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EP3495316B1 - Fahrzeug, das eine assistenzvorrichtung für die lastenförderung umfasst, und entsprechendes verfahren - Google Patents

Fahrzeug, das eine assistenzvorrichtung für die lastenförderung umfasst, und entsprechendes verfahren Download PDF

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Publication number
EP3495316B1
EP3495316B1 EP18211531.1A EP18211531A EP3495316B1 EP 3495316 B1 EP3495316 B1 EP 3495316B1 EP 18211531 A EP18211531 A EP 18211531A EP 3495316 B1 EP3495316 B1 EP 3495316B1
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EP
European Patent Office
Prior art keywords
vehicle
zone
load
environment
image
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
EP18211531.1A
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English (en)
French (fr)
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EP3495316A1 (de
EP3495316C0 (de
Inventor
Sylvain CADOU
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Manitou BF SA
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Manitou BF SA
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Publication of EP3495316A1 publication Critical patent/EP3495316A1/de
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Publication of EP3495316C0 publication Critical patent/EP3495316C0/de
Publication of EP3495316B1 publication Critical patent/EP3495316B1/de
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F17/00—Safety devices, e.g. for limiting or indicating lifting force
    • B66F17/003—Safety devices, e.g. for limiting or indicating lifting force for fork-lift trucks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/065—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks non-masted
    • B66F9/0655—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks non-masted with a telescopic boom
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/0755—Position control; Position detectors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
    • B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
    • B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
    • B66F9/075—Constructional features or details
    • B66F9/20—Means for actuating or controlling masts, platforms, or forks
    • B66F9/24—Electrical devices or systems

Definitions

  • the present invention relates generally to load handling devices, vehicles and methods.
  • Load handling vehicles are known from the state of the art. These vehicles usually include a rolling chassis and a load handling system, such as a telescopic arm fitted with forks which allow a load to be picked up, moved or deposited.
  • a load handling system such as a telescopic arm fitted with forks which allow a load to be picked up, moved or deposited.
  • the load is intended to be picked up, moved or placed in a given place, for example high up on the roof or on a floor through a window of the building.
  • the object of the present invention is to overcome all or part of the problems set out above.
  • the subject of the invention is a handling vehicle according to claim 1.
  • positioning the camera above the load by directing it towards this load provides an image of the environment which can only be used when the load is already in the pick-up or drop-off area. desired and that consequently the movement of the machine itself is not necessary.
  • the image provided by the image acquisition device corresponds substantially to the field of vision of the operator present in the passenger compartment which steers the vehicle by looking through the front windscreen, which promotes the reliability of the steering of the vehicle by the operator and in particular enables the operator to handle the load with reduced risk of error.
  • the front environment is thus defined by reference to the front windscreen, that is to say the environment viewed by the operator located inside the passenger compartment who, when driving the vehicle, is looking straight ahead of him through the front windshield.
  • Such a design of the vehicle allows the operator to place his vehicle, if necessary, at an adequate distance from the zone at which he wishes to place or grasp the load.
  • the operator can easily and reliably decide to move (advance) the vehicle to allow the handling system to reach a given location which, in the previous position of the vehicle, was not reachable.
  • the position of said support system is preferably defined with respect to a reference point of the vehicle whose position is independent of the position of the arm.
  • the assistance device thus enables the operator to be able to identify whether or not the load support system of the vehicle can reach a given zone of the environment of the vehicle in order to handle a load in said zone.
  • the term “handling a load” means the seizure, movement and/or setting down of the load.
  • the load can be an object or a person.
  • the object can be unitary, such as a pallet, or non-unitary, for example granules, such as gravel.
  • this capacity information is available to the operator with the aid of a dynamic display on the screen which allows him to be informed in real time of the possibility of reaching or not reaching a given zone in a secure manner.
  • the operator can, when he is too far from the area to be reached to be able to handle the load in said area, approach the vehicle until the assistance device indicates handling capacity information in said zone which is compatible with the load that the operator wishes to handle, that is to say information which allows the operator, who knows the weight of the load to be handled, to know that he can handle the load in the desired area in a safe manner.
  • the capacity or not of carrying a load by the support system in a given load handling position depends, for a given location of the vehicle, for example defined by the position of its chassis, on the capacity of the vehicle to bring its load support system to said given handling position, in a secure manner, that is to say without risk of the vehicle tipping over.
  • said capacity or not to carry a load may depend on construction characteristics of the vehicle and on the weight of the load. This information can be stored in the form of charts.
  • the inability to handle a load in a given position may result from the desired load handling position which the load support system cannot reach due to the technical construction characteristics of the vehicle.
  • the assistance device comprises a processing unit for performing said steps.
  • the processing unit can comprise a processor (or microprocessor) or a microcontroller and stored computer instructions which are intended to be executed for the implementation of said steps.
  • the screen can be integrated into the vehicle, for example in the passenger compartment of the vehicle, or be brought back into the vehicle or even be deported.
  • the screen can be the screen of a mobile device, such as a smart phone, or even the screen of a remote control for controlling the vehicle allowing, for example, an operator to control the vehicle from the exterior of the vehicle.
  • the image acquisition device is mounted on a part of the vehicle whose position is independent of the position of the arm and of the load support system.
  • the correspondence between what the operator sees and the image provided by the image acquisition device is further improved by positioning the image acquisition device, not on the arm equipped with the load support system , but on a part of the vehicle whose position does not depend on that of the arm (or of the support system).
  • the image acquisition device is mounted on a part of the vehicle which is fixed relative to the front windshield of the vehicle.
  • the telemetry device comprises a laser rangefinder or a time-of-flight camera, called TOF (for Time of Flight in English).
  • the image contains several environmental zones, and the assistance device is configured to execute said steps of determining spatial coordinates, determining capacity information, and displaying for each of these areas.
  • said capacity information corresponds to maximum load values that can be carried by the load support system, for example 200 kg; 1000 kg and 2000 kg.
  • said capacity information also includes charging port incapacity information.
  • This incapacity information is, as for the other capacity information, associated with at least a part of the zone of the environment of the vehicle.
  • the telemetry device being mounted movable, preferably rotationally, relative to the chassis of the vehicle, the assistance device is configured to control the movement of the telemetry device (directly or indirectly ), so as to determine the spatial coordinates of several areas of the environment of the vehicle covered by the field of the image acquisition device.
  • the telemetry device has an axis around which it is rotatably mounted, and the telemetry device is configured to rotate around its axis, preferably cyclically, autonomously or by being controlled by the assistance device, in order to determine the spatial coordinates of several areas of the environment of the vehicle covered by the field of the image acquisition device.
  • the telemetry device can turn autonomously in the sense that the telemetry device turns on itself as soon as it is powered up.
  • said axis is a substantially vertical axis, called vertical axis, when the vehicle is on horizontal ground.
  • Said telemetry device can thus be rotated around its own axis, in order to scan an area wider than a segment.
  • the telemetry device can thus perform a vertical scan, for example from top to bottom, and rotate cyclically around its vertical axis to cover several zones.
  • the vehicle comprises a rotating turret around a substantially vertical axis on which the telemetry device is mounted, and the assistance device is configured to transmit control instructions to a control unit of the vehicle to control the rotation of the turret so as to determine, using the telemetry device, the spatial coordinates of several zones of the environment of the vehicle.
  • the assistance device comprising means for measuring or calculating the weight of the load to be handled, the assistance device is configured to determine information relating to the ability or not to carry said load in the area or part of said area of the vehicle environment based on the measured load weight, the determined spatial coordinates of said area of the vehicle environment and said data set.
  • the invention relates to a handling vehicle 1 comprising a load handling assistance device.
  • the load can be an object, unit type or not, or even a person.
  • said vehicle is a telescopic truck.
  • the invention applies to other types of handling vehicles, such as lifting platforms.
  • Said vehicle 1 is configured to allow a load C11 to be handled.
  • the vehicle comprises a load support system, such as forks intended to carry a load to be handled.
  • the handling is described below more particularly in the direction of a load removal at a given location, but the invention also applies to handling in the direction of a load displacement or a load seizure. at a given place.
  • said vehicle 1 comprises a frame 100 provided movement means, for example wheels 19. Said vehicle can also be provided with stabilizers 19' as illustrated in figure 5 .
  • the vehicle comprises a load support system 110 and an arm 109, such as a telescopic arm, equipped with said load support system 110, preferably at the end of said arm.
  • the load support system 110 can be a people lift, or a fork system.
  • the arm 109 is a telescopic arm and the load support system 110 comprises a fork system mounted at the free end of the telescopic arm.
  • the frame 100 is provided with a turret 101 which carries an arm 109' provided with a load support system 110' which comprises a nacelle.
  • the turret 101 is rotatably mounted around an axis A1 orthogonal with respect to the support plane on the ground of the vehicle.
  • Said assistance device makes it possible to help the operator who is driving the vehicle, when the operator wishes to be able to handle a load using the load support system of the vehicle in a desired real area in the environment of the vehicle, by helping him to determine whether or not he can handle the load in this real zone, in a safe manner, for example without risk of the vehicle tipping over.
  • the device comprises a camera 13 which equips the vehicle.
  • the camera 13 makes it possible to acquire an image 4 of an area 3 of the surrounding space, in particular in front of the vehicle 1.
  • the rest of the description is carried out on the basis of an image acquired by the camera to explain how load capacity information is determined and associated with said image.
  • the description applies to an acquisition of images in real time and to an association in real time with different areas or portions of areas of the image of the corresponding charge capacity information.
  • the image 4 is acquired by the camera 13, but the description naturally applies to any system making it possible to capture the image of the space which is in front of the vehicle.
  • the camera 13 is preferably located at the front of the vehicle. According to a particular aspect, the camera 13 is located on an open area, such as the front of the chassis, a rear-view mirror, or a front headlight of the vehicle or the roof of the passenger compartment.
  • the camera is oriented forwards, that is to say towards the field of vision visible to the operator through the front windshield from inside the vehicle cabin.
  • the optical axis, or axis of the cone of vision, of the camera is directed towards the environment which is in front of the vehicle.
  • said orientation direction of the optical axis is substantially parallel to said longitudinal direction.
  • the vision plane of the camera is substantially vertical and in front of the vehicle.
  • the field of vision of the camera substantially corresponds to the field of vision of the operator present in the passenger compartment who is looking ahead through the windshield.
  • this optical axis when the direction of this optical axis is broken down into a horizontal component and a vertical component in a vertical plane (or more generally orthogonal to the ground support plane of the vehicle) passing through said optical axis, the horizontal component (or parallel to the ground support plane of the vehicle) is greater than the vertical component.
  • the optical axis of the camera is substantially horizontal.
  • the camera has a cone of vision whose axis is substantially parallel to the direction of vision through the front windshield for an operator located inside the passenger compartment in the driving position of the vehicle and who is looking straight. behind him.
  • the camera 13 is located on a part of the vehicle chassis which is distinct from the load handling system, which in the example illustrated in the figures comprises the telescopic arm and the accessory support provided with forks.
  • the position of the camera 13 does not depend on the position of the arm or the forks.
  • the camera 13 is located on a part of the vehicle chassis which is fixed relative to the windshield.
  • the assistance device also comprises a display screen 7 to make it possible to give visual feedback to the operator on the ability or otherwise of the vehicle to handle a load at at least one given location of the environment in which the vehicle is located which corresponds to at least part of the acquired image displayed on the screen.
  • the display screen 7 allows the operator to view the image acquired by the camera 13 with, as detailed below, handling capacity information I41, I42, I43, I44 superimposed on parts P41, P42, P43, P44 of said image 4 displayed on screen 7 (see Figure 1A ) corresponding to real areas of the environment of the vehicle.
  • these parts P41, P42, P43, P44 correspond to portions of the zone 301 of the building 300 measured using the telemetry device 12.
  • the device for the assistance handling the load comprises a processing unit 200, such as a processor or microcontroller, and a memory 201 which contains chart data (presented below).
  • a processing unit 200 such as a processor or microcontroller
  • a memory 201 which contains chart data (presented below).
  • the processing unit 200 is connected to the camera 13, to a telemetry device 12 (presented below) and to the display screen 7. It can be provided that the memory 201 which contains the data of the chart whether or not included in the processing unit 200.
  • the abacus AB1 provides information relating to maximum load values that the load support system 110 of the vehicle can carry in different positions defined in a marker attached to the vehicle. According to a particular aspect, these positions are in front of the vehicle. These positions in which the load carrier can carry different maximum load values are functions of construction characteristics of the vehicle, such as the length of the handling arm. According to a particular aspect, the maximum load associated with a given position of the load support system corresponds to a load beyond which the safe handling of the load is no longer ensured, for example because there is a risk of tipping over and/or damage to the vehicle.
  • the vehicle more particularly a given point of the vehicle, is taken as the center of a benchmark.
  • This mark is for example the mark R10 whose center is taken at the base of the telescopic arm 110 as illustrated in figure 4 or at the figure 4A .
  • This chart thus provides, in a reference frame centered on the vehicle and for the scanning zone that the telescopic arm of the vehicle can travel between its retracted position and its extended position and with a given angle of movement, values of the maximum load that can be handled by the vehicle at each of the points in this zone.
  • the chart is in the form of a set of digital data recorded in the memory 201 and able to be interpreted by the processing unit 200.
  • the chart can thus contain vehicle stability performance information (mass, position of the forks), that is to say the capacity of the vehicle to carry a mass at a height and /or a given distance and the maximum weight not to be exceeded at the end of the handling system so as not to risk tipping the vehicle.
  • the data set includes a discrete number of peak load values.
  • the scan zone of the arm of the vehicle is thus broken down into several sub-zones, the number of which is equal to that of the number of defined maximum load values. As shown in picture 3 , the closer the sub-zone is to the vehicle reference point, the greater the value of the maximum load that can be handled in this zone.
  • the maximum load values are predefined values.
  • the maximum values include, for example, the following values: 300 kg; 400kg; 600kg; 900kg; 1200kg; 1500kg; 2000kg; 2500kg;3000kg; 4000 kg. Of course other values, as well as intermediate values can be defined.
  • a color code is associated with each predefined maximum load value.
  • a color code is also associated with the unreachable state information.
  • the memory 201 can also comprise an abacus AB1′, similar to the abacus AB1, but corresponding to a configuration in which the vehicle is on stabilizers.
  • the assistance device comprises a telemetry device 12 .
  • said distance telemetry device 12 is a rangefinder, for example of the LIDAR type or a TOF camera, but of course the description applies to any other type of telemetry device.
  • the distance telemetry device 12 is on board the vehicle.
  • the telemetry device 12 is preferably located at the front of the vehicle.
  • the telemetry device 12 is located on an open area, such as the front of the chassis, a rear-view mirror, or a front headlight or the top of the passenger compartment of the vehicle.
  • the telemetry device 12 is arranged in an identical or similar manner to the camera 13 in order to be able to measure the spatial coordinates of the elements of the front environment whose image is acquired by the camera 13.
  • the device 12 telemetry is directed towards the environment which is located in front of the vehicle and which is visible through the front windshield by an operator present in the passenger compartment.
  • the telemetry device 12 is located next to the camera 13.
  • the telemetry device 12 is oriented towards the front of the vehicle with an average emission axis which is substantially parallel to the optical axis of the camera.
  • the telemetry device 12 thus makes it possible to measure the distance between the vehicle 1 and an element, such as a given real zone of a building, located in the measurement field, that is to say an element of the environment in which the vehicle is located.
  • the assistance device can thus, using the telemetry device 12, determine the spatial coordinates of a given real zone of the environment of the vehicle. Said spatial coordinates are determined in a frame attached to the vehicle.
  • marker attached to the vehicle is meant a marker associated with a point which is integral in movement with the vehicle, thus the marker R13 of the camera 13 and the marker R12 of the telemetry device 13 which are carried by the chassis of the vehicle are considered as markings attached to the vehicle.
  • this marker is attached to an element whose position or orientation is not impacted by the position of the arm.
  • the telemetry device 12 can be fixed relative to the chassis of the vehicle (as in the example of the figure 1 , 4 and 4A ) or mobile (as in the example corresponding to figures 5 and 5A ), for example rotating in order to scan an actual area of space around the vehicle, by rotation around a substantially vertical axis, called the vertical axis.
  • the telemetry device 12 is for example a LIDAR (light detection and ranging) type rangefinder.
  • a rangefinder comprises a laser which, thanks to its impact on an object, measures the distance from which it is removed.
  • the telemetry device 12 can be a TOF (time of flight) type camera.
  • TOF time of flight
  • Such a TOF camera makes it possible to measure in 3D the distance between the camera and each point in front of the camera corresponding to the field of vision.
  • the telemetry device can comprise several telemeters configured to scan a larger region or surface of space.
  • the processing unit 200 is configured to process the data measured by the telemetry device 12 to recreate in the form of clouds of points, of known coordinates, real areas of space around the vehicle, of which at least a part corresponds also to at least part of the image 4 acquired by the camera 13.
  • the processing unit 200 can then associate with each real zone situated in the measurement field of the telemetry device 12, positioning coordinates, in a given frame of reference.
  • Said zone can be defined in space as a point or a multiplicity of points, a line, a surface or a volume.
  • Coordinates can be defined in a polar (2D) coordinate system allowing the angle and distance of a point in an area to be defined in front of the vehicle, or a spherical or cylindrical (3D) coordinate system. Spatial coordinates can also be defined in a Cartesian coordinate system (2D or 3D).
  • the spatial coordinates of a zone of the environment of the vehicle determined using the telemetry device 12 are defined in the reference R12 of the telemetry device 12 mounted on the vehicle.
  • the processing unit 200 performs a reference transfer of the spatial coordinates, defined in the reference R12 of the telemetry device 12, in the reference R13 of the camera 13. This reference transfer is carried out using the known positions of the camera 13 and telemetry device 12 mounted on the vehicle.
  • This marker transfer thus makes it possible, in the marker R13 of the camera 13, to associate with each pixel of the image 4 returned by the camera, the corresponding spatial coordinates determined using the telemetry device 12.
  • the position of the construction marker of the chart is known with respect to the position of the camera 13.
  • Said construction marker is for example the marker R10.
  • the processing unit 200 then performs another reference transfer between the reference R13 and the reference R10 to determine, taking into account the data of the chart, the parts of the image which correspond to real zones of the environment. of the vehicle which are or are not reachable by the load support system 110 of the vehicle, and, if possible, with what maximum load.
  • the processing unit 200 then associates with each part of the acquired image 4 for which spatial coordinates of the zone of the corresponding real environment have been determined, load handling capacity information.
  • the capacity information corresponds to the load theoretical maximum that it is possible to handle in this real area of the environment with regard to the position and construction characteristics of the vehicle, such as arm length.
  • This information can be displayed in the form of a color code, weight information, or distance information.
  • the maximum theoretical load (or weight) corresponds to a safety criterion making it possible, for example, to prevent the vehicle from tipping over.
  • the or each part of the image displayed on the screen which corresponds to an area that cannot be reached by the vehicle is provided with a specific indication, for example a red color.
  • the load handling capacity information which is obtained using the chart is determined as a function of a position parameter of the desired load handling zone relative to the vehicle.
  • Said position parameter may comprise the spatial coordinates of said desired area or the distance between the vehicle and said desired area.
  • Said position parameter can also comprise the angle formed by a straight line passing through a point of the vehicle and a point of said desired zone with the horizontal.
  • the assistance device thus enables the operator to intelligently reach a given real zone of the environment of the vehicle with a given load to be handled in this zone by allowing him to quickly and reliably identify the maximum load weight that he can deposit in said given area.
  • the device can, if necessary, also indicate that no load can be deposited in a given zone, for example because said zone cannot be reached by the load support system.
  • the zone may not be reachable due to the construction characteristics of the vehicle and/or the current position of the vehicle with respect to said zone.
  • the device does not include as input data the weight value of the actual load, carried by the vehicle for its removal or its movement, or to be seized by the vehicle.
  • the device assigns maximum charge values to the different parts of the image measured by the telemetry device 12. The operator knows the order of magnitude of the load to be handled. The operator thus knows whether or not he will be able to handle the load in a secure manner in the desired real zone, taking into account the maximum load value associated with said zone by the assistance device and his knowledge of the order size of the weight of the load to be handled.
  • the information on whether or not load handling capacity is also determined according to the weight of the load to be handled when this parameter is known to the device by measurement, calculation or entry of given.
  • the capacity information associated with a given part of the image corresponding to a real zone of the environment can thus indicate whether, given the known weight of the load to be handled, the operator can handle said load in said zone real.
  • the assistance device as described above makes it possible, for a zone of space in the environment of the vehicle, preferably in front of the vehicle, to perform the steps described below.
  • a zone of space in the environment of the vehicle preferably in front of the vehicle, to perform the steps described below.
  • the steps described below can be applied to a plurality of distinct joined or disjoined zones.
  • a vertical strip 301 has been schematized on the building 300 which corresponds to a zone in front of the vehicle in the measurement field of the telemetry device 12 of the vehicle.
  • the measurement field is vertical, but one can provide, as in the example illustrated in figures 5 and 5A , to obtain a measurement field that is not only vertical but also over an angular sector, defined around a vertical axis, obtained by rotation of the telemetry device, in particular when the vehicle comprises a turret 101 which carries the telemetry device, or when the telemetry device scans space, especially at high frequency, rotating around its vertical axis
  • the processing unit 200 of the assistance device calculates the spatial coordinates of the points of the measurement strip 301 according to the measurements from the telemetry device 12.
  • the processing unit 200 of the assistance device applies reference transfer operations to the coordinates of the points of the measuring strip 301 to determine using the chart, for example the chart AB1, the maximum loads which can be handled by the vehicle at each of these points or determine the absence of a handleable load, if applicable.
  • the assistance device then superimposes on the pixels of the image 4 which correspond to the points of the measurement strip 301 at least one piece of information corresponding to the load handling capacity or not determined using the chart.
  • this information is a color code, for example green for a maximum load of 2000 kg, yellow for a maximum load of 1000 kg, orange for a maximum load of 200 kg and red for an unreachable zone.
  • FIG. 1A an image 4 of the building 300 displayed on the screen 7.
  • This image 4 presents an area 401, corresponding to the measurement strip 301 illustrated on figure 1 , on which is superimposed a band 410 which is composed from bottom to top of a first part P41 of green color I41, of a second part P42 of yellow color I42, of a third part P43 of orange color I43, and of a fourth part P44 red color I44.
  • a band 410 which is composed from bottom to top of a first part P41 of green color I41, of a second part P42 of yellow color I42, of a third part P43 of orange color I43, and of a fourth part P44 red color I44.
  • shades of color as a color code associated with the capacity information.
  • the load handling capacity information in a given zone is defined as a function of parameters relating to the risk of the vehicle tipping over and/or to the possibility or not of physically reaching the given zone.
  • said assistance device also makes it possible to control the vehicle, in particular the handling system of the vehicle, to automatically bring the load support system into the desired handling zone.
  • the assistance device comprises a device for pointing to an area of the image displayed on the screen, such as a tactile layer of the screen.
  • Pointing detection can be performed by the processing unit. Provision can be made for the processing unit to also be configured to transmit control instructions to a control unit of the vehicle which communicates with the processing unit. Provision can be made for the processing unit and the control unit to be distinct or at least to comprise common parts.
  • the operator touches or presses the area of the image corresponding to the desired handling area .
  • Said assistance device detects the pointing of an area of the screen using said interface and transmits control instructions to the vehicle control unit to control the handling system in order to handle the load in the actual area corresponding to said area pointed to the screen.
  • the known coordinates of the zone pointed at are transferred to the vehicle reference to define the movements necessary to reach the real zone corresponding to the zone pointed at on the screen.
  • the control of the vehicle handling system comprises the control of lifting and extension of the telescopic arm to bring the handling accessory formed by the load support system into the actual area corresponding to the pointed area. Furthermore, in the case of a vehicle with a turret, the control of the arm is combined with the control of the rotation of the turret.
  • the functions of the assistance device, and in particular of the processing unit, as well as the functions of the vehicle control unit, can be implemented in the form of a computer program or via hardware components (e. g. networks of programmable gates).
  • program storage devices such as computer-readable digital data storage media, or executable programs. Programs or instructions can also be executed from program storage devices.

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  • Engineering & Computer Science (AREA)
  • Structural Engineering (AREA)
  • Transportation (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Geology (AREA)
  • Mechanical Engineering (AREA)
  • Civil Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Traffic Control Systems (AREA)

Claims (14)

  1. Flurförderfahrzeug (1), das einen Arm (109) und ein System (110) zum Tragen von Lasten wie ein System mit Gabeln oder eine Gondel umfasst, wobei das Fahrzeug eine Assistenzvorrichtung umfasst, die aufweist:
    - eine Bilderfassungsvorrichtung (13) wie eine Kamera;
    - eine Telemetrievorrichtung (12);
    wobei die Vorrichtung umfasst:
    einen Speicher (201), in dem ein Datensatz (AB1) wie ein Nomogramm gespeichert ist;
    wobei der Datensatz (AB1) Daten umfasst, die sich auf die Fähigkeit beziehen, eine Last mit Hilfe des Systems (110) zum Tragen von Lasten in verschiedenen Positionen des Tragesystems (110) zu tragen oder nicht; und
    - einen Anzeigebildschirm (7);
    wobei die Assistenzvorrichtung dazu ausgelegt ist, für mindestens eine Zone (301) des Umfelds des Fahrzeugs die folgenden Schritte auszuführen:
    - Erfassen, mit Hilfe der Bilderfassungsvorrichtung (13), eines Bildes (4), von dem mindestens eine Zone (401) der Zone (301) des Umfelds des Fahrzeugs (1) entspricht;
    - Bestimmen, mit Hilfe der Telemetrievorrichtung (12), der räumlichen Koordinaten der Zone (301) des Umfelds des Fahrzeugs (1);
    - Bestimmen mindestens einer ersten, als Fähigkeitsinformation bezeichneten Information (141), die sich auf die Fähigkeit bezieht, eine Last mit Hilfe des Systems (110) zum Tragen von Lasten in dem oder einem Teil der mindestens einen Zone (301) des Umfelds des Fahrzeugs in Abhängigkeit von den bestimmten räumlichen Koordinaten der Zone (301) des Umfelds des Fahrzeugs und des Datensatzes (AB1) zu tragen oder nicht,
    - Anzeigen, auf dem Bildschirm (7), mindestens der Zone (401) des erfassten Bildes (4), die der Zone (301) des Umfelds des Fahrzeugs entspricht und Überlagern der mindestens einen ersten bestimmten Fähigkeitsinformation (141) über die Zone (401) des Bildes oder einen ersten Teil (P41) der Zone (401) des Bildes, welcher der Zone (301) des Umfelds des Fahrzeugs entspricht,
    wobei das Fahrzeug einen Fahrgastraum umfasst, der mit einer vorderen Windschutzscheibe ausgerüstet ist, wobei die optische Achse (A13) der Bilderfassungsvorrichtung (13) zum Umfeld ausgerichtet ist, das sich vor dem Fahrzeug befindet und durch die vordere Windschutzscheibe von einem Bediener zu sehen ist, der im Fahrgastraum anwesend ist,
    dadurch gekennzeichnet, dass die optische Achse (A13) der Bilderfassungsvorrichtung (13) in einer Richtung ausgerichtet ist, die mit einer als Längsrichtung bezeichneten Richtung einen Winkel von unter 30°, vorzugweise unter 15°, bildet, wobei die Längsrichtung definiert ist als:
    - enthalten in einer orthogonalen Ebene zur Stützebene auf dem Boden des Fahrzeugs und durch den Arm (109) verlaufend, und
    - parallel zur Stützebene auf dem Boden des Fahrzeugs.
  2. Fahrzeug nach Anspruch 1, dadurch gekennzeichnet, dass die Bilderfassungsvorrichtung (13) auf einem Teil des Fahrzeugs angebracht ist, dessen Position von der Position des Arms (109) und des Systems (110) zum Tragen von Lasten unabhängig ist.
  3. Fahrzeug nach einem der Ansprüche 1 bis 2, dadurch gekennzeichnet, dass die Bilderfassungsvorrichtung (13) auf einem Teil des Fahrzeugs angebracht ist, der im Verhältnis zur vorderen Windschutzscheibe des Fahrzeugs fest ist.
  4. Fahrzeug nach einem der vorangehenden Ansprüche, dadurch gekennzeichnet, dass die Assistenzvorrichtung dazu ausgelegt ist, um:
    - mindestens eine zweite als Fähigkeitsinformation bezeichnete Information (I42) zu bestimmen, die vorzugsweise von der ersten Fähigkeitsinformation (141) verschieden ist, und
    - die zweite bestimmte Fähigkeitsinformation (I42) einem zweiten Teil (P42), der vom ersten Teil (P41) verschieden ist, der Zone (401) des angezeigten Bildes zu überlagern, der der Zone (301) des Umfelds des Fahrzeugs entspricht.
  5. Fahrzeug nach einem der vorangehenden Ansprüche, dadurch gekennzeichnet, dass die Telemetrievorrichtung (12) einen Laserentfernungsmesser oder eine Flugzeitkamera umfasst.
  6. Fahrzeug nach einem der vorangehenden Ansprüche, dadurch gekennzeichnet, dass das Bild (4) mehrere Umfeldzonen umfasst,
    und dass die Assistenzvorrichtung dazu ausgelegt ist, die Schritte zur Bestimmung der räumlichen Koordinaten, zur Bestimmung der Kapazitätsinformation und der Anzeige für jede dieser Zonen auszuführen.
  7. Fahrzeug nach einem der vorangehenden Ansprüche, dadurch gekennzeichnet, dass die Fähigkeitsinformationen (141, I42, I43, I44) maximalen Lastwerten entsprechen, die vom Lasttragesystem getragen werden können, beispielsweise 200 kg; 1000 kg und 2000 kg.
  8. Fahrzeug nach einem der vorangehenden Ansprüche, dadurch gekennzeichnet, dass die Fähigkeitsinformationen ebenfalls eine Lasttrageunfähigkeitsinformation umfassen.
  9. Fahrzeug nach einem der vorangehenden Ansprüche, dadurch gekennzeichnet, dass, wobei die Telemetrievorrichtung im Verhältnis zum Gestell des Fahrzeugs verlagerbar, vorzugsweise rotatorisch, angebracht ist, die Assistenzvorrichtung dazu ausgelegt ist, die Verlagerung der Telemetrievorrichtung derart zu steuern, dass die räumlichen Koordinaten mehrerer Zonen des Umfelds des Fahrzeugs bestimmt werden, die vom Feld der Bilderfassungsvorrichtung abgedeckt werden.
  10. Fahrzeug nach einem der vorangehenden Ansprüche, dadurch gekennzeichnet, dass, wobei die Telemetrievorrichtung eine Achse aufweist, um die sie rotatorisch beweglich angebracht ist,
    die Telemetrievorrichtung dazu ausgelegt ist, sich um ihre Achse zu drehen, vorzugsweise zyklisch, autonom oder gesteuert durch die Assistenzvorrichtung, um die räumlichen Koordinaten mehrerer Zonen des Umfelds des Fahrzeugs zu bestimmen, die vom Feld der Bilderfassungsvorrichtung abgedeckt werden.
  11. Fahrzeug nach einem der vorangehenden Ansprüche, dadurch gekennzeichnet, dass das Fahrzeug einen rotatorischen Turm (101) um eine etwa vertikale Achse (A1) umfasst, auf der die Telemetrievorrichtung (12) angebracht ist,
    und dass die Assistenzvorrichtung dazu ausgelegt ist, Steuerbefehle an eine Lenkeinheit des Fahrzeugs zu übertragen, um die Rotation des Turms (101) derart zu steuern, dass mit Hilfe der Telemetrievorrichtung (12) die räumlichen Koordinaten mehrerer Zonen des Umfelds des Fahrzeugs bestimmt werden.
  12. Fahrzeug nach einem der vorangehenden Ansprüche, dadurch gekennzeichnet, dass, wobei die Assistenzvorrichtung Mess- oder Berechnungsmittel des Gewichts der zu bewegenden Last umfasst, die Assistenzvorrichtung dazu ausgelegt ist, eine Information zu bestimmen, die sich auf die Fähigkeit bezieht, die Last in der Zone oder einem Teil der Zone (301) des Umfelds des Fahrzeugs in Abhängigkeit vom gemessenen Gewicht der Last, der bestimmten räumlichen Koordinaten der Zone (301) des Umfelds des Fahrzeugs und des Datensatzes (AB1) tragen zu können oder nicht.
  13. Fahrzeug nach einem der vorangehenden Ansprüche, dadurch gekennzeichnet, dass, wobei die Vorrichtung eine Zeigersteuervorrichtung auf eine auf dem Bildschirm angezeigte Zone des Bildes, beispielsweise eine berührungsempfindliche Schicht des Bildschirms, umfasst, die Assistenzvorrichtung ausgelegt ist, um:
    - eine Ansteuerung einer auf dem Bildschirm (7) angezeigten Zone des Bildes (4) mit Hilfe der Zeigersteuervorrichtung zu ermitteln;
    - Steuerbefehle an eine Lenkeinheit des Fahrzeugs zu übertragen, um eine Last in die tatsächliche Zone des Umfelds des Fahrzeugs zu befördern, die der auf dem Bildschirm (7) angesteuerten Zone des Bildes (4) entspricht.
  14. Verfahren zur Unterstützung der Platzierung einer Last mit Hilfe eines Fahrzeugs nach einem der Ansprüche 1 bis 13, dadurch gekennzeichnet, dass das Verfahren die folgenden Schritte umfasst:
    - Verlagern des Fahrzeugs in Richtung einer gegebenen Zone (301) des Umfelds des Fahrzeugs;
    - Erfassen, durch die Bilderfassungsvorrichtung (13), eines Bildes der Zone des Umfelds des Fahrzeugs in Echtzeit während der Verlagerung des Fahrzeugs,
    - Bestimmen, durch die Telemetrievorrichtung, der räumlichen Koordinaten der Zone (301) in Echtzeit während der Verlagerung des Fahrzeugs,
    - Bestimmen und Anzeigen der mindestens einen ersten Lastfähigkeitsinformation (141) in Echtzeit während der Verlagerung des Fahrzeugs in die Zone (301) des Umfelds des Fahrzeugs.
EP18211531.1A 2017-12-11 2018-12-11 Fahrzeug, das eine assistenzvorrichtung für die lastenförderung umfasst, und entsprechendes verfahren Active EP3495316B1 (de)

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EP3495316C0 (de) 2023-08-16
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