Load receiving means

Abstract

A first load receiving means (100) according to the invention has a first region (110), which is aligned substantially horizontally during operation and which extends in a horizontal longitudinal direction x, a vertical thickness direction y, and a width direction z, and a second region (120) which is arranged substantially perpendicularly to the first region (110). The first load receiving means additionally has an integrated image capturing optical unit (150). The width direction z of the first region of the first load receiving means tapers over a ramp (115) in the direction opposite the second region (120) of the first load receiving means (100), wherein the image capturing optical unit (150) is integrated into the ramp (115) such that an image can be captured in the direction opposite the second region of the first load receiving means.

Description

[0001] The invention relates to a load-handling device for an industrial truck or similar device with an integrated camera for capturing the surroundings of the industrial truck. Furthermore, the invention relates to a system that enables the operator of the industrial truck to maneuver the truck safely, even when their direct view of the travel path is restricted by a load placed on the load-handling device of the industrial truck. It also enables the operator of the industrial truck to determine the exact position of the load in relation to the position of the load-handling device more accurately than before, particularly when setting down or picking up a load.

[0002] Such industrial trucks, such as forklifts, are controlled by a driver who typically picks up loads on the load-handling devices based on their visual and practical experience, moves them, and then deposits them again at another location, possibly even in high-bay warehouses. Such load-handling devices, such as forks, are state-of-the-art and are usually attached in pairs to a fork carriage of an industrial truck.

[0003] The load carried on the load handling devices can restrict the operator's (the driver's) view in the direction of travel. To solve this problem, a known solution is to install a camera in the tip of a fork, the image of which is transmitted to a monitor located within the operator's field of vision.

[0004] For the safe and rapid storage of pallets in racks at higher heights in a warehouse, a camera is typically mounted on the side of a fork, for example, by screwing it on. It is important to position the camera on the fork so that the driver can clearly see on the monitor in the cab whether the pallet is being correctly inserted and deposited in the rack. Both the pallet and the rack must be visible. Standard forks can advantageously be used in this configuration.

[0005] However, a camera mounted on the side of a fork also has disadvantages: The camera can be struck and damaged during rough operation of an industrial truck. Furthermore, the fork becomes wider, which makes it impossible to pick up certain pallets and / or requires more precise adjustment of the fork spacing depending on the pallet or load being picked up. To minimize both disadvantages, the camera lens must be positioned close to the fork, which causes the fork to extend far into the camera's field of view, thus taking up a large portion of the monitor image without providing the driver with any truly usable information.

[0006] Document KR 2010 0075812 A discloses the preamble of claim 1.

[0007] The German patent application DE 10 2018 100 370 A1 proposes reducing these disadvantages by partially embedding the camera in a recess in the fork. However, embedding the camera in the fork further reduces the camera's usable viewing angle, meaning that even more of the fork can be seen in the image projected on the monitor without this increasing the information content relevant to the industrial truck driver. Furthermore, the camera remains vulnerable to impact forces from all sides when starting up. Furthermore, the wedge-shaped design of the camera housing creates a sharp edge in the recess in front of the opening for the camera lens, which can cause injuries. Furthermore, this interfering edge poses the risk of the edge getting caught on a load, load carrier, or shelf when reversing the forklift.In addition, the space between the camera and the interfering edge can fill with dirt, which can limit the camera lens's visibility. To solve these problems, we suggest using a base that has the same precise dimensions as the recess and is mounted on the camera housing so that the camera itself protrudes further from the lateral plane of the fork. While this slightly reduces the camera's susceptibility to damage, it still exists. In addition, the recess requires milling out the fork, which is complex and therefore expensive. Furthermore, visibility remains limited.

[0008] The object of the invention is to provide a load-handling device which, with a visualization device arranged within the field of vision of the operator of an industrial truck, enables the operator of the industrial truck to maneuver the truck safely, even when the direct view of the travel path is restricted by a load placed on the load-handling device of the industrial truck. Furthermore, the viewing angle is to be improved compared to the prior art, so that, particularly when setting down or picking up a load, the exact position of the load in relation to the position of the load-handling device can be determined more easily than before by the driver of the industrial truck. The device is to be designed to be less susceptible to mechanical damage.

[0009] A further object of the invention is to provide a system which enables the operator of the industrial truck to maneuver the industrial truck safely even when the direct view of the travel path is restricted by a load placed on the load handling devices of the industrial truck, and which enables the operator of the industrial truck to determine the exact position of the load in relation to the position of the load handling device better than before, in particular when setting down or picking up a load.

[0010] According to the invention, this object is achieved by a load-handling device with integrated image-recording optics having the features of independent claim 1. Advantageous developments of the load-handling device arise from subclaims 2 to 9. The further object of the invention is achieved by a system according to claim 10. Advantageous developments of the system arise from subclaims 11 to 15.

[0011] An inventive first load-handling device has a first region, which is oriented substantially horizontally during operation and has an extension in the horizontal longitudinal direction x, an extension in the vertical thickness direction y, and an extension in the width direction z, and a second region arranged substantially perpendicular to the first region. Furthermore, the first load-handling device has integrated image-capturing optics. The width direction z of the first region of the first load-handling device tapers via a ramp in the direction opposite to the second region of the first load-handling device, wherein the image-capturing optics are integrated into the ramp such that an image can be captured in the opposite direction to the second region of the first load-handling device.

[0012] The first load-handling device has two side surfaces, whereby here and in the following, the surfaces arranged in the horizontal longitudinal direction x with a vertical extension in the thickness direction y are referred to as side surfaces. An image recording optics can be provided on either one or both side surfaces.

[0013] The following terminology should be explained: First, it should be expressly pointed out that, within the scope of this patent application, indefinite articles and numerical expressions such as "one," "two," etc., are generally to be understood as "at least" expressions, i.e., "at least one...", "at least two...", etc., unless it is expressly clear from the respective context or it is obvious or technically necessary for the person skilled in the art that only "exactly one...", "exactly two...", etc., can be meant. Furthermore, all numerical expressions as well as information regarding process parameters and / or device parameters are to be understood in the technical sense, i.e., subject to the usual tolerances. Even the explicit specification of the restriction "at least" or "at least" or similar does not imply that the simple use of "one," i.e., without specifying "at least" or similar, means "exactly one."

[0014] The "load-handling device" is a means for picking up loads, for example a pallet, whereby the load-handling device can be designed as a fork for an industrial truck such as a forklift. The load-handling device has a region that can come into contact with the load for picking it up, as well as a region with which the load-handling device can be attached to a lifting and lowering device, for example, of a forklift. A conventional fork has, as the region that can come into contact with the load for picking it up, a region that is essentially horizontally oriented during operation. The further region with which the fork can be attached to a lifting and lowering device of a forklift is essentially perpendicular to the horizontal region, i.e., is essentially vertically oriented during operation.

[0015] An "image acquisition lens" is a device for capturing moving or static images. The image can then be projected onto an exposable film or an optoelectric sensor. An optoelectric sensor has a light-receptive surface with individual areas (pixels) that, in conjunction with a lens and camera electronics, can create an electrical image. The lens is a component of the image acquisition lens. The image acquisition lens can be located in a camera head, while the optoelectric sensor, also called a camera chip, can be located directly behind the image acquisition lens or remotely from the camera head, connected to it via a light guide.A digital camera comprises an image recording optics, an optoelectric sensor and electronics, whereby all components can be integrated in a housing or the image recording optics can be arranged separately from the other components, being operatively connected to the other components, for example via a light guide.

[0016] The image acquisition lens can capture any number of images. This allows the image acquisition lens to capture not only static images but also moving images in real time.

[0017] The image or video signal can be transmitted via a cable along the first and second areas of the first load-handling device, for example, to a lifting carriage and from there to a monitor in the driver's cab of an industrial truck. For this purpose, a groove can be provided on the side of the first and second areas of the first load-handling device, in which the cable can be laid in a protected manner. The groove can be closed after the cable has been inserted so that the outer contour of the first load-handling device remains unchanged. The groove preferably runs in the neutral line of the first load-handling device so that there is hardly any weakening, particularly in the fork bending area.

[0018] A transmitter and a power supply, for example, in the form of a battery, can also be integrated into the first load-handling device behind the image acquisition lens, allowing the signal to be transmitted wirelessly to the monitor or a receiver outside the industrial truck. All common methods, such as radio, NFC, Bluetooth, or similar, can be used for wireless transmission.

[0019] A standard fork is at least 40 mm thick, i.e. its extension in the thickness direction y is at least 40 mm, although the extension in the thickness direction y can be smaller in special cases. A typical camera is approximately 25 mm high. The camera can therefore be protected against impact forces at the top and bottom by a web on the first area of the first load handling device. The first load handling device can therefore accommodate image recording optics that are no more than as high as a camera, or even a complete camera. The image recording optics or camera is protected on all sides by the first load handling device against impact forces that occur, for example, when loads are approached, set down, lifted, etc. The first load handling device does not have to have a greater extension in the width direction z than a standard fork.By tapering the first area of the first load handling device in the width direction z, the camera lens protrudes further from the load handling device and the viewing angle to the front is significantly better. The viewing window from a pallet picked up by the first load handling element is, for example, approximately 50% wider compared to a non-tapered load handling device. The recorded image is taken up far less by the first load handling device, so that the image provides an operator of an industrial truck with significantly more usable information. Furthermore, the first load handling device is not weakened in the fork bend area between the first and second areas, so that the nominal load capacity that the load handling device has without the integrated image recording optics is retained. Any known image recording optics and any known camera design can be used.

[0020] The image pickup optics can also be housed directly in a recess in the tapered area of the first load-carrying element. In the tapered area, the first load-carrying element can also be made of solid metal and have only a small recess, for example, for a lens or the image pickup optics.

[0021] The taper of the first region of the first load-handling device can be arranged at any suitable location in the longitudinal direction x. The further forward, i.e. in the opposite direction from the second region of the first load-handling element, it is arranged, the larger the viewing angle of the image-capturing optics. On the other hand, if arranged too far forward, a second load-handling device, for example, may fall out of the image field, with the result that this second load-handling device can no longer serve as a reference in the recorded image. Furthermore, the further forward the ramp is arranged, the greater the probability of impact with the ramp when picking up or setting down a load.In practice, an arrangement approximately between one third and two thirds of the horizontal length extension x of the first region of the first load-bearing element, measured from the transition from the first to the second region of the first load-bearing means, i.e. for example approximately in the middle of the longitudinal extension x of the first region of the first load-bearing means, has proven to be advantageous.

[0022] In an advantageous embodiment, the image acquisition optics are integrated into the ramp in such a way that the ramp extends beyond it on both sides in the thickness direction y. This provides optimal protection for the image acquisition optics in the vertical direction.

[0023] In a further advantageous embodiment, the image acquisition optics are integrated into the ramp in such a way that they extend beyond the ramp in the longitudinal direction x. This provides optimal protection for the image acquisition optics in the horizontal direction.

[0024] In a further advantageous embodiment, the ramp continues in the opposite direction to the second area of the first load-handling device, extending beyond the area of the image-capturing optics. This further tapering of the first load-handling device further optimizes the viewing angle of the image-capturing optics.

[0025] In one embodiment, the image-capturing optics have a longitudinal axis that runs substantially parallel to the longitudinal direction of the first region of the first load-handling device. As a result, the recording angle corresponds to that of an operator or driver of an industrial truck positioned behind a picked-up load.

[0026] In an alternative embodiment, the image-capturing optics have a longitudinal axis that extends at an angle α other than 0° to the longitudinal direction of the first region of the first load-handling device. For example, the angle α can be adjusted such that the longitudinal axis of the image-capturing optics points away from the longitudinal axis of the first region of the first load-handling device in the direction of the taper of the first region of the first load-handling device. This further increases the viewing angle of the image-capturing optics. This also improves the view of a second load-handling device, if present and arranged substantially parallel to the first load-handling device.

[0027] The forward field of vision is further improved by the width dimension y of the first region of the first load-handling device in the area behind the ramp, as seen from the second region of the first load-handling device, being slightly sloped toward the tip of the first load-handling device. This slope can be, for example, 2°, measured between the center axis of the first region of the first load-handling device and the contour of the first load-handling device at this point.

[0028] In one embodiment not covered by the invention, the image acquisition optics are arranged directly in front of an optoelectric sensor. This results in a compact camera design.

[0029] In an alternative embodiment, which is not covered by the invention, the image recording optics are operatively connected to an optoelectric sensor via a light guide. The optoelectric sensor can thus be arranged elsewhere, for example, behind the second area of the first load-handling device, thereby minimizing the space required in the first area of the first load-handling device.

[0030] In a further advantageous embodiment, the image-capturing optics additionally comprise an illumination device. This allows for an optimally exposed image to be achieved, even when the object to be captured is in the dark. The illumination device can comprise, for example, an LED, another light source, or even a laser. The illumination device can also comprise a light guide, allowing the light source or laser to be arranged at a different location on the first load-carrying device, while the light is guided via the light guide to the image-capturing optics, illuminating the area of interest for the image.

[0031] In a further advantageous embodiment, the image-capturing optics additionally comprise a distance measuring device. This allows, in addition to the image, a distance, for example, to a shelf on which a load is to be deposited or to a corresponding stop to be transmitted as a measurement, for example, to an operator of an industrial truck to which the first load-handling device is attached. An inventive system for picking up and depositing loads with a previously described first load-handling device is characterized in that the system additionally comprises a second load-handling device arranged substantially parallel to the first load-handling device.

[0032] The second load handling device can correspond to the first load handling device, i.e. likewise contain an image recording lens. However, the second load handling device can also be a standard fork tine, for example, i.e. in particular not have an image recording lens. An image recording lens can be provided either on one or on both side surfaces of the first and / or the second load handling device. If an image recording lens is arranged on an outer side of a load handling device, it can be directed outwards. The outer side of one load handling device is the side facing away from the other load handling device. Image recording lens can also be provided on both load handling devices, wherein both image recording lens can be mounted on the respective inner sides of the load handling device. The inner sides of the load handling device refer to the sides facing the other load handling device.If, for example, the load handling devices are moved far apart during fork adjustment, this configuration is advantageous if the position of each load handling device and the insertion of each load handling device into a pallet must be monitored. If the system contains only one image recording lens, it is more cost-effective than if it contains two image recording lenses. On the other hand, two image recording lenses produce two images which, due to the distance between the two image recording lenses, provide a better impression of the situation, particularly if the two load handling devices are far apart from each other. In an advantageous embodiment, the first load handling device and the second load handling device are arranged such that the image recording lens points in the direction of the other load handling device.In other words, in this form, the image pickup optics of the first load-handling device are arranged on the side of the first load-handling device facing the second load-handling device. If two image pickup optics are installed, both image pickup optics can face each other. However, it is also possible to arrange one or both image pickup optics on the outer sides of the load-handling devices, i.e., to arrange them so that they are arranged on the side(s) of the load-handling device(s) facing away from the other load-handling device.

[0033] The second load handling device can be used as a reference depending on the distance from the back of the fork.

[0034] In an advantageous embodiment, the system additionally comprises an optoelectric sensor. Furthermore, the system can additionally comprise a monitor for displaying the image captured by the image acquisition optics. If this monitor is arranged within the field of vision of an operator or driver of an industrial truck, this operator can safely maneuver the industrial truck even if their direct view of the travel path is restricted by a load placed on the load-handling devices of the industrial truck. This allows the operator to determine the exact position of the load in relation to the position of the load-handling device more accurately than before, particularly when setting down or picking up a load.

[0035] Further advantages, special features and expedient developments of the invention emerge from the subclaims and the following representation of preferred embodiments with reference to the figures. It shows

[0036] Fig. 1 shows a first load-handling device according to the invention in a three-dimensional view; Fig. 2 shows a further embodiment of a first load-handling device according to the invention in a three-dimensional view; Fig. 3 shows a system according to the invention with a first and a second load-handling device in a plan view; Fig. 4 shows a system according to the invention with a first and a second load-handling device and a received pallet in a plan view; Fig. 5 shows a first load-handling device according to the invention in a front view; Fig. 6 shows a system according to the invention with a first and a second load-handling device and a received pallet in a front view.

[0037] Fig. 1 shows a three-dimensional view of a first load-handling device 100 according to the invention. The first load-handling device 100 has a first region 110, which is oriented essentially horizontally during operation and has an extension in the horizontal longitudinal direction x, an extension in the vertical thickness direction y, and an extension in the width direction z. Furthermore, the first load-handling device 100 has a second region 120 arranged essentially perpendicular to the first region 110. Furthermore, the first load-handling device 100 has an integrated image-recording optics 150. The width direction z of the first region 110 of the first load-handling device 100 tapers via a ramp 115 in the direction opposite to the second region 120 of the first load-handling device 110, wherein the image recording optics 150 is integrated in the ramp such that an image can be recorded in the opposite direction to the second region 120 of the first load-handling device 110.The image recording optics are suitable for recording moving or static images. The image recording optics 150 are located in a camera head, with a camera chip located remote from the camera head. The camera chip is connected to the image recording optics 150 via a fiber optic cable, with the fiber optic cable being guided in a channel 130 milled into the side surface of the first receiving means 110. A standard fork tine has an extension in the thickness direction y of 40 mm, whereas a typical camera is only approximately 25 mm high. The camera head is thus protected against impact forces at the top and bottom by a web 116 on the first region 110 of the first load-handling means 100. The first load-handling means 100 can thus accommodate an image recording optics 150, which is at most as high as a camera, as well as a complete camera.The image recording optics 150 or camera is protected on all sides by the first load handling device 100 against impact forces that occur, for example, when loads are approached, set down, lifted, etc. The first load handling device 100 has no greater extent in the width direction z than a standard fork tine. Due to the tapering of the first region 110 of the first load handling device 100 in the width direction z, the camera lens protrudes further from the first load handling device 100 and the viewing angle to the front, i.e. in the positive x-direction, is considerably more favorable. The width extent y of the first region 110 of the first load handling device 100 in the region behind the ramp 115, as seen from the second region 120 of the first load handling device 100, is slightly beveled towards the tip 117 of the first load handling device 100.This bevel can be, for example, 2°, measured between the central axis of the first region 110 of the first load-carrying means 100 and the contour of the first load-carrying means 110 at this point (see also . Fig. 3 ). The viewing window from a pallet picked up by the first load-handling element 100 is, for example, approximately 50% wider compared to a non-tapered load-handling device. The recorded image is taken up far less by the first load-handling device 100, so that the image provides an operator of an industrial truck with significantly more usable information. Furthermore, the first load-handling device 100 is not weakened in the fork bending area between the first area 110 and the second area 120, so that the nominal load-bearing capacity that the load-handling device has without the integrated image-recording optics 150 is maintained. Any known image-recording optics 150 and any known camera design can be used.

[0038] Fig. 2 shows a further embodiment of a first load-handling device 100 according to the invention in a three-dimensional view. The image recording optics 150 is integrated into the ramp 115 in such a way that it is projected over on both sides in the thickness direction y by webs 116 formed by the ramp 115. As a result, the image recording optics 150 is optimally protected in the vertical direction, i.e. in the thickness direction y. Furthermore, the image recording optics 150 is integrated into the ramp 115 in such a way that it is projected over in the longitudinal direction x by webs 116 formed by the ramp 115. One or both webs 116 can extend to the tip 117 of the first region 110 of the first load-handling device 100. As a result, the image recording optics 150 is also optimally protected in the horizontal direction, i.e. in the direction of the x-axis.

[0039] Fig. 3 shows a system 300 according to the invention with a first 100 and a second 200 load-handling device in a plan view from below, ie from the opposite direction to the vertical orientation of the second region 120 of the first load-handling device 100. In addition to the first load-handling device 100, the system 300 has a second load-handling device 200, which is arranged essentially parallel to the first load-handling device 100, wherein the image recording optics 150 point in the direction of the second load-handling device 120. The second load-handling device 120 can be used as a reference depending on the distance from the fork back. The image recording optics 150 has a viewing angle β. Because the area of the first area 110 of the first load-carrying means extending towards the tip 117 becomes thinner towards the tip 117, ie its extent in the thickness direction y decreases, the viewing angle β extends at least partially under the first load-carrying means 110.The second load-handling device 120 can be designed in this area analogously to the first load-handling device 110, so that the viewing angle β can also pass under the second load-handling device 120. However, a vertical part of the viewing angle β can still be shaded by the first area 110 of the first load-handling device 100 or the second load-handling device 200. The image-recording optics 150 have a longitudinal axis that runs at an angle α1 other than 0° to the longitudinal direction of the first area 110 of the first load-handling device 100. This angle other than 0° can be set such that the longitudinal axis of the image-recording optics 150 points away from the longitudinal axis of the first area 110 of the first load-handling device 100 in the direction of the taper of the first area 110 of the first load-handling device 100. This further increases the viewing angle of the image pickup optics 150.Compared to the contour of the first region 110 of the first load-handling device 100 on the side on which the image-capturing optics 150 is arranged, the angle of the longitudinal axis of the image-capturing optics 150 is α2, where α2 is greater than α1. The difference between α2 and α1 is the angle at which the width dimension y of the first region 110 of the first load-handling device 100 in the region behind the ramp 115, as seen from the second region 120 of the first load-handling device 100, is slightly beveled toward the tip 117 of the first load-handling device 100. This bevel, and thus the difference between α2 and α1, can be, for example, 2°. This bevel increases the viewing angle of the image recording optics 150 in the area in which shading occurs due to the first area 110 of the first load-handling device 100.

[0040] Fig. 4 shows a system 300 according to the invention with a first 100 and a second 200 load-handling device and a picked-up pallet 400 (shown in dashed lines) in the same view as in Fig. 3 The pallet 400 has reinforcement cubes 401 that lie at least partially within the viewing angle β of the image pickup optics 150. Therefore, the viewing angle β lying in the plane of these reinforcement cubes 401 is divided and consists of the angles β1, β2, and β4, while the angle β3 is always cut out of the viewing area β by the shadow of a reinforcement cube 401. The viewing area β1 extends under the first load-handling device 100, while the viewing area β2 also extends in the plane of the load-handling device 100.

[0041] Fig. 5 shows a first load-handling device 100 according to the invention in a front view, i.e., in the negative x-direction. The image-capturing optics 150 are clearly visible. The image-capturing optics 150 are arranged in the ramp 150, with the longitudinal axis of the lens spaced apart from the tapered first region 110 of the first load-handling device, resulting in a particularly large image-capturing angle.

[0042] Fig. 6 shows a system 300 according to the invention with a first 100 and a second 200 load-handling device and a picked-up pallet 400 in a front view, i.e., in the negative x-direction. The image-capturing optics 150 are protected from all sides by the webs 116 against impact by the pallet 400.

[0043] The embodiments shown here are merely examples of the present invention and should therefore not be considered limiting. Alternative embodiments contemplated by those skilled in the art are equally encompassed within the scope of the present invention. List of reference symbols:

[0044] 100First load handling device 110First area of the first load handling device 115Ramp 116Web 117Tip of the first load handling device 120Second area of the first load handling device 130Channel 150Image pickup optics 200Second load handling center 300System 400Pallet 401Reinforcement cube xLongitudinal direction yThickness direction zWidth direction αLongitudinal axis angle βViewing angle

Claims

1. A first load-handling device (100) with a first section (110) which, in operation, is oriented essentially horizontally and which has an expansion in the horizontal longitudinal direction x, an expansion in the vertical thickness direction y, and an expansion in the width direction z, and a second section (120) which is arranged essentially perpendicularly to the first section (110), whereby the first load-handling device (100) has an integrated image-recording optical system (150) which records an image in the opposite direction to the second section (120) of the first load-carrying device (100), characterized in that the width direction z of the first section (110) of the first load-carrying device (100) tapers in the opposite direction to the second section (120) of the first load-carrying device (100) via a ramp (115), the image-capturing optics (150) being integrated in the ramp (115).

2. First load-carrying device (100) according to claim 1, characterized in that the image-recording optical system (150) is integrated in the ramp (115) in such a way that it projects beyond both sides of the ramp (115) in the thickness direction y.

3. First load-carrying device (100) according to claim 1 or 2, characterized in that the image-recording optical system (150) is integrated in the ramp (115) in such a way that it projects beyond both sides of the ramp (115) in the longitudinal direction x.

4. First load-carrying device (100) according to one of the previous claims, characterized in that the ramp (115) is continued in the opposite direction to the second section (120) of the first load-carrying device (100) over the section of the image-recording optical system (150).

5. First load-carrying device (100) according to one of the previous claims, characterized in that the image-recording optical system (150) has a longitudinal axis, whereby the longitudinal axis of the image-recording optical system (150) essentially extends parallel to the longitudinal direction of the first section (110) of the first load-carrying device (100).

6. First load-carrying device (100) according to one of the claims 1 to 4, characterized in that the image-recording optical system (150) has a longitudinal axis, whereby the longitudinal axis of the image-recording optical system is at an angle not equal to 0°α to the longitudinal direction of the first section (110) of the first load-carrying device (100).

7. First load-carrying device (100) according to one of the previous claims, characterized in that the width extension y of the first section (110) of the first load-carrying device (100) in the section behind the ramp (115), as viewed from the second section (120) of the first load-carrying device (100), is slightly beveled towards the tip (117) of the first load-carrying device (100).

8. First load-carrying device (100) according to one of the previous claims, characterized in that the image-recording optical system (150) also has an illumination device.

9. First load-carrying device (100) according to one of the previous claims, characterized in that the image-recording optical system (150) also has a distance measuring device.

10. System (300) for picking up and setting down loads, comprising a first load-carrying device (100) according to one of claims 1 to 9, characterized in that the system (300) additionally comprises a second load-carrying device (200) arranged substantially parallel to the first load-carrying device (100).

11. A system (300) according to claim 10, characterized in that the second load-carrying device (200) corresponds to the first load-carrying device according to claims 1 to 10.

12. A system (300) according to claim 10, characterized in that the second load-carrying device (200) does not comprise an image-recording optical system (150).

13. System (300) according to one of the claims 10 to 12, characterized in that the first load-carrying device (100) and the second load-carrying device (200) are arranged such that the image-recording optical system (150) points in the direction of the other load-carrying device (100, 200).

14. A system (300) according to any one of claims 10 to 13, characterized in that the system (300) additionally comprises an optoelectrical sensor.

15. System (300) according to any one of claims 10 to 14, characterized in that the system (300) additionally comprises a monitor for displaying the image recorded by the image-recording optical system (150).

Images