Abstract: The present disclosure relates to a method performed in a forklift truck, for determining a load position in a load rack. The forklift truck includes optical detection means movable with a load carrier. The method includes the steps of determining a reference position related to the optical detection means of a first land mark located on a first height of the load rack based on the position of the first landmark in a first image captured by the optical detection means; determining a second position related to the optical detection means of a second land mark located on a second height of the load rack based on the position of the second landmark in a second image captured by the optical detection means at a predetermined height; and determining a load position on the second height based on a comparison between the reference position and the second position.

Abstract: A fork-lift truck includes a load carrier, a first optical detector, an optical analyzing unit, and a second optical detector. The analyzing unit receives and analyses information from the second optical detector, wherein the first and second optical detector are movable together with the load carrier, and the first optical detector is positioned in relation to the load carrier, such that a first field of view includes at least a part of the load carrier and an extension of the load carrier. The second optical detector is positioned, such that a second field of view includes a predetermined volume above the load carrier The position and orientation of the second detector is calibrated in relation to a predetermined position on the fork-lift truck, in case one or more objects are positioned in the predetermined volume, at least one three-dimensional relative position can be determined.

Abstract: A fork-lift truck 1, 1? including a load carrier 2, an optical detector 3, 3? having a first field of view and arranged to provide an output, wherein the optical detector 3, 3? is movable together with the load carrier 2, an optical analysing unit 4, 4? arranged to analyse the output from said optical detector 3, 3?. The optical analysing unit 4, 4? is arranged to analyse the output from the optical detector 3, 3? so as to identify a first three-dimensional object, said first three-dimensional object being the load carrier 2, and a second three-dimensional object based on the output from the optical detector 3, 3?, and to determine the three-dimensional position of the identified load carrier 2 relative to the identified second three-dimensional object. Further a method for operating a fork-lift truck, a method for modifying a fork-lift truck and a computer program product.

Abstract: A fork-lift truck includes a load carrier, a first optical detector, an optical analysing unit, and a second optical detector. The analysing unit receives and analyses information from the second optical detector, wherein the first and second optical detector are movable together with the load carrier, and the first optical detector is positioned in relation to the load carrier, such that a first field of view includes at least a part of the load carrier and an extension of the load carrier. The second optical detector is positioned, such that a second field of view includes a predetermined volume above the load carrier The position and orientation of the second detector is calibrated in relation to a predetermined position on the fork-lift truck, in case one or more objects are positioned in the predetermined volume, at least one three-dimensional relative position can be determined.

Abstract: The present disclosure relates to a method performed in a forklift truck, for determining a load position in a load rack. The forklift truck includes optical detection means movable with a load carrier. The method includes the steps of determining a reference position related to the optical detection means of a first land mark located on a first height of the load rack based on the position of the first landmark in a first image captured by the optical detection means; determining a second position related to the optical detection means of a second land mark located on a second height of the load rack based on the position of the second landmark in a second image captured by the optical detection means at a predetermined height; and determining a load position on the second height based on a comparison between the reference position and the second position.