0040] Fig. 4shows a first exemplary embodiment of the method according to the invention, in which a proposed movement sequence of the load-handling device 12 is simulated and rendered in an image sequence 52 and displayed as a sequence. For this purpose, a representation of the forks of the load-handling device 12 is rendered as an overlay object 54 and, in accordance with the proposed movement sequence, is gradually superimposed on the image 40 at various locations, which correspond to the positions predetermined according to the proposed movement sequence at the individual points in time in the sequence. The sequence ends with the forks of the load-handling device 12 being correctly positioned and being inserted into the receiving openings of the pallet 44 by a forward movement of the industrial truck 10 or the mast itself, if it is designed accordingly.

[0041] The pallet 44 itself has been recognized as an overlay object 50 and is overlaid semi-transparently or partially transparently in the image 40 at the location of the pallet 44. This also makes it possible to depict the movement sequence in which both the forks in the form of the overlay objects 54 and the pallet 44 in the form of the overlay object 50 are simulated and rendered, and are lifted from the shelf 42 and retrieved.

[0042] Fig. 5shows a second exemplary embodiment in which the forks of the load handling device 12 are also to be inserted into the receiving openings of a pallet 44. Here, the superimposed objects are a corridor 60 in which the center point between the ends of the two fork tips must move, which is marked by a directional arrow 62, which, for example, represents the orientation of the forks or also shows the direction in which the forks must be aligned in order to ideally insert into the receiving openings of the pallet 44. This can then deviate from the current orientation of the forks. At the same time, a trajectory 64 is proposed with which the forks of the load handling device 12 are ideally moved in order to reach an optimal insertion position for the pallet 44.

[0043] Both in the embodiment according to Fig. 4 as well as in the embodiment of the Fig. 5It is possible that the driver of the industrial truck 10, once he has verified that the proposed trajectory 64 consists of Fig. 5 or the proposed movement sequence of the image sequence 52 from Fig. 4 is correct and leads to the desired result, initiate a semi-automatic execution of the corresponding suggested movement sequence.

[0044] In embodiments, the overlaying of the image 40 with overlay objects 50 is carried out at the request of the driver via the operator input interface 18 of the industrial truck 10. Alternatively, in an automatic mode, the corresponding guidance can also be carried out continuously or in a context-dependent manner.

[0045] To select specific objects, either automatic object recognition can be implemented, for example based on known objects stored in a database, or based on operator inputs from the driver, who, for example, marks an object in the displayed image that is to be stored or retrieved. The driver can also mark an obstacle in the displayed image that is to be avoided, for example. The depth information already available from the sensors of the industrial truck 10 can then be used to calculate the relative position of the industrial truck 10 and the load handling device 12 with respect to the marked or automatically detected object and to calculate corresponding suggestions for avoiding or approaching the correspondingly marked or detected object.

[0046] All mentioned features, including those revealed solely in the drawings as well as individual features disclosed in combination with other features, are considered essential to the invention, both individually and in combination. Embodiments according to the invention may be fulfilled by individual features or a combination of several features. List of reference symbols

[0047] 10Industrial truck 12Load handling device 14Driver's position 16Display device 17Display 18Operator input interface 203D camera 22Camera 24Camera 26Depth sensor 30Image processing device 32Control device 40Image 42Shelf 44Pallet 50Overlay object 52Sequence 54Overlay object 60Corridor 62Direction arrow 64Suggested trajectory

Claims

1. A method for warehousing assistance for an industrial truck (10), in particular a forklift, which comprises one or more cameras (20, 22, 24), which capture(s) at least a part of the surroundings of the industrial truck (10), and an image processing device (30), which has, at the driver's seat (14) of the industrial truck (10), an operating input interface (18) and a display device (16), on which two- or three-dimensionally recorded images (40) captured by the one or more cameras (20, 22, 24) and processed by the image processing device (30) are displayed or can be displayed, wherein the camera (20) or at least one of the cameras (20, 22, 24) captures at least a part of the load handling means (12) of the industrial truck (10), wherein at least one three-dimensional object is superimposed over the displayed images (40) and / or a view visible on the display device (16) after a request by means of an input at the operating input interface (18) or automatically, characterized in that three-dimensional information regarding an object (44) to be stored or retrieved or regarding a movement of the industrial truck (10) or its load handling means (12) is additionally determined with the aid of sensors and an evaluation algorithm, and the result is superimposed as a three-dimensional object (50, 52, 54, 60, 62, 64), which assists a control of the industrial truck (10) and / or of the load handling means (12) in storing or retrieving an object (44) to be stored or retrieved in a targeted manner.

2. The method according to claim 1, characterized in that depth information captured by one or more depth sensors, in particular a camera (20) designed as a 3D camera, in particular a TOF camera, is used to calculate the spatial conditions for the superimposition.

3. The method according to claim 1 or 2, characterized in that a three-dimensional object (50, 54, 60, 62, 64) to be superimposed is a pallet (44), a rack element (42), an obstacle for storage or retrieval, a load handling means (12), a corridor (60) to be maintained, and / or a proposed trajectory (64) of the load handling means (12) for storage or retrieval and / or a directional arrow (62) for this purpose.

4. The method according to claim 3, characterized in that the image processing device (30) recognizes an object (12, 42, 44) from depth information regarding a captured two-dimensional or three-dimensional image (40) and captures its spatial extent and position, renders it as an object (50, 54) to be superimposed, and superimposes it over the displayed images (40).

5. The method according to one of claims 1 to 4, characterized in that a three-dimensional object to be superimposed is a driving corridor for the industrial truck (10) to be maintained by the driver, an obstacle for the industrial truck (10) and / or a part of the industrial truck (10), or the industrial truck (10) and / or directional arrows for this purpose.

6. The method according to one of claims 1 to 5, characterized in that distortions of the displayed image are taken into account when superimposing the at least one three-dimensional object (50, 52, 60, 62, 64).

7. The method according to one of claims 1 to 6, characterized in that the object (50, 52, 60, 62, 64) is rendered for superimposition, in particular to be semitransparent.

8. The method according to one of claims 1 to 7, characterized in that the three-dimensional object (54) to be superimposed is superimposed in an image sequence (52) that shows a proposed movement progression of the three-dimensional object (54) to be superimposed, in particular an item (44) to be stored or retrieved, a load handling means (12) of the industrial truck (10), and / or the industrial truck (10) itself.

9. The method according to claim 8, characterized in that the image sequence (52) is repeated at the request of the user.

10. The method according to claim 8 or 9, characterized in that the movement progression shown in the image sequence (52) is performed in a semi-automated manner at the request of the user.

11. A visualization assistance system for an industrial truck (10), in particular a forklift, comprising one or more cameras (20, 22, 24), which are arranged to capture at least a part of the surroundings of the industrial truck (10), wherein the camera (20) or at least one of the cameras (20, 22, 24) is arranged to capture at least a part of a load handling means (12) of the industrial truck (10), and comprising an image processing device (30), which, at a driver's seat (14) of the industrial truck (10), has an operating input interface (18) and a display device (16), which is designed to display images (40) captured by the one or more cameras (20, 22, 24) and processed by the image processing device (30), wherein the image processing device (30) is designed to superimpose at least one three-dimensional object over the displayed images after a request by means of an input at the operating input interface (18) or automatically, characterized in that the image processing device (30) and in particular additionally an electronic control device (32) of the industrial truck (10) is or are additionally designed to determine three-dimensional information regarding an object to be stored or retrieved or a movement of the industrial truck (10) or its load handling means (12) with the aid of sensors and an evaluation algorithm and to superimpose the result as a three-dimensional object over the displayed images and / or a view visible on the display device, which assists a control of the industrial truck (10) and / or of the load handling means (12) in storing or retrieving the object to be stored or retrieved in a targeted manner.

12. The visualization assistance system according to claim 11, characterized in that the sensors are designed as depth sensors, in particular as a TOF camera (20).

13. The visualization assistance system according to claim 11 or 12, characterized in that the display device (16) comprises a permanently installed display (17), in particular comprising a touchscreen display as an operating input interface (18), and / or a wearable AR headset.

14. The visualization assistance system according to one of claims 11 to 13, characterized in that the image processing device and in particular additionally the electronic control device (32) of the industrial truck (10) is or are designed to perform the method features of one of claims 2 to 9.

15. An industrial truck (10), in particular a forklift, comprising a visualization assistance system according to one of claims 11 to 14.