Abstract
The invention relates to a load pick-up means of an industrial truck or the like having an integrated camera for detecting the environment of the industrial truck. Furthermore, the invention relates to a system that enables the operator of the industrial truck to safely maneuver the industrial truck even when the direct view of the path of travel is limited by a load picked up by the load pick-up means of the industrial truck, and that enables the operator of the industrial truck to determine the exact position of the load in relation to the position of the load pick-up means better than before, in particular when setting down or picking up a load. A first load pick-up means according to the invention has a first portion oriented substantially horizontally in operation and having an extension in the horizontal longitudinal direction x, an extension in the vertical thickness direction y, and an extension in the width direction z, and a second portion arranged substantially perpendicularly to the first portion. Further, the first load pick-up means has integrated image recording optics. The width direction z of the first portion of the first load pick-up means tapers over a ramp in a direction opposite to the second portion of the first load pick-up means, wherein the image recording optics is integrated in the ramp such that an image can be captured in a direction opposite to the second portion of the first load pick-up means.
Claims
1. First load pick-up means having a first portion which is in use oriented substantially horizontally and has an extension in the horizontal longitudinal direction x, an extension in the vertical thickness direction y, and an extension in the width direction z, and a second portion arranged substantially perpendicularly to the first portion, the first load pick-up means having integrated image recording optics, wherein the width direction z of the first portion of the first load pick-up means tapers over a ramp in the direction opposite to the second portion of the first load pick-up means, wherein the image recording optics is integrated in the ramp in such a way that an image can be recorded in the direction opposite to the second portion of the first load pick-up means.
2. First load pick-up means according to claim 1, wherein the image recording optics is integrated in the ramp in such a way that the ramp protrudes beyond it on both sides in the thickness direction y.
3. First load pick-up means according to claim 1, wherein the image recording optics is integrated in the ramp in such a way that the ramp protrudes beyond it in the longitudinal direction x.
4. First load pick-up means according to claim 1, wherein the ramp is continued in the direction opposite to the second portion of the first load pick-up means beyond the portion of the image recording optics.
5. First load pick-up means according to claim 1, wherein the image recording optics has a longitudinal axis, wherein the longitudinal axis of the image recording optics is substantially parallel to the longitudinal direction of the first portion of the first load pick-up means.
6. First load pick-up means according to claim 1, wherein the image recording optics has a longitudinal axis, the longitudinal axis of the image recording optics extending at an angle α not equal to 0° to the longitudinal direction of the first portion of the first load pick-up means.
7. First load pick-up means according to claim 1, wherein the width extension y of the first portion of the first load pick-up means in the region behind the ramp, seen from the second portion of the first load pick-up means, is designed to be slightly slanted towards the tip of the first load pick-up means.
8. First load pick-up means according to claim 1, wherein the image recording optics is arranged directly in front of an optoelectric sensor.
9. First load pick-up means according to claim 1, wherein the image recording optics is operatively connected to an optoelectric sensor via a light guide.
10. First load pick-up means according to claim 1, wherein the image recording optics additionally comprises an illumination device.
11. First load pick-up means according to claim 1, wherein the image recording optics additionally comprises a distance measuring device.
12. System for picking up and setting down loads, comprising a first load pick-up means according to claim 1, wherein the system additionally comprises a second load pick-up means arranged substantially in parallel to the first load pick-up means.
13. System according to claim 12, wherein the second load pick-up means corresponds to the first load pick-up means according to claim 1.
14. System according to claim 12, wherein the second load pick-up means does not have image recording optics.
15. System according to claim 12, wherein the first load pick-up means and the second load pick-up means are arranged in such a way that the image recording optics points in the direction of the other load pick-up means.
16. System according to claim 12, wherein the system additionally comprises an optoelectric sensor.
17. System according to claim 12, wherein the system additionally comprises a monitor for displaying the image captured by the image recording optics.
Description
IN THE FIGURES
[0037] FIG. 1 shows a first load pick-up means according to the invention in a three-dimensional view;
[0038] FIG. 2 shows a further embodiment of a first load pick-up means according to the invention in a three-dimensional view;
[0039] FIG. 3 shows a system according to the invention with a first and a second load pick-up means in a top view;
[0040] FIG. 4 shows a system according to the invention with a first and a second load pick-up means and a pallet picked up in a plan view;
[0041] FIG. 5 shows a first load pick-up means according to the invention in a front view;
[0042] FIG. 6 shows a system according to the invention with a first and a second load pick-up means and a picked-up pallet in a front view.
[0043] FIG. 1 shows a first load pick-up means 100 according to the invention in a three-dimensional view. The first load pick-up means 100 has a first portion 110 which is substantially horizontally oriented in operation and has an extension in the horizontal longitudinal direction x, an extension in the vertical thickness direction y, and an extension in the width direction z. Further, the first load pick-up means 100 comprises a second portion 120 substantially perpendicular to the first portion 110. Further, the first load pick-up means 100 comprises integrated image recording optics 150. The width direction z of the first portion 110 of the first load pick-up means 100 tapers in a direction opposite to the second portion 120 of the first load pick-up means 100 via a ramp 115, wherein the image recording optics 150 are integrated in the ramp such that an image can be captured in the direction opposite to the second portion 120 of the first load pick-up means 110. The image recording optics is suitable for capturing moving or static images. The image recording optics 150 is located in a camera head, with a camera chip located remotely from the camera head. The camera chip is connected to the image recording optics 150 via an optical fiber, the optical fiber being guided in a channel 130 that is milled into the side surface of the first pick-up means 110. A standard fork tine has an extension in the thickness direction y of 40 mm, with a usual camera being only about 25 mm high. The camera head is thus protected from impact forces at the top and at the bottom by a web 116 in the first portion 110 of the first load pick-up means 100. The first load pick-up means 100 can thus accommodate an image recording optics 150, which builds at most as high as a camera, as well as a complete camera in a protected manner. The image recording optics 150 or camera is protected by the first load pick-up means 100 on all sides against impact forces, for example during starting, setting down, lifting etc. of loads. The first load pick-up means 100 has no greater extension in the width direction z than a standard fork tine. Due to the taper of the first portion 110 of the first load pick-up means 100 in the width direction z, the camera lens protrudes more from the first load pick-up means 100 and the forward viewing angle, i.e. in the positive x-direction, is much more advantageous. The width dimension y of the first portion 110 of the first load pick-up means 100 in the region behind the ramp 115, as seen from the second portion 120 of the first load pick-up means 100, is designed to be slightly beveled towards the tip 117 of the first load pick-up means 100. This bevel may be, for example, 2°, measured between the central axis of the first portion 110 of the first load pick-up means 100 and the contour of the first load pick-up means 110 at this point (see also FIG. 3). The viewing window for viewing from a pallet picked-up by the first load pick-up member 100 becomes, for example, about 50% wider than a non-tapered load pick-up member. The captured image is far less occupied by the first load pick-up means 100, such that the image provides significantly more usable information to an operator of an industrial truck. Further, the first load pick-up means 100 is not weakened in the fork bend region between the first 110 and the second 120 portion, so that the nominal load carrying capacity exhibited by the load pick-up means without the integrated image recording optics 150 is maintained. Any known image recording optics 150 and any known camera design can be used.
[0044] FIG. 2 shows a further embodiment of a first load pick-up device 100 according to the invention in a three-dimensional view. The image recording optics 150 is integrated in the ramp 115 in such a way that webs 116 formed by the ramp 115 protrude beyond it on both sides in the thickness direction y. As a result, the image recording optics 150 is optimally protected in the vertical direction, i.e. in the thickness direction y. Furthermore, the image recording optics 150 is integrated in the ramp 115 in such a way that webs 116 formed by the ramp 115 protrude beyond it in the longitudinal direction x. One or both of the webs 116 can extend to the tip 117 of the first portion 110 of the first load pick-up means 100. In this way, the image recording optics 150 is also optimally protected in the horizontal direction, i.e. in the direction of the x axis.
[0045] FIG. 3 shows a system 300 according to the invention with a first 100 and a second 200 load pick-up means in a top view from below, i.e. from the opposite direction to the vertical orientation of the second portion 120 of the first load pick-up means 100. In addition to the first load pick-up means 100, the system 300 comprises a second load pick-up means 200 arranged substantially parallel to the first load pick-up means 100, with the image recording optics 150 facing in the direction of the second load pick-up means 120. The second load pick-up means 120 may be used as a reference depending on the distance from the back of the fork. The image recording optics 150 has a viewing angle (3. Because the first portion 110 of the first load pick-up means becomes thinner toward the tip 117, i.e., its extension in the thickness direction y decreases, the viewing angle (3 extends at least partially under the first load pick-up means 110. The second load pick-up means 120 can be designed analogously to the first load pick-up means 110 in this area, so that the viewing angle β can also pass under the second load pick-up means 120. However, a vertical portion of the viewing angle (3 may still be shaded by the first portion 110 of the first load pick-up means 100 or the second load pick-up means 200. The image recording optics 150 has a longitudinal axis that extends at an angle α1 not equal to 0° with respect to the longitudinal direction of the first portion 110 of the first load pick-up means 100. This angle not equal to 0° can be set such that the longitudinal axis of the image recording optics 150 faces away from the longitudinal axis of the first portion 110 of the first load pick-up means 100 as seen in the direction of the taper of the first portion 110 of the first load pick-up means 100. This further increases the angle of view of the image recording optics 150. With respect to the contour of the first portion 110 of the first load pick-up means 100 on the side where the image recording optics 150 is arranged, the angle of the longitudinal axis of the image recording optics 150 is α2, where α2 is greater than α1. The difference of α2 to α1 is the angle at which the width dimension y of the first portion 110 of the first load pick-up means 100 in the region behind the ramp 115, as seen from the second portion 120 of the first load pick-up means 100, is slightly beveled towards the tip 117 of the first load pick-up means 100. This bevel, and thus the difference between α2 and α1, may be 2°, for example. This beveling increases the angle of view of the image recording optics 150 in the area where shading occurs through the first portion 110 of the first load pick-up means 100.
[0046] FIG. 4 shows a system 300 according to the invention with a first 100 and a second 200 load pick-up means and a picked-up pallet 400 (shown dashed) in the same view as in FIG. 3. The pallet 400 has reinforcing cubes 401 which lie at least partially in the viewing angle β of the image recording optics 150. Thus, the viewing angle β lying on the plane of these reinforcing cubes 401 is divided and consists of the angles (31, (32 and (34 whereas in each case the angle (33 is cut out of the viewing area 13 by the shadow of a reinforcing cube 401. The viewing area (31 passes under the first load pick-up means 100, while the viewing area (32 also passes within the plane of the load pick-up means 100.
[0047] FIG. 5 shows a first load pick-up means 100 according to the invention in a view from the front, i.e. in the negative x-direction. The image recording optics 150 can be clearly seen. The image recording optics 150 are arranged in the ramp 150 with the longitudinal axis of the lens located at a distance from the tapered first portion 110 of the first load pick-up means, which results in a particularly large image capturing angle.
[0048] FIG. 6 shows a system 300 according to the invention with a first 100 and a second 200 load pick-up means and a picked-up pallet 400 in a view from the front, i.e. in a negative x-direction. The image recording optics 150 are protected from impact by the pallet 400 on all sides by the webs 116.
[0049] The embodiments shown herein are only examples of the present invention and should therefore not be understood as limiting. Alternative embodiments contemplated by those skilled in the art are equally encompassed by the scope of protection of the present invention.
LIST OF REFERENCE SIGNS
[0050] 100 first load pick-up means [0051] 110 first portion of the first load pick-up means [0052] 115 ramp [0053] 116 web [0054] 117 tip of the first load pick-up means [0055] 120 second portion of the first load pick-up means [0056] 130 channel [0057] 150 image recording optics [0058] 200 second load pick-up means [0059] 300 system [0060] 400 pallet [0061] 401 reinforcement cube [0062] x longitudinal direction [0063] y thickness direction [0064] z width direction [0065] α longitudinal axis angle [0066] β viewing angle
