# US 12,215,011 B2 · Autonomously guided industrial truck having a pair of scanner units > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,215,011 B2 - Document ID: US12215011B2 - Status: Granted - Kind: B2 - Application number: 17/819,376 - Filed: 2022-08-12 - Published: 2023-02-16 - Granted: 2025-02-04 - Earliest claimed: 2021-08-16 - Assignees: Jungheinrich Aktiengesellschaft - Applicants: Jungheinrich Aktiengesellschaft - Inventors: Michael Schüler; Helmut Lohmann; Holger Brunckhorst; Marcel Krenzin - Web page: https://patentgrep.com/patent/US12215011B2 ## CPC - B66F 9/0755: {Position control; Position detectors} - B66F 9/063: {Automatically guided} - B66F 9/07513: {Details concerning the chassis} - B66F 9/07559: {Stabilizing means} - B66F 9/07586: {Suspension or mounting of wheels on chassis} - 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 ({invalid lifting devices A61G7/10; } mounting artificial islands on piles or like supports E02B17/00; scaffolding combined with lifting devices E04G1/22; lifting devices for sliding forms E04G11/24; lifting of buildings E04G23/06; shores or struts E04G25/00; lifts or other hoisting devices on ladders E06C7/12; props for mining E21D15/00) ## Abstract An autonomously guided industrial truck comprising a vehicle body and a pair of support arms extending from the vehicle body. The vehicle body defines a longitudinal direction and a width direction of the industrial truck in sections in plan view of the industrial truck. Each of the support arms extending from the vehicle body has at least one load wheel. The industrial truck includes a pair of support wheels or drive wheels located underneath the vehicle body on a driving surface and opposite one another relative to the width direction. The industrial truck includes a pair of scanner units arranged vertically above the support wheels or drive wheels. The pair of scanning units defines a scanning plane with respective scanning regions each scanning unit of the pair of scanning units, and wherein the respective scanning units are symmetrically opposite one another within an outline of the vehicle body in the width direction of the industrial truck. ## Claims ### Claim 1 An autonomously guided industrial truck, comprising: a vehicle body that defines a longitudinal direction and a width direction of the industrial truck in sections in plan view of the industrial truck; a pair of support arms extending from the vehicle body, each support arm of the pair of support arms having at least one load wheel; a pair of wheels located underneath the vehicle body on a driving surface and opposite one another relative to the width direction; and a pair of scanner units arranged vertically above the wheels, wherein the pair of scanning units defines a scanning plane with respective scanning regions of each scanning unit of the pair of scanning units and, wherein the respective scanning units are symmetrically opposite one another within an outline of the vehicle body in the width direction of the industrial truck, wherein the vehicle body is formed in a vertical region of the scanning plane in such a way that the pair of scanner units jointly cover the entire surroundings of the industrial truck with the respective scanning regions. ### Claim 2 (depends on 1) The autonomously guided industrial truck of claim 1, wherein the pair of wheels comprises a pair of support wheels or drive wheels; and wherein the pair of scanner units is arranged behind the support wheels or the drive wheels with respect to the longitudinal direction of the industrial truck. ### Claim 3 (depends on 1) The autonomously guided industrial truck of claim 1, wherein the pair of scanner units does not extend beyond the wheels in the width direction of the industrial truck. ### Claim 4 (depends on 1) The autonomously guided industrial truck of claim 1, wherein each scanner unit of the pair of scanner units has a scanning angle of approximately two hundred seventy degrees) (270°). ### Claim 5 (depends on 1) The autonomously guided industrial truck of claim 1, wherein the pair of wheels comprises a pair of support wheels, and wherein the industrial truck further comprises a steered drive wheel arranged centrally with respect to the width direction and located on the driving base below the vehicle body. ### Claim 6 (depends on 5) The autonomously guided industrial truck of claim 5, wherein each support wheel of the pair of support wheels comprises a part of a respective support wheel assembly, each of the support wheel assemblies having a respective housing, wherein the respective housings, in sections, form part of the outline of the vehicle body. ### Claim 7 (depends on 6) The autonomously guided industrial truck of claim 6, wherein the support wheel assemblies are arranged in respective front corner regions on the underside of the vehicle body. ### Claim 8 (depends on 1) The autonomously guided industrial truck of claim 1, wherein the pair of support arms is arranged completely below the scanning plane. ### Claim 9 (depends on 1) The autonomously guided industrial truck of claim 1, further comprising a load unit arranged to be horizontally displaceable on the vehicle body with a pair of fork arms and a load stop connecting the fork arms, wherein the pair of fork arms is arranged completely below the scanning plane in a fully lowered state of the load unit. ### Claim 10 (depends on 9) The autonomously guided industrial truck of claim 9, wherein the load stop in its vertical region, which is at a height of the scanning plane when the load unit is in a fully lowered state, can have cutouts at its edges in the width direction. ### Claim 11 (depends on 1) The autonomously guided industrial truck of claim 1, wherein the pair of scanner units is arranged such that the scanning plane lies at a vertical height of approximately 100 mm above the driving surface. ### Claim 12 (depends on 1) The autonomously guided industrial truck of claim 1, wherein the outline of the vehicle body extends, relative to the width direction, less than 800 mm. ### Claim 13 (depends on 1) The autonomously guided industrial truck of claim 1, wherein the pair of wheels comprises a pair of drive wheels, and wherein the industrial truck further comprises a steered drive wheel arranged centrally with respect to the width direction and located on the driving base below the vehicle body. ### Claim 14 (depends on 1) The autonomously guided industrial truck of claim 1, wherein the pair of scanner units is arranged such that the scanning plane has a vertical width of +/−25 mm.