Industrial truck

Abstract

The invention relates to a forklift truck (1) with a drive unit for moving the forklift truck (1), at least one environmental sensing sensor (15), and a control unit (25) which is connected to the at least one environmental sensing sensor (15) and the drive unit (5) in terms of control technology, wherein the environmental sensing sensor (15) is configured to monitor a monitoring area (20) in the vicinity of the forklift truck (1) for obstacles (30), wherein the monitoring area (20) has a monitoring area width (BR), wherein the forklift truck (1) has a front axle (3) and a rear axle (5) and a load handling device (7) arranged in the area of ​​the front axle (3) for receiving a load (L), wherein the environmental sensing sensor (15) is configured to monitor a rear area of ​​the forklift truck (1) as a monitoring area (20).The monitoring area width (BR) of the monitoring area (20) of the environmental sensing sensor (15) is variable and adaptable to the width of the front axle (3) and / or to the width of the load (L) located on the load handling device (7). The environmental sensing sensor (15) and / or the control unit (25) is configured to variable and adapt the monitoring area width (BR) of the monitoring area (20) of the environmental sensing sensor (15) to the width of the front axle (3) and / or to the width of the load (L) located on the load handling device (7).

Description

[0001] The invention relates to a forklift truck with a drive system for moving the forklift truck, at least one environmental sensing sensor, and a control system which is connected to the at least one environmental sensing sensor and the drive system, wherein the environmental sensing sensor is configured to monitor a monitoring area in the vicinity of the forklift truck for obstacles, wherein the monitoring area has a monitoring area width, wherein the forklift truck has a front axle and a rear axle and a load handling device arranged in the area of ​​the front axle for receiving a load, wherein the environmental sensing sensor is configured to monitor a rear area of ​​the forklift truck as a monitoring area.

[0002] For manually operated industrial trucks, assistance systems known as rear monitoring systems are used which employ an environment sensor to monitor the rear of the truck for obstacles and, when reversing into the monitoring area, brake the truck by intervening in the drive system if an obstacle is detected in the monitoring area, if necessary until the vehicle comes to a standstill.

[0003] With such a rear-view monitoring system, a collision of the forklift truck with obstacles, such as other vehicles, people or infrastructure elements in a warehouse, for example shelf uprights of a rack, can be avoided when the forklift truck is reversing.

[0004] In known rear-view monitoring systems, the monitoring width of the environmental sensor's detection range is fixed and corresponds to the vehicle width of the forklift. This prevents the forklift from braking even when encountering obstacles located to the side, which would otherwise reduce the forklift's throughput.

[0005] In known rear-view monitoring systems where the monitoring width of the environmental sensor's monitoring area is fixed and corresponds to the vehicle width of the industrial truck, it can happen that if the tire type on the front axle of the industrial truck changes, with the width of the front axle being greater than the vehicle width, and / or if a load protrudes from the vehicle width and is picked up by the load-handling device, a collision with an obstacle, for example an obstacle located to the side of the industrial truck, can occur due to the front axle and / or the picked-up load, since this is not detected as an obstacle in the monitoring area by the environmental sensor.

[0006] The present invention is based on the objective of providing a forklift truck of the aforementioned type which is improved with regard to the aforementioned disadvantages.

[0007] This problem is solved according to the invention in that the monitoring area width of the monitoring area of ​​the environment detection sensor is changeable and adaptable to the width of the front axle and / or to the width of the load located on the load-handling device, wherein the environment detection sensor and / or the control is configured to change and adapt the monitoring area width of the monitoring area of ​​the environment detection sensor to the width of the front axle and / or to the width of the load located on the load-handling device.

[0008] According to the invention, it is thus possible to adjust the monitoring area width of the environmental sensing sensor to the width of the front axle, for example, to accommodate different tire types on the front axle, and / or to the width of the load on the load-handling device. This further improves the functionality of the rear-view monitoring system, as the environmental sensing sensor can also detect obstacles to the side of the industrial truck and react to them by braking the truck, provided the obstacles are located to the side of the industrial truck within the width of the front axle and / or within the width of the load on the load-handling device. A collision between the front axle and / or the load being picked up and an obstacle located to the side of the industrial truck can thus be reliably avoided.

[0009] According to an advantageous embodiment of the invention, the environmental monitoring sensor or the control unit is provided with a user input interface where the width of the front axle or the type of tires on the front axle can be entered. This allows the width of the front axle or the type of tires on the front axle to be easily entered as parameters for the width of the monitoring area, either at the factory, by a service technician, or by the operator of the industrial truck. The user can directly enter the width of the front axle or a tire type, such as the tire size and / or tire type (single or dual tires), at the user input interface. Based on this, and in conjunction with stored values ​​for a tire size or tire type, the width of the monitoring area is adjusted and changed.This allows the tire size and / or tire type (single or twin tires) to be easily and functionally taken into account by the rear-view monitoring system.

[0010] According to an advantageous embodiment of the invention, the environmental monitoring sensor or the control unit is operatively connected to a sensor device that detects the width of the load located on the load-handling device. With such a sensor device, the load located on the load-handling device can be detected and its width determined in order to adapt the monitoring width of the environmental detection sensor to the width of the currently picked-up load. The width of the load can be directly detected and, for example, measured by the sensor device. Alternatively, the width of the load can be detected indirectly by the sensor device, for example, by the sensor device only detecting which load is picked up on the load-handling device and retrieving the load dimensions from a higher-level system, such as a warehouse management system.

[0011] According to an advantageous embodiment of the invention, the position of a sideshift mechanism of the load-handling device, which allows the load-handling device to be moved laterally in the transverse direction of the vehicle, can also be taken into account when adjusting the width of the monitoring area to a load being picked up. If a load is located within the vehicle width in the center position of the sideshift mechanism, but is located outside the vehicle width when the load-handling device is moved laterally by means of the sideshift mechanism, the width of the monitoring area of ​​the environmental sensor can thus be easily adjusted to the load projecting laterally beyond the vehicle width when the load-handling device is moved laterally, in order to prevent collisions of the load with obstacles located laterally next to the industrial truck.

[0012] According to an advantageous embodiment of the invention, the control system is configured to control the drive system to limit the travel speed of the industrial truck, in particular to initiate braking and / or emergency braking, when an obstacle is detected by the environmental sensor within the monitoring area. This allows for the simple prevention of a collision between the industrial truck and an obstacle detected by the environmental sensor within the monitoring area.

[0013] According to an advantageous embodiment of the invention, the environmental sensing sensor is configured as a radar sensor and / or laser sensor and / or camera. Such sensors enable the monitoring area to be easily monitored for obstacles.

[0014] The invention has a number of advantages.

[0015] The invention makes it possible to easily adjust the width of the environmental sensor's monitoring area to different front axle widths of the industrial truck, which result from different tire sizes or tire types (single or dual tires). Furthermore, the invention makes it possible to easily adjust the width of the environmental sensor's monitoring area to the width of a load protruding from the vehicle's width. By appropriately intervening in the drive system, for example, by braking the industrial truck, a collision between the front axle or the load being transported and an obstacle located to the side of the industrial truck can be safely avoided.

[0016] Further advantages and details of the invention are explained in more detail with reference to the exemplary embodiments shown in the schematic figures. Here, Figure 1 shows a forklift truck according to the invention with an adjustment of the width of the monitoring area of ​​the environment detection sensor to the front axle width, Figure 2 shows a forklift truck according to the invention with an adjustment of the width of the monitoring area of ​​the environment detection sensor to the front axle width and Figure 3 shows a forklift truck according to the invention with an adjustment of the width of the monitoring area of ​​the environment detection sensor to the width of a load being carried.

[0017] In the Figures 1 to 3 The industrial trucks 1 according to the invention are shown in a top view. Identical components are provided with the same reference numerals.

[0018] In the Figures 1 to 3 For example, the industrial truck 1 is designed as a forklift.

[0019] The industrial truck 1 is designed as a manually operated industrial truck 1, operated by a driver.

[0020] The industrial truck 1 has a vehicle body 2.

[0021] In the front, load-facing area, the industrial truck 1 is equipped with a front axle 3, which has two driven front wheels 3a, 3b. The front wheels 3a, 3b can be driven by means of a drive mechanism not shown in detail.

[0022] The drive system can each have an electric motor to drive the corresponding front wheels 3a, 3b.

[0023] In the rear, load-away area, the industrial truck 1 is equipped with a steering axle 5 with steered wheels 5a, 5b.

[0024] A lifting frame 6 is arranged at the front, load-facing area of ​​the industrial truck 1, on which a load-handling device 7, for example designed as a load fork, is arranged to be movable up and down, with which a load can be picked up.

[0025] The industrial truck 1 has an environmental sensing sensor 15, which is configured to monitor the rear area of ​​the industrial truck 1 as monitoring area 20 in the vicinity of the industrial truck 1 for obstacles. The monitoring area 20 is in the Figures 1 to 3 Presented in a streamlined manner.

[0026] The industrial truck 1 has a control unit 25, which is connected to the environmental detection sensor 15 and the drive system.

[0027] The control unit 25 of the industrial truck 1 according to the invention is designed to control the drive system to limit the speed of the industrial truck 1, for example to initiate braking and / or emergency braking, when the industrial truck is traveling in reverse towards the monitoring area 20 and an obstacle 30 is detected by the environmental sensor 15 in the monitoring area 20.

[0028] The monitoring area 20 has a monitoring area width BR. The monitoring area 20 extends in the reverse direction of the industrial truck such that, if an obstacle 30 is detected in the monitoring area 20 by the environmental detection sensor 15, the industrial truck 1 can be braked in such a way as to avoid a collision of the industrial truck 1 with the obstacle 30.

[0029] In the industrial truck 1 according to the invention, the monitoring area width BR of the monitoring area 20 of the environment detection sensor 15 can be changed and adapted to the width of the front axle 3 and / or to the width of the load L located on the load handling device 7.

[0030] The environment detection sensor 15 and / or the control unit 25 associated with the environment detection sensor 15 is designed to change and adapt the monitoring area width BR of the monitoring area 20 of the environment detection sensor 15 to the width of the front axle 7 and / or to the width of the load L located on the load handling device 7.

[0031] The environmental monitoring sensor 15 or the control unit 25 can be equipped with a user input interface 26, at which the width of the front axle 3 or the tire type of the front axle 3 can be entered manually by the driver or a service technician, or by the manufacturer. The tire type of the front axle 3 refers in particular to single tires or dual tires, or the tire size. In conjunction with stored values ​​for the tire type or tire size, the environmental monitoring sensor 15 or the control unit 25 can determine the width of the front axle 3 and the monitoring area width BR of the monitoring area 20 can be set and adjusted to the width of the front axle 3.

[0032] In the Figure 1A forklift truck 1 with single tires on the front axle 3 is shown, wherein the monitoring area width BR of the monitoring area 20 of the environmental monitoring sensor 15 corresponds to the width of the front axle 3 equipped with single tires and is adapted and set to this width of the front axle 3.

[0033] Recorded in the Figure 1 If the environmental monitoring sensor 15 detects an obstacle 30 in the monitoring area 20, the industrial truck 1 is braked by an intervention in the drive system in such a way that a collision with the obstacle 30 is avoided.

[0034] In the Figure 2A forklift truck 1 with twin tires, each with two front wheels 3a, 3b on the front axle 3, is shown, wherein the monitoring area width BR of the monitoring area 20 of the environment monitoring sensor 15 corresponds to the width of the front axle 3 equipped with twin tires and is adapted and set to this width of the front axle 3.

[0035] Recorded in the Figure 2 If the environmental monitoring sensor 15 detects an obstacle 30 in the monitoring area 20, which is located laterally next to the vehicle body 2 and thus outside the vehicle width and within the monitoring area width BR of the monitoring area 20, which corresponds to the width of the front axle 3 equipped with the twin wheel tires, the industrial truck 1 is braked by an intervention in the drive system in such a way that a collision with the obstacle 30 is avoided.

[0036] In the Figure 3A forklift truck 1 is shown, in which the monitoring area width BR of the monitoring area 20 of the environmental monitoring sensor 15 corresponds to and is set to the width of the load L picked up by the load handling device 7.

[0037] The environmental monitoring sensor 15 or the control unit 25 can be operatively connected to a sensor device 27 which detects the width of the load L located on the load handling device 7.

[0038] Recorded in the Figure 3 If the environmental monitoring sensor 15 detects an obstacle 30 in the monitoring area 20, which is located laterally next to the vehicle body 2 and thus outside the vehicle width and within the monitoring area width BR of the monitoring area 20, which corresponds to the width of the load L being carried, the industrial truck 1 is braked by an intervention in the drive system in such a way that a collision with the obstacle 30 is avoided.

Claims

1. Industrial truck (1) with a drive for moving the industrial truck (1), at least one environmental sensing sensor (15), and a control unit (25) which is connected to the at least one environmental sensing sensor (15) and the drive (5) for control purposes, wherein the environmental sensing sensor (15) is configured to monitor a monitoring area (20) in the vicinity of the industrial truck (1) for obstacles (30), wherein the monitoring area (20) has a monitoring area width (BR), wherein the industrial truck (1) has a front axle (3) and a rear axle (5) and a load handling device (7) arranged in the area of ​​the front axle (3) for receiving a load (L), wherein the environmental sensing sensor (15) is configured to monitor a rear area of ​​the industrial truck (1) as a monitoring area (20), characterized by the fact thatthe monitoring area width (BR) of the monitoring area (20) of the environment sensing sensor (15) is variable and adaptable to the width of the front axle (3) and / or to the width of the load (L) located on the load handling device (7), wherein the environment sensing sensor (15) and / or the control (25) is configured to change and adapt the monitoring area width (BR) of the monitoring area (20) of the environment sensing sensor (15) to the width of the front axle (3) and / or to the width of the load (L) located on the load handling device (7).

2. Industrial truck (1) according to claim 1, characterized by the fact that the environmental monitoring sensor (15) or the control unit (25) is provided with a user input interface (26) where the width of the front axle (3) or the tire type of the front axle (3) can be entered.

3. Industrial truck (1) according to claim 1 or 2, characterized by the fact thatthe environmental monitoring sensor (15) or the control unit (25) is operatively connected to a sensor device (27) that detects the width of the load (L) located on the load handling device (7).

4. Industrial truck (1) according to any of the preceding claims, characterized by the fact that the control unit (25) is designed to control the drive system to limit the travel speed of the industrial truck (1), in particular to initiate braking and / or emergency braking, when an obstacle (30) is detected by the environment detection sensor (15) in the monitoring area (20).

5. Industrial truck (1) according to any of the preceding claims, characterized by the fact that the environment detection sensor (15) is designed as a radar sensor and / or laser sensor and / or camera.

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