JP2002003158A - Loading system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a loading system capable of preventing a lifted container from being brought into contact with stacked containers due to the lateral movement of a club when the lift distance of the container is insufficient. SOLUTION: Stacking height detecting means 27a-27f are mounted on a girder material 9 for detecting the stacking height Hb of containers 10 stacked in each row A-F, and a lift distance detecting means is mounted on the crab 13 for detecting the lift distance Ha of the container 10 lifted by s spreader device 15. A control device compares the detected lift distance Ha and the stacking height Hb of each row. When Ha<=Hb, it is judged that the lift distance Ha is insufficient, and a drive device 14 for lateral movement is stopped. Therefore, as the crab 13 is left stopped, prevented from moving in the lateral direction, the lifted container 10 is prevented from being brought into contact with the containers 10 stacked inside the storage space 11.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a crane-type cargo handling apparatus used for loading and unloading containers, for example, in ports and the like.

[0002]

2. Description of the Related Art Conventionally, as this kind of cargo handling device, there is a crane having a gate-shaped main body frame as disclosed in Japanese Patent Application Laid-Open No. 10-250982, for example. That is, as shown in FIG. 12, the main body frame 71 is formed in a gate shape by a pair of front and rear columns 72 (leg members) and a girder 73 (girder member) provided between upper ends of both columns 72. ing. The girder 73 is provided with a club 74 (lateral body) supported and guided by the girder 73 and traversing in the front-rear direction.

[0003] The club 74 is provided with a spreader device 76 (suspension device) via a suspension rope 75. Further, the club 74 is provided with a hoisting device 77 for winding up the hanging rope 75 and an operator cab 78. The hoisting rope 75
, The spreader device 76 rises, and conversely,
By sending the hanging rope 75, the spreader device 76 is lowered. Between the front and rear columns 72 and below the girder 73, there is formed an accommodation space 80 for accommodating a plurality of containers 79 (loads) arranged in rows A to F in the front-rear direction and stacked vertically. I have.

According to this, when the container 79 is carried out, the container 79 is held by the spreader device 76, the hanging rope 75 is wound up, and the container 79 is lifted together with the spreader device 76.
The club 74 is traversed until it is located above the first. Thereafter, the hanging rope 75 is sent out, the container 79 is lowered together with the spreader device 76, and is loaded on the transport vehicle 81. Then, after the spreader device 76 is separated from the container 79 and the spreader device 76 is raised, the transport vehicle 81 starts and the container 79 is carried out.

[0005]

However, in the above-described conventional type, for example, the uppermost container 79 in the F-th row
If the lifting height of the container 79 is insufficient, the club 74 may be loaded.
12, there is a problem that the container 79 lifted by the spreader device 76 comes into contact with the uppermost container 79 in the A-th row from the traversing direction, as shown by a virtual line in FIG.

An object of the present invention is to provide a cargo handling device capable of preventing a lifted load from coming into contact with a load stacked in a storage space when the load is insufficiently lifted. With the goal.

[0007]

In order to achieve the above object, the first aspect of the present invention comprises a pair of front and rear leg members and a girder provided between upper ends of both leg members in a gate shape. A storage space having a main body frame, and between the two leg members and below the girder material, is formed with a plurality of rows arranged in the front-rear direction and for accommodating a plurality of loads stacked vertically. A traversing body that can traverse in the direction is provided, and the traversing body is provided with a lifting device that can lift and lower the load, and a stack height detecting unit that detects the height of the load stacked in the storage space. Lifting height detecting means for detecting the height of the load lifted by the lifting device is provided, and the height detected by the stacking height detecting means and the height detected by the lifting height detecting means. And then based on this comparison, control the In which the control device is provided for.

According to this, when a load is lifted by the lifting device, the height of the lifted load is detected by the lifting height detecting means, and the height of the load stacked in the storage space is determined by the step height. Detected by the detecting means. If the height detected by the lifting height detection means is equal to or less than the height detected by the stack height detection means, the control device determines that the lifting height of the container is insufficient, and Is stopped, or the speed of the traversing movement of the traversing body is switched to a lower speed than usual. Thereby, it is possible to prevent the lifted load from coming into contact with the load stacked in the storage space during the traversing.

According to a second aspect of the present invention, a plurality of stacked height detecting means are provided on the girder member corresponding to loads arranged in a plurality of rows in the front-rear direction. According to this, the height of the loads stacked in the storage space is detected by the individual stacked height detecting means for each row in the front-back direction.

According to a third aspect of the present invention, one of the stacked height detecting means is provided on the beam member, and is configured to be movable in the front-rear direction. According to this, by moving the stack height detecting means in the front-back direction, the height of the loads stacked in the accommodation space can be changed in all the rows in the front-back direction by using one stack height detecting means. Can be detected.

According to a fourth aspect of the present invention, a plurality of stacked height detecting means are provided so as to oppose a pair of leg members, respectively, corresponding to a plurality of stacked loads in the vertical direction. is there.

According to this, the height of the loads stacked in the storage space is detected by the individual stacking height detecting means. According to a fifth aspect of the present invention, the stacked height detecting means is provided one by one on each of the pair of leg members, and is configured to be movable in synchronization with the vertical direction.

According to this, by moving the pair of opposed stack height detecting means in the vertical direction synchronously,
The height of the loads stacked in the storage space can be detected by using the pair of stacked height detecting means.

According to a sixth aspect of the present invention, the stack height detecting means is provided in the suspension device. According to this, as the lifting device moves up and down, the stacking height detecting means moves up and down together with the lifting device, so that the height of the loads stacked in the storage space can be detected.

[0015]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a first embodiment of the present invention will be described with reference to FIGS. As shown in FIGS. 1 and 2, reference numeral 1 denotes a bridge-type crane-type cargo handling device arranged in a container yard such as a harbor. The cargo handling device 1 has a traveling body 2 that can travel in front, rear, left, and right directions. The traveling body 2 includes a pair of front and rear beams 3 arranged in parallel.
And a pair of left and right body frames 4 erected between the two beams 3, a plurality of trucks 5 provided on both beams 3, and running wheels 6 provided on each truck 5. .

Each of the two main body frames 4 is formed in a side view gate shape by a pair of front and rear leg members 8a and 8b and a girder member 9 provided between upper end portions of the front and rear leg members 8a and 8b. . Further, between the front and rear leg members 8a and 8b and below the girder member 9, a plurality of containers 10 (an example of a load) which are arranged in rows A to F in the front-rear direction and stacked vertically are accommodated. An accommodation space 11 is formed.

A club 13 (an example of a traversing body) is provided between the left and right girder members 9 so as to be supported and guided by these girder members 9 and to be able to traverse in the front-rear direction. The club 13 includes a traversing drive device 14 for traversing the club 13,
Spreader device 1 that lifts and lowers container 10
5 (an example of a suspension device) and an operator cab 16 are provided. The traversing drive device 14 is composed of a traversing motor or the like.
3 moves sideways in the front-back direction.

The spreader device 15 is suspended from the club 13 via a plurality of suspension ropes 17, and the club 13 is provided with a hoisting device 18 for winding up the suspension rope 17. The hoisting device 18
Is a hoisting drum 19 for winding the hanging rope 17, and a hoisting drive device 20 for rotating the hoisting drum 19.
It is composed of

The spreader device 15 includes a fixed beam 2
1 and a pair of left and right telescopic beams 22 provided on the fixed beam 21 and capable of expanding and contracting in the left-right direction. A plurality of engaging tools (not shown) that can be disengaged from the container 10 are provided at the distal ends of the left and right telescopic beams 22. By engaging these engaging tools with the upper surface of the container 10, The container 10 is configured to be connected to the spreader device 15. Note that the width in the left-right direction of the spreader device 15 when both the extension beams 22 are shortened is set to be smaller than the left-right space between the pair of main body frames 4.

As shown in FIGS. 1 and 3, the cargo handling device 1 is provided with a lifting height detecting means 23 for detecting the lifting height Ha of the container 10 lifted from the ground by the spreader device 15. Have been. That is, the lifting height detecting means 23 includes an encoder 24 connected to the rotating shaft of the hoisting drum 19 of the hoisting device 18 and a counting device 25 for counting the pulses output from the encoder 21. The height of the spreader device 15 is obtained based on the count value in the device 25, and the height h of one container 10 is subtracted from the height of the spreader device 15 to obtain the lifting height H.
a is detected.

As shown in FIG. 1, a stacking member for detecting the stacking height Hb of the containers 10 stacked in the accommodating space 11 from the ground is provided on the girder member 9 of the left or right main body frame 4. A plurality of height detecting means 27a to 27f are provided in the front-back direction. The stack height detecting means 27a
27 to 27f, an ultrasonic sensor, a laser sensor, or the like is used, and the stacking height Hb is detected based on the time until ultrasonic waves or laser light is reflected on the upper surface of the container 10 and returns. Things. The stack height detecting means 27a to 27f are attached to the position switching member 28 and correspond to the upper side of the containers 10 arranged in the rows A to F.

As shown in FIG. 4, the position switching member 2
Reference numeral 8 is provided on the beam 9 and is configured to be movable in the front-rear direction by the moving device 29. The moving device 29
Is a pair of front and rear sprockets 30 provided on the beam 9
And a chain 31 wound between the two sprockets 30,
And a motor 32 for rotating one of the sprockets 30. The position switching member 28 includes a chain 31
The switching of the chain 31 switches between one switching position X (see the solid line in FIG. 4) and the other switching position Y (see the virtual line in FIG. 4).

As shown in FIG. 3, the cargo handling apparatus 1 has a lifting height Ha detected by the lifting height detecting means 23 and a row A detected by each of the stacked height detecting means 27a to 27f. And the stacking heights Hb in rows F to F, and based on the comparison, the traversing drive device 14 for the club 13
Is provided.

The traversing movement of the club 13 and the elevation of the spreader device 15 are operated by the operator from the cab 16. In the cab 16, there is provided a display device 35 (display lamp or the like) for displaying the shortage of the lifting height Ha.

The operation of the above configuration will be described below.
For example, as shown in FIG. 1, when the transport vehicle 37 (chassis) is stopped in front of the accommodation space 11 and the uppermost container 10 in the F-th row is loaded on the transport vehicle 37, first, position switching is performed. By switching the member 28 to one of the switching positions X, each stack height detecting means 27a to 27f
Are located above the containers 10 in the A-th to F-th rows, and the stacking height detecting means 27a to 27f determine
The stacking height Hb of each container 10 in the F-th row is detected. At this time, the right and left telescopic beams 2 of the spreader device 15
By shortening 2, the spreader device 15 does not hinder the detection of the stacking height Hb of each container 10.

Thereafter, by operation of an operator in the cab 16, the telescopic beams 22 are extended according to the size of the container 10, and the uppermost container 10 in the F-th row is lifted by the spreader device 15. At this time, the spreader device 1 is
The lifting height Ha of the container 10 lifted at 5 is detected.

At this time, the control device 34 controls the lifting height Ha detected by the lifting height detecting means 23.
And the stacking height Hb of the containers 10 in the Ath to Fth rows already detected by the stacking height detecting means 27a to 27f.

When the lifting height Ha is greater than the stacking height Hb of each of the rows A to F (Ha>
Hb) The club 13 can be traversed at a constant speed by the operation of the operator in the cab 16. Thus, the container 10 at the top of the F-th row can be loaded on the transport vehicle 37 by the usual operation.

In the above, when the detected lifting height Ha is equal to or less than the stacking height Hb of any of the Ath to Fth rows (Ha ≦ Hb), the control device 34.
Determines that the lifting height Ha of the container 10 is insufficient, and stops the traversing drive device 14. For this reason,
Even if the operator in the cab 16 operates, the club 13
Is stopped without traversing, so that the container 10 lifted by the spreader device 15 is moved from the traversing direction to the stacked container 10 (for example, the uppermost container 10 in the A-th column shown in FIG. 1). Contact can be prevented. At this time, the display device 35 is turned on to display the shortage of the lifting height Ha to the operator in the cab 16.

As a result, the operator notices that the lifting height Ha is insufficient, and raises the spreader device 15 further. And, similarly to the above, the lifting height Ha
Is larger than the stacking height Hb of the A-th to F-th rows, the display device 35 is turned off, and the club 13 can be traversed at a constant speed.

In the above embodiment, the case where the uppermost container 10 in the Fth row is mounted on the transport vehicle 37 has been described, but the uppermost one in the Ath to Eth rows other than the Fth row is described. The same applies when the container 10 is mounted on the transport vehicle 37.

In addition, the above is described with reference to FIG.
1 is a description of the case where the transport vehicle 37 (chassis) is stopped in front of the inside of the vehicle 1, but as shown in FIG.
In this state, the positions of the stacked height detecting units 27a to 27f with respect to the containers 10 in the Ath to Fth rows are shifted in the front-rear direction, so that the stacking height Hb cannot be detected. Therefore, as shown by a virtual line in FIG. 4, first, by switching the position switching member 28 from one switching position X to the other switching position Y, as shown in FIG.
The stack height detecting means 27a to 27f are simultaneously switched to positions facing above the containers 10 in the Ath to Fth rows. Thereby, each stack height detecting means 27a-
By 27f, the stacking height Hb of each of the containers 10 in the Ath to Fth rows is detected. Thereafter, in the same manner, when the lifting height Ha is insufficient, the control device 34 stops the traversing drive device 14, so that the spreader device 15 is stopped.
Can prevent the container 10 lifted from contacting the stacked containers 10 in the transverse direction.

In the first embodiment, as shown in FIG. 4, the moving device 29 is connected to the sprocket 30 and the chain 3.
1 and the motor 32, but the position switching member 2
8 may be moved in the front-rear direction by a cylinder device.

In the first embodiment, the container 10
The number of stacking height detecting means 27a to 27f equal to the number of arrangements in the front-rear direction (the A-th to F-th rows) is provided on the girder member 9 as a second embodiment. As shown in (1), a single stack height detecting means 27 may be provided on the girder member 9 so as to be movable back and forth.

That is, the stack height detecting means 27
Is configured to be movable in the front-rear direction by the moving device 41. The moving device 41 includes a pair of front and rear sprockets 42 provided on the beam 9, a chain 43 wound between the two sprockets 42, and a motor 44 for rotating one of the sprockets 42 forward and backward. .

According to this, when the motor 44 is operated, the sprocket 42 and the chain 43 rotate, and the stack height detecting means 27 moves in the front-back direction along the beam 9. Thereby, one stacking height detecting means 2
7, the stack height Hb of each of the containers 10 in the Ath to Fth rows is detected. After that, the above-described steps (1) to (3) are performed in the same manner as in the first embodiment.

In the second embodiment, the number of stacked height detecting means 27 can be reduced to one, so that the cost can be reduced. In the first embodiment, as shown in FIG. 1, the stack height detecting means 27 a to 27 f are provided on the beam 9, but as a third embodiment, as shown in FIG. The leg members 8a and 8b facing each other may be provided with a plurality of stacked height detecting means 47a to 47c and 48a to 48c.

The one of the stacked height detecting means 47a to 47c is a light projector for projecting infrared rays, laser light, or the like in the horizontal direction, and a plurality of upper and lower parts (three upper and lower parts) are provided on one leg member 8a. Is provided. The other stack height detecting means 48a to 48c is a light receiver for receiving infrared light, laser light or the like emitted from the one stack height detecting means 47a to 47c, and the other leg member. 8b, a plurality of upper and lower parts (three upper and lower parts) are provided. Between the one stack height detecting means 47a to 47c and the other stack height detecting means 48a to 48c, three upper and lower optical axes 49 are provided.
a to 49c are formed horizontally.

According to this, when four containers 10 are stacked in any of the rows A to F, all the optical axes 49a to 49c are cut off, and the four containers 10 are stacked. Ten stacking heights Hb are detected. When three containers 10 are stacked, the uppermost optical axis 4
9a is not blocked, the lower two optical axes 49b and 49c are blocked, and the stack height H of the three stacked containers 10 is set.
b is detected. Similarly, when two containers 10 are stacked, only the lowest optical axis 49c is blocked,
The stack height Hb of the stacked containers 10 is detected.

As described above, the stacking height Hb up to the highest stacked container 10 is detected, and then the container 10 is lifted by the spreader device 15, and further, the first embodiment described above is used. Are performed in the same manner as described above.

In the third embodiment, one of the leg members 8a is provided with a plurality of upper and lower stacking height detecting means 47a to 47c, and the other leg member 8b is provided with the other stacking height detecting means 47a to 47c. Although a plurality of upper and lower 48a to 48c are provided,
As a fourth embodiment, as shown in FIGS.
One of the leg members 8a may be provided with one stacked height detecting means 47 so as to be vertically movable, and the other leg member 8b may be provided with one stacked height detecting means 48 so as to be vertically movable.

That is, one of the front and rear stack height detecting means 47 is configured to be vertically movable by one moving device 53a provided on one leg member 8a. The one moving device 53a includes a pair of upper and lower sprockets 54 provided on one leg member 8a, a chain 55 wound between the two sprockets 54, and a motor 56 for rotating one of the upper and lower sprockets 54 forward and backward. It is composed of

The other stack height detecting means 48 is
The other moving member 53b provided on the other leg member 8b is configured to be vertically movable. The other moving device 53b has the same configuration as the one moving device 53a. Incidentally, one of the stacked height detecting means 47
And the other stacking height detecting means 48,
It is configured to move up and down in synchronization with a and 53b. As a result, the one stack height detecting means 47
An optical axis 49 is formed horizontally between and the other stacking height detecting means 48.

According to this, the double stack height detecting means 4
When 7, 48 is located below the topmost container 10 stacked, the optical axis 49 is blocked by the container 10 stacked. On the other hand, when both stack height detecting means 47 and 48 are located above the uppermost container 10 stacked, the optical axis 49 is continuous without being interrupted.

Therefore, when the two moving devices 53a and 53b are operated to move the two stacked height detecting means 47 and 48 up and down, the state where the optical axis 49 is interrupted is switched to a continuous state (or By detecting the position where the optical axis 49 is switched from the continuous state to the interrupted state), the stacking height Hb up to the highest stacked container 10 is detected. Thereafter, the container 10 is lifted by the spreader device 15, and the above-described steps 1 to 3 are executed in the same manner as in the first embodiment.

In the fourth embodiment, the number of stacked height detecting means 47 and 48 can be reduced as compared with the third embodiment, so that the cost can be reduced. In the first to fourth embodiments, the stack height detecting means 27,
27a to 27f, 47, 47a to 47c, 48, 48a
To 48c are provided on the girder member 9 and the leg members 8a and 8b.
In this embodiment, as shown in FIG. 11, the spread height detecting means 60a and 60b are provided in the spreader device 15.

That is, one of the stacked height detecting means 60
a is provided at the lower end of one of the front and rear sides of the spreader device 15;
The other stacking height detecting means 60b is the spreader device 15
Are provided at the lower end of the front and rear other side portions. Note that an ultrasonic sensor, a laser sensor, or the like is used as the stacked height detecting means 60a, 60b.

According to this, the double stack height detecting means 60
When both a and 60b are located below the uppermost container 10 stacked, the double stack height detecting means 60
At least one of the ultrasonic waves radiated from a and 60b is reflected on the side surface of the stacked containers 10 and returns.

On the other hand, the double stack height detecting means 60
a and 60b are located above the uppermost container 10 in the stacked state,
Both ultrasonic waves radiated from a and 60b pass above the uppermost container 10 and are not reflected back.

Therefore, when the spreader device 15 is moved up and down, at least one of the two stacked height detecting means 60a and 60b detects the reflected wave, the two stacked height detecting means 60a and 60b are turned off. Are switched to a state in which no reflected wave is detected (or from a state in which both of the stacked height detecting means 60a and 60b do not detect a reflected wave, at least one of the two stacked height detecting means 60a and 60b is changed). By detecting the position (switching to the state of detecting the reflected wave), the stacking height Hb up to the highest stacked container 10 is detected.

In this state, as shown in FIG.
The lifting height Ha is lower than the uppermost stack height Hb by the height h of one container 10 lifted by the spreader device 15. Therefore, even if the control device 34 stops the traversing drive device 14 and the operator in the operator's cab 16 operates, the club 13 does not traverse and remains stopped, so that the spreader device 15 It is possible to prevent the suspended container 10 from contacting the stacked containers 10 (for example, the uppermost container 10 in the A-th row) in the transverse direction. At this time, the display device 35 is turned on to display the shortage of the lifting height Ha to the operator in the cab 16.

Accordingly, the operator notices that the lifting height Ha is insufficient, and raises the spreader device 15 by the height h of one container 10 or more. As a result, FIG.
As shown by the imaginary line 1, the lifting height Ha is equal to
The height becomes larger than the stacking height Hb of the F-th row, the display device 35 is turned off, and the club 13 can be traversed.

In each of the above-described embodiments, the six rows (the A-th to F-th rows) of the containers 10 are arranged in the accommodation space 11 in the front and rear, but the number is not limited to six. In addition, although a maximum of four containers 10 are stacked in each row, the number of containers 10 is not limited to four.

In each of the above embodiments, as shown in FIG. 2, the cargo handling device 1 can travel in the front-rear and left-right directions. Good.

In each of the above embodiments, the lifting height Ha
Is less than or equal to the stacking height Hb (Ha ≦ Hb), the control device 34 stops the traversing drive device 14, so that the club 13 does not traverse and remains stopped even if operated by the operator. However, it is not limited to this,
The club 13 may be switched so that it can traverse at a speed lower than a certain speed without stopping.

In each of the above embodiments, the “lifting height H
When “a ≦ stacking height Hb”, the control device 34 stops the traversing drive device 14. However, in order to further improve safety, when “Ha ≦ Hb + α”, the club 13
Is stopped, and if “Ha> Hb + α”, the club 1
3 may be enabled at a constant speed. Note that α is a constant height.

In the first embodiment, as shown in FIG. 1, six stacked height detecting devices 27a to 27f are provided before and after, but the present invention is not limited to the six stacked height detecting devices 27a to 27f. It is increased or decreased according to the number of rows in the front-back direction.

In the second embodiment, as shown in FIG. 8, one stack height detecting device 47a to 47c and the other stack height detecting device 48a to 48c are provided in three upper and lower stages, respectively. However, it is not limited to three steps,
The number is increased or decreased according to the maximum number of stacked containers 10.

[0059]

As described above, according to the present invention, when a load is lifted by the lifting device, the height of the lifted load is detected by the lifting height detection means, and the load stacked in the accommodation space is further detected. Is detected by the stack height detecting means. If the height detected by the lifting height detection means is equal to or less than the height detected by the stack height detection means, the control device determines that the lifting height of the container is insufficient, and Is stopped, or the speed of the traversing movement of the traversing body is switched to a lower speed than usual. Thereby, it is possible to prevent the lifted load from coming into contact with the load stacked in the storage space during the traversing.

[Brief description of the drawings]

FIG. 1 is a side view of a cargo handling device according to a first embodiment of the present invention, showing a state in which a transport vehicle is stopped forward in a storage space.

FIG. 2 is a perspective view of the cargo handling device.

FIG. 3 is a block diagram of a control system of the cargo handling device.

FIG. 4 is a diagram of a moving device provided in the cargo handling device.

FIG. 5 is a side view of the cargo handling device, showing a state in which the transport vehicle is stopped behind in the accommodation space.

FIG. 6 is a side view of a cargo handling device according to a second embodiment of the present invention.

FIG. 7 is a diagram of a moving device provided in the cargo handling device.

FIG. 8 is a side view of a cargo handling device according to a third embodiment of the present invention.

FIG. 9 is a side view of a cargo handling device according to a fourth embodiment of the present invention.

FIG. 10 is a diagram of the moving device provided in the cargo handling device.

FIG. 11 is a side view of a cargo handling device according to a fifth embodiment of the present invention.

FIG. 12 is a side view of a conventional cargo handling device.

[Explanation of symbols]

Reference Signs List 1 cargo handling device 4 body frame 8a, 8b leg member 9 girder material 10 container (load) 11 accommodation space 13 club (transverse body) 15 spreader device (suspension device) 23 lifting height detecting means 27, 27a to 27f stacked height Detecting means 34 Control device 47, 47a to 47c, 48, 48a to 48c Stacking height detecting means 60a, 60b Stacking height detecting means Ha Lifting height Hb Stacking height

Claims (6)

[Claims] 1. A main body frame formed in a gate shape by a pair of front and rear leg members and a girder member provided between upper end portions of both leg members, and between the two leg members and below the girder member, An accommodation space for accommodating a plurality of loads arranged in a plurality of rows in the front-rear direction and stacked vertically is formed, and a traversing body that can traverse in the front-rear direction is provided on the girder material. A lifting device capable of lifting and lowering is provided, a stack height detecting means for detecting the height of the load stacked in the accommodation space, and a lifting height for detecting the height of the load lifted by the lifting device. And a control unit for comparing the height detected by the stacked height detecting means with the height detected by the lifting height detecting means, and controlling the traversing of the traversing body based on the comparison. A cargo handling device, comprising: 2. The cargo handling device according to claim 1, wherein a plurality of stack height detecting means are provided on the girder member corresponding to loads arranged in a plurality of rows in the front-rear direction. 3. The cargo handling device according to claim 1, wherein the stack height detecting means is provided on the beam member, and is configured to be movable in the front-rear direction. 4. A plurality of stacked height detecting means are provided, each corresponding to a plurality of stacked loads in the up and down direction, in opposition to a pair of leg members, respectively. Item 8. The cargo handling device according to Item 1. 5. The stacked height detecting means is provided one by one facing each of a pair of leg members, and is configured to be movable in synchronization with the vertical direction. A cargo handling device as described. 6. The cargo handling device according to claim 1, wherein the stack height detecting means is provided on the suspension device.