Industrial vehicle equipped with luggage storage means for storing long items

Abstract

An industrial vehicle (100, 200, 300, 400, 500) comprising: a luggage storage means (1) for storing a long object (L); a long object detection device (2) for detecting the long object (L); and a safety control device (3), the safety control device having at least one monitoring sensor (4, 4') which forms at least one protection area (5, 5'), the safety control device (3) being operatively connected to the long object detection device (2) and configured to affect the at least one protection area (5, 5') in response to the long object (L) detected by the long object detection device (2).

Description

[Technical Field]

[0001] The present invention relates to an industrial vehicle equipped with a luggage storage means for storing long objects. [Background technology]

[0002] From the translation of the German European Patent Publication (DE 69800852T2) an industrial vehicle is already known which is provided with a load storage means for storing long objects.

[0003] From DE 10 2018 109 298 A1 an industrial vehicle with a safety control device is already known.

[0004] A drawback of the prior art is that industrial vehicles equipped with luggage storage means for storing long objects do not have safety control devices that are adapted as desired to the special requirements of industrial vehicles equipped with luggage storage means for storing long objects. Summary of the Invention [Problem to be solved by the invention]

[0005] SUMMARY OF THE INVENTION The object of the present invention is therefore to provide an industrial vehicle of this type which does not have these drawbacks. [Means for solving the problem]

[0006] This problem is solved by an industrial vehicle according to claim 1.

[0007] The industrial vehicle according to the present invention includes a long object detection device for detecting long objects. The industrial vehicle further includes a safety control device, which itself includes at least one monitoring sensor that forms at least one protection zone. The safety control device is operatively connected to the long object detection device and is configured to influence the at least one protection zone depending on the long object detected by the long object detection device.

[0008] The protection area may also be referred to as a monitoring area. The protection area preferably moves with the industrial vehicle. Preferably, the protection area is part of the detection area of ​​the monitoring sensor.

[0009] Preferably, the safety control device is configured to transition the industrial vehicle into a safe state when an approaching vehicle or person is detected, preferably by at least one monitoring sensor, as soon as the required minimum distance is reached and / or as soon as the approaching vehicle or person enters at least one protection zone. In this case, transitioning to a safe state means reducing the driving speed or stopping the industrial vehicle. It can also mean slowing or stopping the movement of the load carrier relative to the industrial vehicle. An approaching vehicle or person can also mean that the vehicle or person itself is stationary and the industrial vehicle is approaching the vehicle or person.

[0010] The safety control device may be configured to transition the industrial vehicle into a safe state when a stationary object, such as a wall or shelf or a dropped item, is detected as soon as the required minimum distance is exceeded and / or as soon as the object enters the protected area.

[0011] In this way, an industrial vehicle with a storage means for long objects can be provided with a safety control device that can be adapted as desired to the special requirements of the industrial vehicle with a storage means for long objects, since the protection area can be configured to the actual size required for the long objects to be stored. In this way, a high level of protection can be ensured while at the same time ensuring a particularly smooth operational flow.

[0012] The monitoring sensors may include a people protection scanner.

[0013] The load receiving means may include, for example, forks or a load platform.

[0014] The industrial vehicle may be configured as a forklift. That is, the industrial vehicle may have a mast, and the load-receiving means of the industrial vehicle may include forks. The forks preferably have tines, particularly preferably two tines. The tines are preferably spaced far enough apart that they are positioned outside the wheel arms when viewed from above, or a spacing adjustment device for the tines is provided that allows such a positioning. The large spacing between the tines that is obtained or can be obtained thereby makes the vehicle particularly suitable for receiving long objects.

[0015] The industrial vehicle preferably has a chassis, which may be configured in a "U" shape, with each leg of the "U" being formed by a wheel arm.

[0016] The industrial vehicle can be configured as a thrust mast forklift, i.e., the mast of the industrial vehicle can be extendable and retractable again. The thrust mast can be arranged between the wheel arms and can be extended and retracted parallel to the wheel arms.

[0017] Preferably, the industrial vehicle is a vehicle configured as a side loader. Preferably, the industrial vehicle is capable of traveling laterally relative to the fork tines. Preferably, the industrial vehicle is capable of traveling laterally relative to the load-receiving movement of the industrial vehicle and / or the forks. Preferably, the industrial vehicle is capable of traveling in the longitudinal direction of the load.

[0018] The industrial vehicle is preferably capable of lateral and longitudinal travel. Preferably, the industrial vehicle is a multi-way vehicle that can travel in circular and / or diagonal travel, also known as carousel travel, in addition to lateral and longitudinal travel. All wheels of the industrial vehicle are preferably turnable by at least 90°. Preferably, lateral and longitudinal travel differ in that the wheels are rotated by 90° relative to the chassis when traveling in a straight line.

[0019] The long object may be a load that is longer than a normal pallet. The long object may be a load that is longer than 1200 mm. The long object may be a load that, when stored on the load storage means and in the industrial vehicle's ready-to-travel state (in the case of a thrust-mast forklift, i.e. preferably with the thrust mast retracted), extends beyond the contour of the industrial vehicle, thus resulting in an overall contour of the industrial vehicle that is greater than the contour of the industrial vehicle without a load.

[0020] The term "long object detection device" in the context of this document refers to a device for detecting long objects. This device preferably detects whether or not a long object is placed on a load storage means of an industrial vehicle. The long object detection device is preferably an automatic long object detection device. The long object detection device is, therefore, preferably designed to operate automatically. Preferably, the long object detection device detects whether and / or to what extent and / or at what point a load placed on the load storage means protrudes beyond the contour of the industrial vehicle.

[0021] Preferably, the industrial vehicle is an unmanned transport vehicle, i.e. the industrial vehicle preferably has a device for automatic control and / or contactless guidance.

[0022] Preferably, the safety control device is configured to adapt the at least one protection area or one of the protection areas to the overall contour resulting from the industrial vehicle and the contained load.

[0023] The at least one or one of the protective areas may be formed in front of the industrial vehicle in the direction of travel, and the width, i.e., extension perpendicular to the direction of travel, of the at least one or one of the protective areas may correspond at least approximately to the width, i.e., extension perpendicular to the direction of travel, of the vehicle contour or the overall contour.

[0024] Preferably, the safety control device is configured to switch between protection areas of different size and / or shape and / or position relative to the industrial vehicle depending on the long object detected by the long object detection device.

[0025] In another embodiment, the safety control device influences the size and / or shape and / or position of at least one protection area or one of the protection areas relative to the industrial vehicle depending on the long object detected by the long object detection device, thereby allowing for a stepless adaptation of the protection areas.

[0026] Preferably, the safety control device is configured so that if the overall contour is enlarged towards the front in the direction of travel, it forms a larger protection area in the direction of travel than if the contour or the overall contour is not enlarged towards the front in the direction of travel.

[0027] Preferably, the safety control device is configured such that when the overall contour is expanded laterally to the direction of travel, it forms a larger protective area laterally to the direction of travel than when the contour or the overall contour is not expanded laterally to the direction of travel.

[0028] Preferably, the industrial vehicle has a mast with an upper region. The long object detection device preferably includes a laser scanner with a scanner detection area. The scanner detection area is preferably directed toward the load storage means. Preferably, the laser scanner is arranged in the upper region of the mast, and its scanner detection area is directed diagonally downward toward the forks. The scanner detection area of ​​the laser scanner may be formed two-dimensionally, for example, by a single integrated rotating mirror. In this case, the first dimension can be formed in the direction of the laser beam, and the second dimension can be formed perpendicular thereto, for example, by deflecting the rotating mirror. The laser scanner can be arranged so that the second dimension extends perpendicular to the fork tines. When the forks are in the lowered position, the scanner detection area preferably extends in the second dimension over at least 1.5, 2, or 3 times the maximum distance between the tines. In this way, even long objects can be reliably detected and accurately measured. The scanner detection area preferably extends less than 10 times or less than 5 times the maximum spacing of the tines from one another in the second dimension when the forks are in the lowered position.

[0029] To reliably detect irregularly shaped objects, the scanner detection area of ​​the laser scanner can be formed three-dimensionally. The laser scanner can be arranged so that the third dimension extends in the direction of the fork tines. Preferably, the scanner detection area extends in the third dimension over at least the entire length of the tines when the forks are lowered. In this way, the length of the object can be detected and measured over the entire fork length. The scanner detection area is preferably dimensioned so that the laser scanner can detect irregularly long objects, such as molded bodies of various lengths. To form the scanner detection area three-dimensionally, the laser scanner can be swivellably mounted on an industrial vehicle, for example, on a mast. To form the scanner detection area three-dimensionally, it is also conceivable to use a mirror that can be rotated in two directions, or to use two rotatable mirrors that are positioned orthogonally and are arranged near each other, and the laser beam can be reflected by the mirrors. The laser scanner is preferably safety-certified. The laser scanner preferably has a performance level of at least d.

[0030] Instead of or in addition to the laser scanner, the long object detection device can include a camera having a camera detection area. The camera detection area is preferably directed toward the baggage storage means. The camera detection area is preferably dimensioned so that non-uniform long objects, such as molded bodies of various lengths, are detected by the camera. The camera is preferably secured. The camera preferably has a performance level of at least d. The camera is preferably a 3D camera. The camera is preferably located in the upper region of the mast. The camera detection area is further preferably directed diagonally downward toward the forks. Preferably, the camera detection area extends in a first dimension over at least the entire length of the tines when the forks are lowered. Preferably, the camera detection area extends in a second dimension, preferably transverse to the fork tines, over at least 1.5, 2, or 3 times the maximum distance between the tines when the forks are lowered. In this way, even long long objects can be reliably detected and accurately measured. Preferably, the camera detection area extends in the second dimension less than 10 times or less than 5 times the maximum spacing between the tines when the forks are in the lowered position.

[0031] The lowered position of the forks preferably corresponds to the position that the forks assume for accommodating a load. The camera and / or laser scanner are preferably arranged to stay stationary during vertical movement of the load accommodating means.

[0032] The safety control device can have two monitoring sensors. The monitoring sensors can be arranged on the industrial vehicle at diagonal sensor positions, each with a monitoring sensor detection area that preferably extends horizontally over 270°. An industrial vehicle with a safety control device of this type can also be designed independently of the features described above.

[0033] This makes it possible to ensure a particularly suitable all-around view of the industrial vehicle and provides the basis for the safety control device to form a protection zone at any position around the industrial vehicle.

[0034] If the industrial vehicle has a thrust mast, i.e. a mast that can be extended and retracted again, the safety control device can configure at least one protection area or one of the protection areas as a rear space protection area. Industrial vehicles with a safety control device of this type can also be configured independently of the aforementioned features.

[0035] The rear space protection area is preferably arranged rearward of the thrust mast, i.e. preferably on the side of the thrust mast opposite the load carrying means or the forks. Preferably, the rear space protection area at least almost completely covers the rear space.

[0036] If the industrial vehicle has wheel arms, the rear space protection area is preferably arranged between the wheel arms. The safety control device can form at least one protection area or one of the protection areas as a rear space protection area, the size of which depends on the respective extension position of the mast. Preferably, the safety control device forms the rear space protection area as soon as the thrust mast is extended.

[0037] The rear space protection area ensures that if a person enters the area behind the thrust mast, for example between the extended thrust mast and the wheel arm, when the thrust mast is extended, it will be detected. In this way, it is possible to prevent a person from being trapped, preferably in the rear space. A device, for example a thrust mast sensor, may be provided to detect whether and to what extent the thrust mast is extended. The safety control device is preferably operatively connected to this device.

[0038] Preferably, the safety control device influences the size and shape of the at least one aft space protection area depending on the extent to which the thrust mast is extended, or switches between protection areas of different sizes and shapes depending on the extent to which the thrust is extended. Preferably, in this way it is achieved that the aft space protection area always at least almost completely covers the aft space in all possible thrust positions of the thrust mast.

[0039] If the industrial vehicle has a "U" shaped chassis and both legs of the "U" are each formed by one wheel arm, the monitoring sensor, which may also be called a rear space sensor, used by the safety control device to form the rear space protection area is preferably arranged in the area of ​​the industrial vehicle where both wheel arms are connected.

[0040] The term "rear space" in the context of this document refers to the area of ​​the thrust mast that faces away from the load-carrying means. If the industrial vehicle has wheel arms, the rear space is preferably also defined by the wheel arms. Preferably, in this case, the rear space is also defined by the area of ​​the industrial vehicle that connects the wheel arms to one another.

[0041] The industrial vehicle may have a load carrier detection device configured to detect and / or measure the load carrier so that the industrial vehicle can uniquely measure and / or identify and / or accommodate the load carrier. An industrial vehicle equipped with a load carrier detection device of this type may also be configured independently of the features described above.

[0042] The term "load carrier" means, within the scope of this document, devices on or in which loads, e.g. long objects, can be placed, such as europallets, long object pallets, workpiece carriers, and / or containers, e.g. lattice boxes.

[0043] The load carrier detection device preferably includes a load carrier detection camera. This camera is preferably a 3D camera. The load carrier detection device is preferably arranged to move with the load storage means or the forks during their vertical movement, more preferably between the fork tines. The industrial vehicle may have a fork support. Preferably, the fork support connects the forks to the mast. The load carrier detection device may be arranged centrally below the fork support. The load carrier detection device preferably has a load carrier detection area that also extends at least parallel to the fork tines. If the load carrier detection device is configured as a load carrier detection camera, the load carrier detection camera in this case has a line of sight parallel to the load or parallel to the load storage movement performed by the industrial vehicle and / or thrust mast during load storage in order to detect and / or measure the load carrier.

[0044] Just one, two, more or all wheels of the industrial vehicle may be driven. A dedicated drive motor may be provided for each driven wheel. Just one, two, more or all wheels of the industrial vehicle may be steerable. A dedicated steerable motor may be provided for each steerable wheel.

[0045] The present invention will now be described in detail with reference to the illustrated embodiments. [Brief explanation of the drawings]

[0046] [Figure 1] 1 is a side view showing a first embodiment of an industrial vehicle according to the present invention together with a long object stored therein. [Figure 2] FIG. 2 is a perspective view of the industrial vehicle shown in FIG. [Figure 3] 2 is a top view of the industrial vehicle shown in FIG. 1 together with the protection area. [Figure 4]FIG. 10 is a perspective view showing a second embodiment of an industrial vehicle according to the present invention, which has a camera instead of a laser scanner as a long object detection device. [Figure 5] 5 is a top view of the industrial vehicle shown in FIG. 4 together with the stored long objects and the protection area. [Figure 6] FIG. 10 is a top view of a third embodiment of an industrial vehicle according to the present invention. [Figure 7] FIG. 10 is a perspective view showing a fourth embodiment of an industrial vehicle according to the present invention. [Figure 8] FIG. 8 is a top view of the industrial vehicle shown in FIG. 7 with the thrust mast extended and the claw spacing narrowed. [Figure 9] FIG. 10 is a side view showing a fifth embodiment of an industrial vehicle according to the present invention. [Figure 10] FIG. 10 is a perspective view of the industrial vehicle shown in FIG. DETAILED DESCRIPTION OF THE INVENTION

[0047] A first embodiment of an industrial vehicle according to the present invention (hereinafter referred to as industrial vehicle 100) shown in FIGS. 1 to 3 and designated by reference numeral 100 relates to an industrial vehicle equipped with baggage storage means 1 for storing long objects L.

[0048] The industrial vehicle 100 is configured as a forklift truck. That is, the industrial vehicle includes a mast 8, and the load receiving means 1 of the industrial vehicle comprises a fork 10. The fork has two claws 21, 21'. A spacing adjustment device is provided for the claws 21, 21', which allows the claws 21, 21' to be positioned so far apart that they are located outside the wheel arms 20, 20' when viewed from above (see FIG. 3). The industrial vehicle can travel in longitudinal travel LF (FIG. 3). The industrial vehicle can also travel in transverse travel QF, as shown in FIG. 5 for a second embodiment 200. The industrial vehicle 100 is configured as a thrust mast forklift truck and has an extendable and retractable mast 8 configured as a thrust mast 15. The industrial vehicle 100 has a "U"-shaped chassis, each of the two legs of the "U" shape being formed by one wheel arm 20, 20'. As can be seen best in Figure 3, the long object L is a load that, when stored on the load storage means and when the industrial vehicle 100 is ready to travel, i.e., when the thrust mast 15 is retracted, extends beyond the contour of the industrial vehicle 100 and therefore creates an overall contour G that is greater than the contour of the industrial vehicle without a load. The industrial vehicle is a side loader, i.e., it allows a direction of travel (F) (Figure 3) that extends transversely to the fork tines 21, 21'.

[0049] The industrial vehicle 100 is an unmanned transport vehicle, and has a long object detection device 2 for detecting a long object L.

[0050] The industrial vehicle further comprises a safety control device 3, which is symbolically represented by a square in Fig. 1 and which itself comprises at least one monitoring sensor 4, 4', which forms at least one protective area 5, 5'. The safety control device 3 is operatively connected to the long object detection device 2 and is configured to influence the at least one protective area 5, 5' depending on the long object L detected by the long object detection device 2.

[0051] The safety control device 3 is configured to stop the industrial vehicle 100 if a vehicle or a person is detected within the protection area 5, 5' by at least one monitoring sensor 4, 4'.

[0052] The safety control device 3 adapts the protection areas 5, 5' to the overall contour resulting from the industrial vehicle and the stored long objects by switching between protection areas 5, 5' having different sizes and / or shapes and / or positions relative to the industrial vehicle depending on the long object detected by the long object detection device 2.

[0053] This is shown, for example, in Figure 3. In this case, the industrial vehicle 100 is positioned to the left in longitudinal travel LF and is traveling at a certain speed. Due to the loaded load, the overall contour G consisting of the industrial vehicle 100 and the load is enlarged, since the load protrudes, inter alia, forward in the direction of travel F beyond the contour of the industrial vehicle 100. To take this into account, the safety control device 3 switches from the protection area 5 (shown as a grid) that would be formed when traveling at this speed in this direction without the long object L to a protection area 5' that is enlarged in the direction of travel. That is, the safety control device 3 forms a larger protection area 5' in the direction of travel F based on the overall contour G that is enlarged forward in the direction of travel F in Figure 3.

[0054] 5 shows a state in which a long object L is stored in the vehicle during lateral travel. To take into account the widening of the overall contour G, the safety control device 3 switches from the protective area 5 (shown as a grid) formed during such travel without the long object L to a wider protective area 5'. That is, the safety control device 3 forms a wider protective area 5' in the lateral direction relative to the travel direction F based on the overall contour G, which is widened in the lateral direction relative to the travel direction F in FIG. 5.

[0055] In Figures 3 and 5, the protection area 5, 5' is formed in front of the industrial vehicle 100, 200 in the direction of travel F, and its width, i.e. its extension transverse to the direction of travel F, corresponds at least approximately to the width of the overall contour G. This illustrated ratio between the vehicle contour / overall contour and the protection area is merely an example. The safety control device can therefore always provide a protection area that is wider than the vehicle contour or overall contour G. For cornering, the safety control device can form a separate protection area.

[0056] In the industrial vehicle 100, the long object detection device 2 is equipped with a laser scanner 6 arranged in the upper region 9 of the mast 8, which has a scanner detection area 7 directed diagonally downward toward the forks 10.

[0057] The scanner detection area 7 of the laser scanner 6 itself is firstly two-dimensional. In this case, the first dimension is in the direction of the laser beam and the second dimension is perpendicular thereto. The laser scanner 6 is arranged so that the second dimension extends perpendicular to the tines 21, 21' of the fork 10. When the fork 10 is in the lowered position (not shown in the drawings), the scanner detection area 7 extends in the second dimension over approximately three times the maximum distance between the tines 21, 21'. The scanner detection area 7 of the laser scanner 6 (shown in dashed lines in FIG. 1) is three-dimensional and is arranged on the mast 8 so that the laser scanner 6 can pivot within it. This is indicated by the double-headed arrow P in FIG. 1. The third dimension of the scanner detection area extends in the direction of the tines 21, 21' of the fork 10. When the fork is in the lowered position, the scanner detection area 7 extends in the third dimension over the entire length of the tines.

[0058] Further embodiments are shown in Figures 4 to 10. In this case, the same reference numerals indicate the same components. For these components, reference is made to the above description. In the following, only the differences with respect to the first embodiment shown in Figures 1 to 3 are presented.

[0059] 4 and 5 show a second embodiment of an industrial vehicle (industrial vehicle 200) according to the present invention, designated by the reference numeral 200. The second embodiment differs from the first embodiment 100 in that the long object detection device 2 is equipped with a camera 11 having a camera detection area 12 instead of a laser scanner 6 (FIG. 5).

[0060] In a third embodiment of an industrial vehicle according to the invention (industrial vehicle 300), designated by the reference numeral 300 in Fig. 6, the safety control device 3 has exactly two monitoring sensors 4, 4', which are arranged on the industrial vehicle 300 at diagonal sensor positions 13, 13' and each have a monitoring sensor detection area 14, 14' which preferably extends horizontally over an angle α, α' of 270°. This ensures a particularly suitable all-around view of the industrial vehicle 300. At least one monitoring sensor 4, 4' may be configured in this way in all the illustrated embodiments.

[0061] In a fourth embodiment of the industrial vehicle according to the invention (industrial vehicle 400), designated by the reference numeral 400 in FIGS. 7 and 8, the safety control device 3 forms one of the protection zones 5 as a rear space protection zone 16, the size of which depends on the respective mast extension position and is indicated by hatching in FIG. 8. A device for detecting whether and to what extent the thrust mast 15 is extended, i.e., a thrust mast sensor 23, is provided. The safety control device 3 is operatively connected to the thrust mast sensor 23 and switches between protection zones of different sizes and shapes depending on the extension dimension of the thrust mast 15, so that the rear space protection zone 16 always covers the rear space at least almost completely in all possible thrust positions of the thrust mast 15. The safety control device 3 forms the rear space protection zone 16 by means of a rear space sensor 22, which is arranged on the industrial vehicle 400 in the region connecting the two wheel arms 20, 20′.

[0062] In a fifth embodiment of an industrial vehicle according to the present invention (industrial vehicle 500), designated by the reference numeral 500 in FIGS. 9 and 10 , the industrial vehicle 500 has a load carrier detection device 17 configured to detect and measure load carriers, such as euro pallets or trellis boxes, so that the industrial vehicle 500 can uniquely measure, identify, and store the load carriers. The load carrier detection device 17 has a load carrier detection camera 18 configured as a 3D camera and arranged below the fork support 19, centered between the tines 21, 21′ of the forks 10. The load carrier detection camera 18 has, among other things, a load carrier detection area 24 extending parallel to the tines 21, 21′ of the forks 10. In this case, the load carrier detection camera 18 has a line of sight parallel to the load-storing movement performed by the industrial vehicle 500 and / or the thrust mast 15 during loading, in order to detect and measure the load carriers. [Explanation of symbols]

[0063] 100,200,300,400,500 Industrial vehicles 1. Luggage storage means 2. Long object detection device 3 Safety control device 4,4' Monitoring sensor 5,5' protected area 6. Laser scanner 7 Scanner detection area 8 Mast 9 Upper area 10 forks 11 Camera 12 Camera detection area 13,13' Sensor position 14,14' Monitoring sensor detection area 15 Thrust Mast 16 Rear space protection area 17 Load carrier detection device 18 Load carrier detection camera 19 Fork support 20,20' Wheel Arm 21,21' nails 22 Rear space sensor 23 Thrust mast sensor 24 Load Carrier Detection Area α,α' angles F Travel direction G Overall outline L Long items P double-headed arrow LF vertical travel QF Sideways movement

Claims

1. An industrial vehicle (100, 200, 300, 400, 500) comprising: a luggage storage means (1) for storing a long object (L); and a long object detection device (2) for detecting the long object (L); a safety control device (3), the safety control device having at least one monitoring sensor (4, 4'), the monitoring sensor (4, 4') forming at least one protection area (5, 5'); the safety control device (3) is operatively connected to the long object detection device (2) and is configured to influence the at least one protection area (5, 5') depending on the long object (L) detected by the long object detection device (2); The industrial vehicle (100, 200, 300, 400, 500) has a mast (8) with an upper region (9) and forks (10), and the long object detection device (2) is equipped with a laser scanner (6) with a scanner detection region (7), the laser scanner (6) is arranged in the upper region (9) of the mast (8), and the scanner detection region (7) of the laser scanner is directed diagonally downward toward the forks (10).

2. 2. The industrial vehicle (100, 200, 300, 400, 500) according to claim 1, wherein the industrial vehicle (100, 200, 300, 400, 500) is an unmanned transport vehicle configured as a side loader.

3. 3. The industrial vehicle (100, 200, 300, 400, 500) according to claim 1 or 2, wherein the safety control device (3) is configured to adapt the at least one protection area (5, 5') to the overall contour (G) resulting from the industrial vehicle (100, 200, 300, 400, 500) and the long object (L) accommodated therein.

4. The safety control device (3) is configured to switch between protection areas (5, 5') having different sizes and / or shapes and / or positions relative to the industrial vehicle (100, 200, 300, 400, 500) depending on the long object (L) detected by the long object detection device (2).

5. The industrial vehicle (100, 200, 300, 400, 500) according to any one of claims 1 to 4, wherein the industrial vehicle has a mast (8) having an upper region (9) and forks (10), and the long object detection device (2) is equipped with a camera (11) having a camera detection region (12), the camera (11) is arranged in the upper region (9) of the mast (8), and the camera detection region (12) of the camera is directed diagonally downward toward the forks (10).

6. 6. The industrial vehicle (100, 200, 300, 400, 500) according to claim 1, wherein the safety control device (3) has two monitoring sensors (4, 4') arranged on the industrial vehicle at diagonal sensor positions (13, 13') and each has one monitoring sensor detection area (14, 14') extending over 270°.

7. 7. The industrial vehicle (100, 200, 300, 400, 500) according to claim 1, wherein the industrial vehicle (100, 200, 300, 400, 500) has a mast (8) formed as a thrust mast (15), i.e., an extendable and retractable mast (8), the industrial vehicle (100, 200, 300, 400, 500) has wheel arms (20, 20'), and the safety control device (3) forms at least one protective area (5, 5') as a rear space protective area (16) that is arranged between the wheel arms (20, 20') on the side of the thrust mast (15) facing away from the load storage means (1).

8. 8. The industrial vehicle (100, 200, 300, 400, 500) according to claim 1, further comprising a load carrier detection device (17) configured to detect and / or measure the load carrier so that the industrial vehicle (100, 200, 300, 400, 500) can uniquely measure, identify and / or accommodate the load carrier.

9. The industrial vehicle (100, 200, 300, 400, 500) according to claim 8, wherein the industrial vehicle (100, 200, 300, 400, 500) comprises a fork (10) having claws (21, 21'), and the load carrier detection device (17) comprises a load carrier detection camera (18) arranged between the claws (21, 21') of the fork (10).

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