Movable sensor device on the loading means of a forklift

Abstract

Disclosed is a movable load sensor (1) for identifying and monitoring a load on a forklift (7). Said load sensor (1) detects the load, the lifting fork (2), and the environment located in front of the forklift (7). The detected sensor data is then evaluated by means of a computing unit (4). The inventive load sensor (1) is mounted so as to be movable relative to the mast (5) of the forklift (7) in synchrony with the load carrying means (6) while also being movable relative to the load carrying means (6) such that dynamic changes in the surroundings of the forklift (7) can be taken into consideration during the docking process, even in difficult lighting conditions.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

Additional attributes and advantages of the invention result from the following description of different embodiments by means of the illustrations.

FIG. 1 Forklift with a movable load sensor

FIG. 2 a Detail view of the movable load sensor with positioning below the level of the lifting fork

FIG. 2 b Detail view of the movable load sensor with positioning above the level of the lifting fork

FIG. 3 Approach of the forklift to pick up the load

FIG. 4 Lowering the load carrying means during docking

FIG. 5 Transport of a load with route monitoring

FIG. 6 Transport of a load with load monitoring

DETAILED DESCRIPTION OF THE INVENTION

FIG. 1 shows an exemplary arrangement of the movable load sensor 1 on a forklift 7. The load sensor 1 is physically connected to and simultaneously movable together with the load carrying means 6 with respect to the mast 5. The load sensor 1 is additionally movable with respect to the lifting fork 2 within a pre-determined range. The environmental data acquired by the load sensor 1 is then evaluated by a computing unit 4. The computing unit 4 may also be used as the controls system of the forklift and its other sensors.

FIG. 2 a shows an exemplary detailed view of the load sensor 1 which is physically connected to and simultaneously movable together with the load carrying means 6. Here the load sensor 1 is by means of a linear drive 3 additionally movable with respect to the lifting fork 2 within a pre-determined range. In the exemplary embodiment according to FIG. 2a the load sensor 1 is positioned below the level of the lifting fork 2. This variant is in particular of advantage with the load carrying means 6 of the forklift in an elevated position. Whereas in FIG. 2b a detailed view of the load sensor 1 is shown, in which said load sensor 1 is positioned above the level of the lifting fork 2. Here the mechanical components of the linear drive 3 are also located above the level of the lifting fork 2. Thereby it is possible to completely lower the lifting fork 2 down to the floor, without damaging the linear drive 3 or the load sensor 1.

In FIG. 3 a forklift 7 is shown with an apparatus according to the invention. The fork lift 7 is approaching the load 8 for a pickup. The load carrying means 6 prior to docking is still in an elevated position. Hence the load sensor 1 is preferably positioned below the level of the lifting fork 2. Arrangements are made for a pivoting mechanism 9 for horizontal and vertical tilt of the load sensor 1 to allow for different views. The alignment of the load sensor 1 is such that it can observe the route 10 as well as the load 8.

The forklift 7 in FIG. 4 is shown with the load carrying means 6 lowered to pickup a load 8. Here the Load sensor 1 is elevated above the level of the lifting fork 2 by means of the linear drive 3. Thus the load sensor 1 is even under difficult lighting conditions able to precisely observe the lifting fork 2 and load 8 during docking, while driving the lifting fork 2 into the pockets of a euro-palette 1, enabling positioning corrections if need be.

FIG. 5 shows the transport of a load 8 with the forklift 7. Here the load sensor 1 is positioned below the level of the lifting fork 2, such that the route of the fork lift can be observed, e.g. in the context of an obstacle recognition. In case the load sensor 1 is located only slightly below the level of the lifting fork 2 it can simultaneously detect a potential shift of the load 8 with respect to the lifting fork 2.

As shown in FIG. 6 it is also conceivable during the transport of a load 8 to position the load sensor 1 above the level of the lifting fork 2. In this case the load 8 as well as a part of the route and the lifting fork 2 can be observed during transport with the forklift 7. In an advantageous manner the load sensor 1 is also movable horizontally.

As a matter of course multiple/different sensors can be combined as the load sensor, such that the quality of the acquired environmental data is further improved, potentially resulting in new application scenarios. Furthermore additional pivoting mechanisms may be utilized in connection with the sensors.

Claims

1. A method for the operation of a movable load sensor (1) for load detection and load monitoring on a forklift, in which the load (3) and/or the lifting fork (2) and/or the environment ahead of the forklift (7) is observed by means of a load sensor (1), the sensor data acquired by the load sensor (1) is analyzed by a computing unit (4), and the load sensor (1) is movable simultaneously with the load carrying means with respect to the mast of the forklift, wherein the load sensor (1) is in addition movable with respect to the load carrying means (6) within a pre-determined range.

2. A method as in claim 1, wherein said load sensor (1) is vertically movable into a position above or below the level of the lifting fork (2).

3. A method according to claim 1, wherein the load sensor (1) is horizontally movable into a position to the left or right of the lifting fork (2).

4. A method according to claim 1, wherein the load sensor (1) can be tilted vertically and/or horizontally.

5. A method according to claim 1, wherein recognition and monitoring of the load is accomplished utilizing distance information.

6. A method according to claim 1, wherein recognition and monitoring of the load is accomplished utilizing visual information.

7. A method according to claim 1, wherein recognition and monitoring of the load is accomplished utilizing acoustic information.

8. A moveable load sensor (1) for load recognition and load monitoring on a forklift, in which said load sensor (1) is aligned such that it can observe the load (3) and/or the lifting fork (2) and/or the environment ahead of the forklift, and including a computing unit (4) to analyze the data acquired with the load sensor (1), in which said load sensor is supported such that it is movable simultaneously with the load carrying means with respect to the mast of the forklift, wherein a means is provided such that the load'sensor (1) is also movable with respect to the load carrying means (6) within a pre-determined range.

9. A moveable load sensor device according to claim 8, wherein a moving means is provided to vertically position the load sensor (1) above or below the lifting fork (2) level.

10. A moveable load sensor device according to claim 8, wherein a moving means is provided to horizontally position the load sensor (1) to the left or right or the lifting fork (2).

11. A moveable load sensor device according to claim 8, wherein the load sensor (1) can tilt in a vertical direction and/or swing in a horizontal direction.

12. A moveable load device according to claim 8, wherein the load sensor (1) includes at least one laser scanner.

13. A moveable load sensor device according to claim 8, wherein the load sensor (1) includes at least one image sensor.

14. A moveable load sensor device according to claim 8, wherein the load sensor (1) includes at least one ultrasonic sensor.