Device for orienting a lifting means, for example, in relation to a load

• US 4,279,328 A
• Filed: 04/17/1979
• Issued: 07/21/1981
• Est. Priority Date: 04/28/1978
• Status: Expired due to Term

• Current Assignee: AB Volvo
• Original Assignee: AB Volvo
• Inventors: Ahlbom, Sten H. N.
• Primary Examiner(s): Bartuska, F. J.
• Assistant Examiner(s): NOLAND, KENNETH W
• Application Number:
  US06/030,828
• Time in Patent Office: 826 Days
• Field of Search: 187/9 R, 187/9 E, 187/1 R, 414/660, 414/661, 414/662, 414/663, 414/664, 414/666, 414/667, 250/222 R, 250/223 R
• US Class Current: 187/224
• CPC Class Codes: B66F 9/0755 Position control; Position detectors
• CPC Class Codes: G05B 2219/37555 Camera detects orientation, position workpiece, points of workpiece
• CPC Class Codes: G05B 2219/45049 Forklift
• CPC Class Codes: G05D 1/0225 involving docking at a fixed facility, e.g. base station or loading bay parking aids B62D15/027
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means
• CPC Class Codes: G05D 1/0263 using magnetic strips

Abstract

A device for orienting a movable object such as a lifting fork truck in a certain position relative to a second object such as a load, the device having light-emitting device for illuminating the second object so that an image with lighter and darker fields is created thereon, a photoelectric detector movable together with the movable object to scan the image, electronic control equipment connected to the detector for receiving signals therefrom, and operating equipmenT for the movable object, connected to the control equipment to receive signals therefrom and to orient the movable object, dependent on the signals of the photoelectric detector, to the control equipment.

Claims

1. In a device for orienting a lift fork on a fork-lift truck in a certain position in relation to a pallet having a hole therethrough, comprising light-emitting means movable with the lift fork and disposed to illuminate the pallet, a photoelectric detector which is movable together with the lift fork, electronic control equipment connected to the photoelectric detector to receive signals from the same, and operating equipment for the lift fork, connected to the control equipment for moving the lift fork dependent on signals from the control equipment, an image consisting of lighter and darker fields being created on the pallet within a scanning area for the photoelectric detector, the control and operating equipment being disposed to move the lift fork with the photoelectric detector in one direction over the scanning area, the detector being arranged during this movement to scan the pallet to register said light and dark fields and send signals to the control and operating equipment for orientation of the lift fork depending on the location of the light and dark fields;

the improvement in which the axes of said photoelectric detector and light-emitting means are vertically spaced from each other and are inclined toward each other, as seen from the side, in the direction of emission of light from said light-emitting means, at a sufficiently great angle that the point of convergence of said axes, as seen from the side, does not extend beyond the pallet.

2. Device according to claim 1, characterized in that the light-emitting means and the photoelectric detector are located in the vicinity of the rear portion of the fork and are arranged to be limitedly vertically displacable relative to the fork.

3. Device according to claim 2, characterized in that the light-emitting means and the photoelectric detector are joined with vertical guides, which are vertically displacable in bearings which are joined to the fork;

that the light-emitting means are located behind the fork bars, whereby the light-emitting means and the detector are movable relative to the fork from a lower position under the fork determined by an end stop to an upper position level with or above the fork.

4. Device according to claim 1, characterized in that the light-emitting means and the photoelectric detector are turnably connected to the fork in such a manner that they can be directed down towards the supporting surface for the truck.

5. Device according to claim 1, characterized in that the light-emitting means are a pair of spaced headlights, with the photoelectric detector placed between the headlights.

6. Device according to claim 5, characterized in that the photoelectric detector is placed somewhat higher than the headlights and is inclined relative to the same.

7. Device according to claim 5, characterized in that the distance between the headlights is greater than between the bars of the fork, so that the headlights are placed outside the fork bars.

8. Device according to claim 1, characterized in that the photoelectric detector has a plurality of photodiodes arranged in a line.

9. Device according to claim 8, characterized in that the electronic control equipment is disposed to evaluate the exposures of the detector so that it sorts out areas whose appearance deviates to a predetermined degree from a certain appearance.

10. Device according to claim 1, characterized in that the electronic control equipment is disposed to evaluate the exposures of the photoelectric detector with two different threshold values, every-other one corresponding to very dark areas and every-other one corresponding to very light areas.

11. Device according to claim 1, characterized in that the light-emitting means is mounted for movement on the lift fork.

12. Device according to claim 1, characterized in that means are provided to illuminate the surface supporting the truck and to adjust the detector to scan said surface.