JP2003034495A - Cargo handling control device in industrial vehicle and industrial vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a cargo handling control device in an industrial vehicle and the industrial vehicle capable of performing operation or processing for cargo handling work according to a classification of the determined cargo handling work without requiring a determination of the classification of the cargo handling work to a driver by determining the classification of the cargo handling work on the basis of a signal of a cargo detecting means. SOLUTION: A controller acquires a load W detected by a load sensor (S10). When the load W is a threshold value Wo or less, it is determined as the cargo picking work (S20, S30). While, when the load W exceeds the threshold value Wo, it is determined as cargo unloading work (S20, S40). When operating an operation switch when the lifting height is 2 m or more, fork automatic positioning control is started. When a determining result is cargo picking work, a fork is positionally adjusted to the cargo picking height corresponding to a hole of a pallet, and while, when the determining result is the cargo unloading work, the fork is positionally adjusted to a little upper cargo unloading height of a shelf part.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an industrial vehicle for controlling an actuator that drives, for example, a cargo handling machine with the control content according to the determination result of determining the type of cargo handling work (for example, loading / unloading work). The present invention relates to a cargo handling control device and an industrial vehicle.

[0002]

2. Description of the Related Art Conventionally, in industrial vehicles such as forklifts, a driver operates a cargo handling lever to carry out cargo handling work. For the purpose of supporting cargo handling work, for example, Japanese Patent Application Laid-Open No. 7-2496 discloses an automatic lifting device for automatically raising a fork to a desired height. With this device, the height of the fork can be stored in the storage means in advance, and when the driver operates the operation button, the height corresponding to the operation button is read and the fork is automatically adjusted to that height. Control to raise.

Further, conventionally, it is necessary to operate two types of cargo handling levers when carrying out the work of picking up and placing the work. For example, the industrial vehicle disclosed in Japanese Patent Laid-Open No. 5-4797 is
The vehicle is provided with an operation lever for unloading and an operating lever for unloading, and a driver operates the operating lever for unloading when performing an unloading operation and operates the operating lever for unloading when performing an unloading operation. According to this industrial vehicle, since the operation levers corresponding to the types of the cargo handling work are individually prepared, the cargo handling work can be performed only by operating one lever. In addition, this industrial vehicle was equipped with a sensor that detects the load of the load loaded on the fork, but the load sensor determines the presence or absence of the load on the fork and puts the fork in a horizontal position depending on the presence or absence of the load. It was used to judge whether to allow control to displace or give the fork a tilt angle.

[0004]

However, in the conventional automatic lifting device, it is necessary to set the preset heights separately for the loading height and the loading height. For this reason, the height reservation work must be performed separately for two types, one for unloading and one for unloading. Also, when operating the automatic lifting device, the driver must decide whether to perform unloading or unloading. It was necessary to select the operation button after making a decision. For this reason, although the fork is automatically controlled to the designated lifting height, it was not automatically determined whether to load or unload the load, and there was still a troublesome part in automating the cargo handling work.

Further, in the industrial vehicle disclosed in Japanese Unexamined Patent Publication No. 5-4797, it is possible to avoid operating two types of cargo handling levers at the same time, and the cargo handling operation can be easily completed. It was necessary for the driver to judge whether it was a picking work or a loading work. For this reason, the driver himself had to decide which of the loading lever and the loading lever should be operated.
The type of cargo handling work cannot be determined simply by the presence sensor detecting the presence of the cargo, and it is only by reading from the sensor the operation result of the driver which one of the loading operation lever and the loading operation lever was operated. It was possible to identify the type of work.

The present invention has been made to solve the above problems, and its purpose is to determine the type of cargo handling work based on the signal of the load detecting means, and to determine the type of cargo handling work to the driver. An object of the present invention is to provide a cargo handling control device for an industrial vehicle and an industrial vehicle that can perform an operation or processing for cargo handling work according to the determined type of cargo handling work without requesting.

[0007]

In order to achieve the above object, the invention according to claim 1 is loaded or gripped on a cargo handling device provided on a vehicle body of an industrial vehicle so that it can be displaced for cargo handling operation. A load detection unit that outputs a signal capable of identifying the presence or absence of a load, a determination unit that determines whether the work is a load pickup work or a load placement work based on the detection signal of the load detection unit, and the determination unit determines that the load pickup work is performed. And a control means for performing a preset operation or process for the unloading work, and a preset action or process for the unloading work when it is determined to be the unloading work. And Note that “grasping” includes grasping by magnetic attachment as well as grasping by a clamp or the like.

According to the present invention, the load detecting means outputs a signal capable of identifying the presence or absence of a load loaded or gripped on the cargo handling equipment. Based on the detection signal of the load detecting means, the determining means determines whether the work is a picking work or a placing work. If the determination means determines that the work is a picking operation, a preset operation or process for the picking work is performed, and if it is determined to be the loading work, a preset operation or process for the loading work is performed. .

According to a second aspect of the present invention, a load detection device for outputting a signal capable of discriminating the presence / absence of a load loaded or gripped on a cargo handling device provided on a vehicle body of an industrial vehicle for displacement for cargo handling operation. Means, at least one actuator driven to cause the cargo handling equipment to carry out cargo handling operation, determination means for determining the type of cargo handling work based on a detection signal of the load detection means, and cargo handling determined by the determination means. The gist of the present invention is to include a control unit that drives and controls the actuator according to the control content according to the type of work. In addition,
The "actuator" includes a hydraulic cylinder, a pneumatic cylinder, an electric cylinder, an electric motor, a hydraulic motor, a solenoid and the like.

According to the present invention, the load detecting means outputs a signal capable of identifying the presence or absence of a load loaded or gripped on the cargo handling equipment. The type of cargo handling work is determined by the determination means based on the detection signal of the load detection means. The actuator is drive-controlled with the control content according to the type of the cargo handling work determined by the determination means, and the cargo handling operation of the cargo handling equipment is controlled according to the type of the cargo handling work.

According to a third aspect of the present invention, in the cargo handling control device according to the second aspect, the actuator is driven to raise and lower the cargo handling equipment along a mast provided on the vehicle body. When the determination of the determination means is a loading operation, the actuator is drive-controlled to raise the cargo handling equipment to the loading height, and when the determination of the determination means is a loading operation, the actuator is operated. The gist is to drive and control to raise the cargo handling equipment to the loading height.

According to the present invention, when the judgment of the judging means is the load taking work, the actuator is drive-controlled to raise the cargo handling equipment to the pick up height, and when the judgment of the judging means is the loading work. The actuator is drive-controlled to raise the cargo handling equipment to the loading height.

The invention according to claim 4 is the invention according to claim 2 or 3.
In the cargo handling control device for an industrial vehicle as described above, the determining means determines that the loading operation is performed when the presence of the load in the cargo handling equipment is detected, and the unloading work is performed when the absence of the load in the cargo handling equipment is detected. The control means drives and controls the actuator to cause the cargo handling device to perform a cargo picking operation when the determination means determines that the cargo is to be picked up, and drives the actuator to control the actuator when it is determined that the cargo is to be loaded. The point is to have the cargo handling equipment perform the loading operation.

According to the present invention, when the presence of a load in the cargo handling equipment is detected, it is determined to be the loading work, and when the absence of the cargo in the cargo handling equipment is detected, it is determined to be the unloading work. When it is determined by the determination means that the work is a load operation, the actuator is drive-controlled so that the cargo handling device performs a load operation, and when it is determined that the work is a load placement operation, the actuator is drive-controlled and the cargo handling device performs a load operation.

The invention as set forth in claim 5 is, in the cargo handling control device for an industrial vehicle according to any one of claims 2 to 4, operated to issue a command to start automatic cargo handling control of the cargo handling equipment. In addition, the starting operation means commonly used between different cargo handling operations and the control means, when receiving the operation signal from the starting operation means, the control content according to the type of the cargo handling operation determined by the determination means. The gist is that the automatic cargo handling control is performed by drivingly controlling the actuator.

According to the present invention, when the automatic cargo handling control of the cargo handling equipment is started, the start operation means is operated in response to the command. This starting operation means is commonly used between different cargo handling operations. The control means that has received the operation signal from the starting operation means drives and controls the actuator according to the control content according to the type of the cargo handling work determined by the determination means. Therefore, when the starting operation means is operated, the cargo handling operation of the cargo handling equipment suitable for the type of cargo handling work to be performed is performed.

According to a sixth aspect of the present invention, in the cargo handling control device for an industrial vehicle according to any one of the second to fourth aspects, the invention is used to determine whether a starting condition for starting automatic cargo handling control of the cargo handling equipment is satisfied. Detection means for outputting a signal
When the control means receives a signal that the starting condition is satisfied from the detection means, the control means performs the automatic cargo handling control by drivingly controlling the actuator according to the control content according to the type of the cargo handling work determined by the determination means. Is the gist. The detection means does not detect the operation of the driver.

According to the present invention, the automatic cargo handling control of the cargo handling equipment is started by using the signal output from the detecting means when the predetermined condition is satisfied as a command signal. The control means that has received the signal from the detection means drives and controls the actuator according to the control content according to the type of the cargo handling work determined by the determination means. Therefore, when the signal of the detection means is received as the command signal, the cargo handling operation of the cargo handling equipment suitable for the type of cargo handling work to be performed is performed.

The invention according to claim 7 is the invention according to claim 5 or 6.
In the cargo handling control device for an industrial vehicle as described above, the automatic cargo handling control is a control for aligning the cargo handling equipment with respect to a cargo handling target, and the control unit determines the type of cargo handling work determined by the determination unit. The gist is to drive and control the actuator so as to position the cargo handling equipment at the work start position.

According to the present invention, the actuator is drive-controlled according to the type of the cargo handling work judged by the judging means, whereby the cargo handling equipment is arranged at the work start position corresponding to the type of the cargo work work. The cargo handling equipment is aligned with the cargo handling target at an appropriate position for carrying out cargo handling work.

The invention according to claim 8 is a load detection device for outputting a signal capable of discriminating the presence or absence of a load loaded or gripped on a cargo handling device provided on a vehicle body of an industrial vehicle for displacement for cargo handling operation. Means, at least one actuator included in the support device provided to support the automatic cargo handling operation of the cargo handling equipment, a determination means for determining the type of cargo handling work based on a detection signal of the load detection means, and The gist of the present invention is to include a control unit that drives and controls the actuator according to the control content according to the type of the cargo handling work determined by the determination unit.

According to the present invention, the load detection means outputs a signal capable of identifying the presence or absence of a load loaded or gripped on the cargo handling equipment. The type of cargo handling work is determined by the determination means based on the detection signal of the load detection means. The actuator is drive-controlled by the control content according to the type of the cargo handling work determined by the determination means, and the support device that supports the automatic cargo handling operation of the cargo handling equipment is controlled according to the type of the cargo handling work.

According to a ninth aspect of the present invention, in the cargo handling control device for an industrial vehicle according to the eighth aspect, the cargo handling control device is operated to give a command to start automatic cargo handling control of the cargo handling equipment, and is used during different cargo handling operations. When the operation signal from the starting operation means is received, the starting operation means commonly used in the above and the control means drive and control the actuator with the control content according to the type of the cargo handling work determined by the determination means. Therefore, the gist is to support the automatic cargo handling control.

According to the present invention, when the automatic cargo handling control of the cargo handling equipment is started, the starting operation means is operated in response to the command. This starting operation means is commonly used between different cargo handling operations. The control means that has received the operation signal from the starting operation means drives and controls the actuator according to the control content according to the type of the cargo handling work determined by the determination means. Therefore, if the start operation means is operated, the support device operates with the content suitable for the type of cargo handling work to be performed,
The automatic cargo handling control is properly supported.

According to the tenth aspect of the present invention, in the cargo handling control device for an industrial vehicle according to the eighth aspect, a signal used for determining whether a starting condition for starting an assisting operation for supporting automatic cargo handling control of the cargo handling equipment is satisfied. When the control means that outputs a signal indicating that the starting condition is satisfied from the detection means, the drive means controls the actuator with the control content according to the type of the cargo handling work determined by the determination means. The gist is to support the automatic cargo handling control. The detection means does not detect the operation of the driver.

According to the present invention, when the signal of the satisfaction of the starting condition is received from the detecting means, the assisting operation of the automatic cargo handling control is started by using the signal as the command signal. The control means that receives the signal from the detection means drives and controls the actuator according to the control content according to the type of the cargo handling work determined by the determination means. Therefore, when the signal for starting the assisting device is accepted, the assisting device operates with the content suitable for the type of the cargo handling work to be performed, and the automatic cargo handling control is appropriately supported.

The invention described in claim 11 is the invention as claimed in claims 2 and 5.
In the cargo handling control device for an industrial vehicle according to any one of items 10 to 10, it is summarized that the types of the cargo handling work determined by the determination means are a loading work and a unloading work.

According to the present invention, in the invention described in any one of claims 2 and 5, the types of the cargo handling work to be determined are the loading work and the unloading work. When it is determined that the load placement work is performed, the control is performed, and when it is determined that the load pickup work is performed, the control suitable for the load pickup work is performed.

According to a twelfth aspect of the present invention, in the cargo handling control device for an industrial vehicle according to any one of the first and second aspects, the industrial vehicle includes a photographing means for photographing a position detecting sign provided on a cargo handling target, Image processing means for detecting the position of the cargo handling target by performing image processing on the basis of the image data photographed by the photographing means, and the control means has determined by the determination means that it is a picking operation. Occasionally, the cargo handling equipment is raised or lowered to the load taking height estimated from the position of the cargo handling target detected by the image processing means, and when the determining means determines that the cargo is placed, it is detected by the image processing means. The gist is to raise or lower the cargo handling equipment to the loading height estimated from the position of the cargo handling target.

According to the present invention, the marker for position detection provided on the cargo handling target is photographed by the photographing means, and the image processing is performed based on the photographed image data so that the position of the cargo handling target is determined by the image processing means. Detected by. When the determination means determines that the cargo is to be picked up, the cargo handling equipment is moved up or down, and the position thereof is adjusted to the pickup height estimated from the position of the cargo handling target detected by the image processing means. On the other hand, when the determination means determines that the cargo is placed, the cargo handling equipment is moved up or down, and the position thereof is adjusted to the pickup height estimated from the position of the cargo handling target detected by the image processing means.

According to a thirteenth aspect of the present invention, in the cargo handling control apparatus according to the first or second aspect, the industrial vehicle is designated by a start operation means for automatic lifting and an operation signal of the start operation means. An automatic lifting device for raising the cargo handling equipment to a lift corresponding to a shelf is provided, and the control means drives and controls an actuator for performing automatic lift control of the cargo handling equipment by the automatic lifting device. The control means, when a corresponding height is designated by the operation signal of the start operation means, determines the type of the cargo handling work determined by the determination means with respect to the height commanded by the operation signal. The gist is to position the cargo handling equipment at one of the loading position and the unloading position that are determined accordingly.

According to the present invention, when the starting operation means for automatic lifting is operated, the corresponding height is designated by the operation signal. Either the loading position or the unloading position, which is determined according to the type of cargo handling work determined by the determination means with respect to the height commanded by the start operation signal, is determined as the target lift, and the cargo lift is performed toward this target lift. The actuator is driven to raise or lower the equipment. As a result, the cargo handling equipment is positioned at the loading position or the unloading position that is determined according to the type of cargo handling work with respect to the commanded height.

According to a fourteenth aspect of the present invention, an industrial vehicle is provided with the cargo handling control device according to any one of the first to thirteenth aspects. According to the present invention, the cargo handling control device provided in the industrial vehicle can obtain the same operation as that of the invention according to any one of claims 1 to 13.

[0034]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS (First Embodiment) A first embodiment in which the present invention is embodied in a forklift position detection device will be described below with reference to the drawings.

As shown in FIG. 1, a reach type forklift truck (hereinafter referred to as a forklift) 1 as an industrial vehicle uses a fork 2 as a cargo handling device to carry out cargo handling work. Left and right front wheels (driven wheels) 5 are attached to the front ends of a pair of left and right reach legs 4 extending forward from the front of the vehicle body 3, and the drive steered wheels 6 as rear wheels are
The vehicle is driven by the power of a traveling motor 8 that uses a battery 7 provided in the vehicle body 3 as a power source. The driver operates the forklift 1 by operating the steering wheel 10 to steer the driving steered wheels 6 while standing on the standing seat type driver's seat 9 provided on the rear right side of the vehicle body 3.

The cargo handling device (mast device) 11 arranged on the front side of the vehicle body 3 is moved in the front-rear direction along the left and right reach legs 4 by the drive of the reach cylinder 12 (reach operation).
It is possible. The cargo handling device 11 includes a multi-stage (three-stage in this example) mast 13 and a carriage 14 for cargo handling.
And a pair of left and right lift cylinders 15 (only one side is shown). The carriage 14 for cargo handling moves up and down along the mast 13 that slides and expands and contracts when the lift cylinder 15 is driven. The maximum lift of the fork 2 is, for example, 6 meters.

The forklift 1 includes a cargo handling operation support device (fork positioning operation support device) 20 for assisting the positioning operation of the fork 2 in a high place (high lift range).
Is provided. The cargo handling operation support device 20 includes a camera elevating device 21 which is assembled in a vertically elongated state at the center of the front surface of the side shifter 16 which constitutes the carriage 14.

The camera lifting device 21 includes a side shifter 16
The housing 22 is attached to the central part of the front surface of the, and the up-and-down type camera unit 23 is mounted in the housing 22 so as to be vertically movable. This camera unit 23
It is provided so as to move up and down between a storage position stored in the housing 22 and a lowered position protruding from the lower end of the housing 22. The camera unit 23 has a built-in camera (CCD camera) 24 as a photographing means at the lower end thereof, and is capable of photographing the cargo handling work area in front of the fork from the photographing section (lens section) 24A. Further, even from the storage position, the cargo handling work area in front of the fork can be photographed by the camera 24 through the photographing window 22A formed in the lower front surface of the housing 22. That is, camera 2
4 is capable of photographing the cargo handling work area in front of the fork from two positions, the storage position and the lowered position. The side shifter 16 is displaceable in the left-right direction from the center of the width of the mast 13, and during the side shift, the fork 2 and the camera elevating device 21 are also left-right shifted.

A display device (liquid crystal display device (LCD)) 28 is attached to the roof 27 at a position where it can be easily seen by a driver standing on the driver's seat 9. Display device 2
An image of the front of the fork captured by the camera 24 during the cargo handling work is displayed on the screen of No. 8.

An operation lever (multi-lever) 31 shown in FIG. 2 is provided on the instrument panel. The operation lever 31 is capable of performing all the traveling operation and the cargo handling operation by itself, and is provided with a plurality of types of operation portions.

The operating lever 31 is provided with a lever body 33 that tilts in the front-back direction along a slot 32 formed at a predetermined position on the instrument panel. When the lever body 33 is not operated, it is returned to a neutral position substantially perpendicular to the panel surface by the urging force of a spring (not shown). A grip 34 is attached to the upper end portion of the lever body 33 in a posture inclining at an angle of about 30 to 60 degrees with respect to the vehicle width direction. At the left end of the grip 34, a substantially cylindrical knob 35 is provided rotatably around the axis C. A seesaw switch 36 is provided on the front edge of the left portion of the grip 34, a cross switch 37 is provided on the rear surface of the left portion of the grip 34, and an operation switch 38 is provided on the front surface of the left portion of the grip 34.
Are provided respectively. The grip 34 is gripped by the right hand of the driver with the right elbow attached. Grip 34
When you are holding, hold the knob 35 and cross switch 37 with your thumb.
Can be operated, the seesaw switch 36 can be operated with the index finger, and the operation switch 38 can be operated with the middle finger. In addition, the inside of the circle in the figure is the cross switch 37 viewed from the direction A.

The lever body 3 is held by the right hand holding the grip 34.
When 3 is tilted forward, the forklift 1 moves forward, and when the lever body 33 is tilted backward, the forklift 1 moves backward. When the protrusion 35A formed on the knob 35 is pushed upward with the thumb and the knob 35 is turned upward, the fork 2 is raised, and when the protrusion 35A is pushed downward with the thumb and the knob 35 is turned downward, the fork 2 is lowered. Further, when the front end of the seesaw switch 36 is pushed with the index finger, the cargo handling device 11 moves forward, and when the rear end of the seesaw switch 36 is pushed with the index finger, the cargo handling device 11 moves backward. The cross switch 37 can be operated in four directions of up / down / left / right, and the tilt of the mast 13 is operated by the up / down operation, and the side shift is operated by the left / right operation. Pushing the upper end of the cross switch 37 with the thumb tilts the mast 13 forward, and pushing the lower end of the cross switch 37 tilts the mast 13 backward. If you press the right end of the cross switch 37 with your thumb, the fork 2 will move to the right,
When the left end of the cross switch 37 is pressed, the fork 2 moves leftward. The operation switch 38 is for the driver to operate when performing automatic fork alignment control described later.

As shown in FIG. 3, the shelf 40 which is the object of cargo handling
The pallet 41 is provided with marks M1 and M2 used as position targets when aligning the fork 2 with the loading position or the loading position. The mark M1 attached to the pallet 41 is used to detect the pallet position,
It is attached to the central portion between the four insertion holes 41A. On the other hand, the mark M2 attached to the shelf 40 is for detecting the shelf position, and is attached to the center of the front of the shelf (beam) 42. Here, the mark M1 and the mark M2 are figures in which black and white are reversed with respect to each other, as can be seen from FIG. From the position of the mark M1 (or M2) taken by the camera 24 on the screen, the fork 2 and the object of loading (pallet 41 or shelf 4
The fork automatic alignment control is performed to calculate the left and right (Y direction) / upward and downward (Z direction) displacement amounts of 2) and automatically align the forks 2 with the cargo handling target so as to eliminate the displacement amounts. The cargo 43 including the cargo 43 placed on the pallet 41 is subject to cargo handling.

Next, the electrical construction of the cargo handling operation support device 20 will be described with reference to FIG. The cargo handling operation support device 20 is
The controller 45 is provided as a determination unit and a control unit. The controller 45 includes an image controller 46, a cargo handling controller 47, drive circuits 48 and 49, and a solenoid drive circuit 5.
It has 0.

The camera 24 is connected to the input side of the image control section 46, and the display device 28 and the speaker 51 are connected to the output side thereof. The image controller 46 uses the camera 24
Based on the video signal (image signal) input from the display device 2
The image captured by the camera 24 is displayed on the screen of FIG. The image control unit 46 also performs image recognition processing (template matching processing) for recognizing the marks M1 and M2 to obtain the position coordinates of the marks M1 and M2 in the screen coordinate system set on the screen of the display device 28. A geometric transformation is performed based on the position coordinate data to perform the camera 24 and the marks M1 and M2.
Calculate the relative position coordinates (real coordinate system) of. Then, based on the relative position coordinate data, the vertical and horizontal movement amounts necessary for aligning the fork 2 with the loading position or the loading position are calculated. This automatic fork alignment processing will be described in detail later. Further, the speaker 51 is used to notify predetermined information by a voice guide.

On the other hand, the cargo handling control unit 47 includes an upper limit position detection switch 52, a lower limit position detection switch 53, potentiometers 54 and 55 of the multi-lever 31, switches 38, 56 and 57, a lift sensor 58 and a load detection means. A load sensor 59, a tilt angle sensor 60, and the like are connected. Further, the cargo handling control unit 47 includes the drive circuit 4
An electric actuator 61 and a cargo handling motor (electric motor) 62 are respectively connected via 8, 49, and various electromagnetic proportional valves 66 to 69 assembled to an oil control valve 65 via a solenoid drive circuit 50.
The solenoid of is connected.

The cargo handling control unit 47 controls the potentiometers 5
4, 55 and the switches 56, 57 are used to control the current values of the electromagnetic proportional valves 66 to 69 and the cargo handling motor 62. The cargo handling pump 62 (hydraulic pump) 73 is driven by the operation of the cargo handling motor 62, so that hydraulic oil is supplied to the oil control valve 65. The electromagnetic proportional valves 66 to 69 are proportionally controlled based on the operation signals from the multi-lever 31, and the lift cylinder 15, the reach cylinder 12, the side shift cylinder 71, and the tilt cylinder 72 are hydraulically controlled, so that the multi-lever 31 is operated. Fork 2
It is possible to move up and down, reach, side shift and tilt.

The cargo handling control section 47 controls the lifting and lowering control of the camera unit 23 and the automatic fork alignment control, in addition to the cargo handling control during the multi-lever operation. The automatic fork alignment control is executed only during cargo handling work at a high place where the fork 2 is at a certain lift (set lift (for example, about 2 meters)) or more.

The lift sensor 58 detects whether or not the fork 2 is at a height higher than the set lift (lift), and is composed of, for example, a lift switch that can be turned on and off at the set lift. . The automatic fork alignment control is performed only when the lift height detected by the lift sensor 58 is equal to or higher than the set lift height. In addition,
The lift sensor 58 may be a sensor capable of continuously detecting the lift of the fork 2. For example, as the lift sensor 58, the wire is fed out as the carriage 14 moves up and down.
A reel type height sensor for detecting the amount of rotation of the reel to be wound up, or an ultrasonic type for detecting a cylinder stroke by measuring the time until ultrasonic waves propagating in the oil in the lift cylinder 15 are reflected back to the piston. A lift sensor can be employed.

The load sensor 59 detects the weight (load) of the load 43 loaded on the fork 2, and is a pressure sensor for detecting the hydraulic pressure in the lift cylinder 15 in this embodiment. The load sensor 59 outputs a detection signal of a voltage value according to the weight of the load 43 on the fork 2.

When the detection value W of the load sensor 59 exceeds a predetermined threshold value Wo, the cargo handling control unit 47 determines that "there is a load", and when the detection value W is less than or equal to the threshold value Wo, "there is no load". To determine. Since the detection value W of the load sensor 59 includes the weight of the carriage 14 and the like, the detection value when there is no load or a value with some margin in the detection value is the threshold value Wo.
Is set to. For example, when only the pallets 41 are loaded, it is desirable to set a threshold value Wo that can be determined as "with load".

The cargo handling control unit 47 controls the lift height condition (lift height H ≧ 2 where the lift height of the fork 2 grasped from the detection value of the lift sensor 58 is equal to or higher than a set lift height (for example, about 2 meters).
(M) Only when it is determined that the condition is satisfied, the start preparation mode for the automatic fork alignment control is entered. After entering the start-up preparation mode, the cargo handling control unit 47 determines the presence or absence of the cargo 43 loaded on the fork 2 based on the detection value of the load sensor 59. Then, the cargo handling control unit 47 determines that the cargo handling work to be performed from now on is a unloading work when the "no load" is determined, and sets the "unloading mode". The "loading mode" is set by judging that the cargo handling work to be performed is the loading work. This cargo handling mode setting process is executed at regular intervals (for example, several tens of msec.).

The camera unit 23 has a lift H of the fork 2.
When is less than 2 m, it is placed in the storage position. In the starting preparation mode (lifting height H ≧ 2 m), the cargo handling control unit 47
In the "loading mode", the camera unit 23 is placed in the storage position, and in the "loading mode", the camera unit 23 is placed in the lowered position. The electric actuator 61, which is operated to move the camera unit 23, is stopped and driven when the ascending camera unit 23 reaches the upper limit position and the upper limit position detection switch 52 is turned on, and the descending camera unit 23 becomes the lower limit. When the position is reached and the lower limit position detection switch 53 is turned on, the driving is stopped. As a result, the camera unit 23 is arranged at two positions, the retracted position and the retracted position, and the camera 24 captures an image of the cargo handling work area in front of the fork from these two positions.

In this embodiment, the camera unit 23 is switched between the storage position and the lowered position according to the "loading mode" and the "loading mode". The reason why the photographing position is switched according to the cargo handling mode is that it is desirable that the photograph can be taken from substantially the same height as the fork 2 (fork loading section), but at the time of unloading, there is no load on the fork 2 and the camera 24 Although it is possible to take a picture even if the camera 24 is positioned substantially at the same height as the fork 2, if the camera 24 is positioned at substantially the same height as the fork 2, the load loaded on the fork 2 interferes with the loading and unloading work area. This is because I cannot shoot. Therefore, in the "loading mode", the camera 24 is arranged at a storage position at substantially the same height as the fork 2, and in the "loading mode", the camera 24 is set so that the load can be taken from an angle that does not interfere with the shooting. It is arranged at a predetermined distance (lower position) below the.

The automatic fork alignment control is used for loading and unloading work at a high place where the fork 2 is at a lift of 2 meters or more. The driver operates the knob 35 of the multi-lever 31 to raise the fork 2, and while looking at the screen of the display device 28, the fork 2 with respect to the target cargo handling target 41 (42).
Roughly align. Next target cargo handling target 4
When the operation switch 38 is operated in the state where the mark M1 (M2) attached to 1 (42) is displayed on the screen, the automatic fork alignment control is started.

The tilt angle sensor 60 detects a tilt angle based on an angle (horizontal angle) when the fork 2 is in a horizontal posture, and is composed of, for example, a potentiometer.
When the automatic fork alignment control is performed, the cargo handling control unit 47 drives and controls the tilt cylinder 72 based on the detection value of the tilt angle sensor 60 so that the fork 2 is arranged in the horizontal posture.

When the operation signal for operating the operation switch 38 is input, the cargo handling control section 47 communicates to the image control section 46 that the automatic fork position adjustment control is started. The image control unit 46 inputs, from the cargo handling control unit 47, start command data for starting the image recognition processing, cargo handling mode data for notifying whether the cargo is in the loading mode or the loading mode.

The image control unit 46 includes a display processing unit 75, an image processing unit 76, a drawing display unit 77, a drawing data storage unit 78 and a voice synthesizing unit 79. The display processing unit 75 outputs the video signal input from the camera 24 to the display device 28 in synchronization so that the image captured by the camera 24 is displayed on the screen. Further, the voice synthesizing unit 79 performs a voice synthesizing process for a voice announcement or the like to perform the speaker 51.
The audio signal is output to. The image data from the display processing unit 75 is also input to the image processing unit 76.

The image processing section 76 displays the mark M1 on the screen.
An image recognition process for calculating the position of M2 and a positional relationship between the vehicle (fork 2) and the cargo handling target are calculated based on the calculated mark position. The image processing unit 76 includes an image recognition processing unit 81, a template storage unit 82, an image calculation unit 83, and a display position determination unit 84.

The image recognition processing section 81 performs image recognition processing by pattern matching processing. The image calculation unit 83 determines the mark M1 in the screen coordinate system based on the result of the image recognition processing.
The position coordinates of (M2) are calculated.

The start instruction for starting the image recognition processing and the cargo handling mode data sent from the cargo handling control unit 47 to the image control unit 46 are input to the image processing unit 51. In the image processing unit 51, triggered by the input of these data, the image recognition processing by the image recognition processing unit 81 and the image calculation unit 83, the relative coordinate calculation unit 85, and the control amount calculation unit which are performed using the image recognition processing result. The control amount calculation process for automatic fork alignment control by 86 is sequentially executed.

First, when the image recognition processing unit 81 receives the start command data, the image recognition processing unit 81 executes the image recognition processing of one of the marks M1 and M2 which is uniquely determined based on the cargo handling mode data input together at that time. . That is, if the cargo handling mode recognized based on the cargo handling mode data is the take-up mode, the image recognition process is performed with the pallet position detection mark M1 as the recognition target, and if the loading mode is the shelf position detection mark M2. Image recognition processing is performed. The template storage unit 82 stores the template T used in the pattern matching process in which the mark M1 is a recognition target.
1 and a template T2 used in the pattern matching process in which the mark M2 is a recognition target (both see FIG. 5) are stored. When performing the pattern matching process, the image processing unit 76 uses the template T1 in the pickup mode and the template T2 in the loading mode.
To use. The image recognition process corresponds to the process performed by the control unit based on the determination result of the determination unit.

FIG. 5 shows marks and templates. The figure (a) shows the pallet position detection mark M1, and the figure (c) shows the shelf position detection mark M2. Further, FIG. 7B is a template T1 for the mark M1, and FIG.
Is a template T2 for the mark M2.

The mark M1 is formed by arranging two patterns P1 and P1 and the mark M2 is formed by arranging two patterns P2 and P2. The patterns P1 and P2 of the two marks M1 and M2 have a pattern in which white and black are reversed from each other. The templates T1 and T2 used for the pattern matching process have the same pattern as the patterns P1 and P2.

Each of the patterns P1 and P2 has a pattern in which white and black are color-coded by a plurality of boundary lines extending straight in a radial pattern centering on one point. Each of the patterns P1 and P2 of the present embodiment is a pattern in which four regions divided by two diagonal lines of a square as boundaries are color-coded in white and black.
However, the contour line corresponding to the side of the quadrangle of the template is not a part of the pattern. The mark M displayed on the screen 28A according to the difference in distance between the marks M1 and M2 and the camera 24.
Even if the sizes of 1 and M2 are changed, the templates T1 and T
There will be a pattern of the same size as 2. Therefore, the marks M1 and M2 can be image-recognized by pattern matching processing using only one template T1 and T2.

FIG. 6 shows a screen coordinate system set on the screen. In the screen coordinate system, coordinates are handled in units of pixels, where H is the number of horizontal pixels of the screen 28A and V is the number of vertical pixels of the screen 28A. Image recognition processing unit 81
Is a mark M on the image data, as shown in FIG.
Two patterns P1 and P1 (P2 and P2) that form 1
On the other hand, the template T1 (T2) is matched at two points to recognize the patterns P1 and P1. The image calculation unit 83 uses the patterns P recognized by the image recognition processing unit 81.
1, coordinates of the center point of P1 (radiation center point) (I1, J1
), (I2, J2) are calculated, and the center of gravity (I, J) of the mark M1 and the patterns P1, P1 are calculated based on these two coordinate values.
The center-to-center distance D of is calculated.

The display position determining unit 84 performs a process of calculating a display position (drawing position) for displaying a drawing on the screen of the display device 28. The display position determination unit 84 determines the drawing position for drawing the outline frame of the mark and the drawing position of the target mark drawn by the mark M1 (M2) as a movement target point that should be the position target when aligning the fork 2 with the cargo handling target. calculate. When the drawing display unit 77 receives the drawing position data from the display position determining unit 84, the drawing display unit 77 reads the drawing data (image data or the like) corresponding to the drawing content from the drawing data storage unit 78, and sends the drawing signal to the display processing unit 75. The drawn image is displayed so as to be superimposed on the specified drawing position on the captured image. The voice synthesizer 79 causes the driver to generate a voice announcement from the speaker 51 in synchronization with the drawing timing, if necessary.

The data (I, J, D) calculated by the image calculation unit 83 is transferred from the image control unit 46 to the cargo handling control unit 47.
Sent to. The cargo handling control unit 47 includes a relative coordinate calculation unit 85 and a control amount calculation unit 86, and calculates a control amount (Y and Z direction movement amount) of the fork 2 necessary for aligning the fork 2 with a cargo handling target.

The relative coordinate calculation unit 85 uses the data (I, J,
3) of the camera 24 and the mark M in the real coordinate system (XYZ coordinate system) shown in FIG.
Dimensional relative position coordinates (Xc, Yc, Zc) are calculated. The coordinates (Xc, Y) of the camera 24 whose origin is the center of gravity of the mark
c, Zc) is calculated by the following equation. Xc == − Hd / (2Dtan α) Yc = d / D (I−H / 2) Zc = d / D (JV / 2) where “α” is 2 minutes of the horizontal angle of view of the camera 24. 1, d
Are two patterns P1 of the mark M1 in the real coordinate system.
It is the center-to-center distance of P1. Since the H, V, α, and d values are known values, if the I, J, and D values are calculated, the coordinates (Xc,
Yc, Zc) is obtained. Then, the positional deviation amount (control amount) of the fork 2 is calculated based on the relative coordinates (Xc, Yc, Zc) of the camera 24 obtained in this real coordinate system. The camera 24, the image recognition processing unit 81, the template storage unit 82,
The image calculation unit 83 and the relative coordinate calculation unit 85 constitute an image processing unit that detects the position of the cargo handling target.

The relative coordinate calculation unit 85 uses the data (I, J,
Based on D), the relative coordinates (Xc, Yc, Zc) between the camera 24 and the mark M1 (M2) are calculated. Where camera 2
4 and the fork 2 have a known positional relationship, and the pallet 41
The positional relationship between the marks M1 and M2 is also known. The control amount calculation unit 86 uses the relative coordinates (Xc, Yc, Zc) and known information to align the fork 2 with the target position (loading position or loading position) of the cargo handling target 41 (42). The required vertical movement (Y direction) and horizontal movement (Z direction) of the fork 2 (each control amount) are calculated.

Then, the cargo handling control section 47 gives an instruction to the solenoid drive circuit 50 using the vertical and horizontal movement amounts of the fork 2 as control amount instruction values. That is, the cargo handling control unit 47 controls the lift proportional solenoid valve 66 and the side shift proportional solenoid valve 68 with current values based on the respective control amount data in the vertical and horizontal directions to drive the lift cylinder 15 and the side shift cylinder 71. Control.

As a result, the lift cylinder 15 and the side shift cylinder 71 are drive-controlled, and the fork 2 is automatically aligned in the vertical and horizontal directions. For this reason, in the loading mode, the fork 2 is inserted into the insertion hole 41 of the pallet 41.
Positioned at A, the fork 2 is aligned at a target position a predetermined distance above the shelf surface 42A in the loading mode. In the present embodiment, the automatic position control is performed only in the vertical and horizontal directions of the fork 2, and the forward and backward directions (reach direction) are performed.
About, it is up to the driver to operate. Of course, the reach operation of the fork 2 may be automatically controlled. In addition,
Each of the control units 46 and 47 is composed of a microcomputer and program data stored in a memory (ROM or the like).

The cargo handling control unit 47 stores a program of a cargo handling work determination routine shown in the flowchart of FIG. 7 in the memory. This routine is executed by the CP in the cargo handling control unit 47.
Executed by U. This CPU executes camera up / down control and automatic fork position adjustment control according to the determination result of this routine. In this routine, the CPU determines whether the cargo handling work to be carried out is a unloading work or a loading work by operating the operation switch 38, and the camera lifting control and the fork are controlled according to the type of the cargo handling work. Perform automatic alignment control. The fork automatic alignment control corresponds to the automatic cargo handling control, and the assist control that supports this is the camera lift control.

The cargo handling work determination routine will be described below with reference to FIG. First, in step (hereinafter simply referred to as “S”) 10, the detection value of the load sensor 59 is acquired.

In S20, it is determined whether the load W exceeds the threshold value Wo. If the load W ≦ Wo holds, S30
Proceed to. If the load W> Wo is satisfied, the process proceeds to S40. S3
In 0, it is determined that the cargo handling work to be performed from now on is the “pickup work”.

At S40, it is determined that the cargo handling work to be performed is the "loading work". The CPU constantly determines the contents of the cargo handling work by executing this routine at predetermined time intervals. When the lift is 2 m or more and the operation switch 38 is operated, the cargo handling operation according to the determination result is performed. Let it be done. That is, when the operation switch 38 is operated at a lifting height of 2 m or more, if the determination result is the work for loading, the cargo handling operation of arranging the fork 2 at the "loading position" is performed, while the result of the determination is for the work for loading. If there is, the cargo handling operation of arranging the fork 2 at the "loading position" is performed.

FIG. 8 shows the cargo handling operation of the automatic fork alignment control. FIG. 8A shows the fork in the unloading position, and FIG. 8B shows the fork in the unloading position. Shows the state. Detection value (load) of the load sensor 59
When W is equal to or less than the threshold value Wo (W ≦ Wo), it is determined that the cargo handling work to be performed from now on is the “pickup work”, and the fork 2 is arranged at the pickup position shown in FIG. . At this time, when it is determined that the work is a pick-up operation, the template T1 is read out, the image recognition processing of the pallet position detection mark M1 is performed to obtain the position of the mark M1, and the data (I, J, D) determined from the mark position ) Based on the mark M
The relative coordinates (Xc, Yc, Zc) between 1 and the camera 24 are obtained. Then, the control valve 65 is instructed to control each vertical and horizontal control amount determined from the relative coordinates (Xc, Yc, Zc). As a result, as shown in FIG.
The fork 2 is arranged so as to face the hole 41A of the pallet 41. At this time, the fork 2 is arranged at the lifting height Ht.

On the other hand, the detection value (load) W of the load sensor 59
Is greater than the threshold value Wo (W> Wo), it is determined that the cargo handling work to be performed from now on is the "loading work", and the fork 2 is placed at the loading position shown in FIG. At this time, when it is determined that the work is the loading work, the template T2 is read out, the image recognition processing of the shelf position detection mark M2 is performed to obtain the position of the mark M2, and the data (I, J, D) determined from the mark position is obtained. ), The relative coordinates (Xc, Yc, Zc) between the mark M2 and the camera 24 are obtained. Then, in order to arrange the fork 2 at the loading position with respect to the shelf 42, the control valve 65 controls vertical and horizontal control amounts determined from the relative coordinates (Xc, Yc, Zc).
Command. As a result, as shown in FIG. 3B, the fork 2 is arranged at the lift height Hp located above the shelf surface 42A by the predetermined distance ΔL.

Prior to this, the lift H of the fork 2 was 2 m.
When the above is reached and the start-up preparation mode is entered, the camera ascending / descending control is started. The camera lift control is started by using a signal input from the lift sensor 58 when the fork 2 reaches a lift of 2 m as a command signal. At this time as well, whether the cargo handling work to be performed from now on is a unloading work or a laying work is determined based on the detection value of the load sensor 59. The detection means is composed of the lift sensor 58 that outputs a signal used to determine whether or not the start condition of the camera lift control, which is the assist control, is satisfied.

The contents of the program are almost the same as those shown in FIG.
The start condition is to input a signal indicating that the lift has reached 2 m from 8. When the load W ≧ Wo, it is determined that the cargo handling work to be performed from now on is the “loading work”, and the camera unit 23 is arranged at the storage position. On the other hand, when the load is W <Wo, it is determined that the cargo handling work to be performed from now on is the "loading work", and the camera unit 23 is placed in the lowered position. At this time, the electric actuator 61 is operated only when the camera unit 23 needs to be moved.

The following effects can be obtained in this embodiment. (1) If the operation switch 38 is operated, the load sensor 59 is used to determine whether the cargo handling work to be carried out is a unloading work or a unloading work.
The controller 45 makes a determination based on the detected value of, and the cargo handling operation is controlled by the control content according to the determined type of the cargo handling work. For this reason, the driver only has to operate one operation switch 38 regardless of the type of cargo handling work to be performed from now on, so that the operation work that the driver must perform for cargo handling work can be completed as easily as possible. You can

(2) When the lift condition (H ≧ 2 m) is satisfied, the camera lift control is started by using the signal of the lift sensor 58 as a command signal, and at this time, the camera unit 23 is arranged at the position corresponding to the type of cargo handling work. Is located in. Also at this time, the controller 45 makes a determination as to whether the cargo handling work to be performed from now on is a unloading work or a loading work, and the camera unit is located at a position according to the determined type of the cargo handling work. 23 are arranged. For this reason, the driver determines which of the cargo handling operations to be performed in the controller 4
Since there is no need to notify 5 of this, the driver does not need to operate anything in the camera lift control that supports the cargo handling work.

(3) Since it is determined whether or not the load 43 is mounted on the fork 2 based on the detection value of the load sensor 59, the presence or absence of the load is determined by a contact switch such as a limit switch. Compared to the configuration, the sensor 59 is hard to break and has high reliability.

(Second Embodiment) Next, a second embodiment will be described. This embodiment is an example applied to an automatic lifting device mounted on an industrial vehicle. The automatic lifting device is a device for registering height data of a fork in advance in association with an operation button in a memory, and controlling the button to automatically raise the fork to a height corresponding to the operation button.

As shown in FIG. 9, the instrument panel of the forklift 1 includes the knob 3 of the multi-lever 31.
A control panel 90 for automatically adjusting the position of the fork 2 to a predetermined position by an operation different from that of 5 is provided.

The control panel 90 has a set key 9
One or three number keys 92a to 92c, a load key 93, a load key 94, a horizontal key 95, a height limit key 96, a stop key 97, and an L provided adjacent to each key.
It is composed of ED98.

The set key 91 is used to set the lifting position of the fork 2 when carrying out (loading) or loading (loading), or when setting the height limiting position of the fork 2. . The number keys 92a to 92c are used when setting the lifting position of the fork 2 and automatically lifting the fork 2, and the three lifting positions are "1, 2, 3". It can be classified by ".
The loading key 93 is used when the fork 2 is automatically lifted and loaded when the fork 2 is loaded, or when the lifting position is set. The unloading key 94 is used when automatically lifting the fork 2 or setting the lifting position when unloading a load stored at a predetermined height. The lifting position can be set separately for each type of cargo handling work. In this embodiment, the loading key 93 and the unloading key 94 are used only when setting the lifting position. Of course, if the number keys 92a to 92c are selected as a method for setting the lift position and, for example, the load height (load height) is set, the load height is automatically set at a predetermined distance above this position. It is also possible to eliminate the loading key 93 and the loading key 94 by adopting the above method.

FIG. 10 shows the electrical construction of this automatic lifting device. The camera elevation control system and the image control system of the first embodiment are not provided, and instead of this, the control panel 90 is connected to the input side. The components of the cargo handling system are the same as in the first embodiment. The lift sensor 58 is capable of continuously detecting lift.

Although the lifting position of the fork 2 is slightly different between the loading operation and the loading operation, the presence or absence of the load 43 on the fork 2 is detected based on the detection value of the load sensor 59 to determine whether there is no load (load W When ≦ threshold value Wo), it is determined to be a loading operation (loading operation), and when there is a load presence determination (load W> threshold value Wo), it is determined to be a loading operation (unloading operation). The routine for this cargo handling work determination is the same as the process of the flowchart of FIG. 7 shown in the first embodiment. Further, in place of the operation switch 38, the three number keys 92a to 92c serve as a starting operation means, and the fork 2 is moved to one of the loading position and the loading position preset for each number key, which is determined by the detected load. Lift up.

The height limiting key 96 is used when operating the multi-lever 31 or limiting the lifting height of the fork 2 during automatic lifting. Each LED 98 corresponds to the depression of each key when the lift position is set, when the automatic lift operation is performed, when the height limit is set, when the horizontal stop operation is performed, etc.
Lighting or blinking is controlled by 5.

The cargo handling control section 47 of the controller 45 has a memory 47A. The memory 47A stores target position data preset by the control panel 90. As the target position data, the load placement target position data and the load pickup target position data are set in one storage unit of the shelf 40.

When the fork 2 is raised to the target position by automatic lifting, the number key 92a corresponding to the target position is used.
Press any of ~ 92c. The cargo handling control unit 47 determines the presence / absence of a load based on the detection value of the load sensor 59. If there is a load, the loading target position data corresponding to the pressed number keys 92a to 92c is read, and if there is no load. For example, the pickup target position data corresponding to the pressed number keys 92a to 92c is read.

The control valve 65 is operated so as to move the fork 2 to the target position. While the lift cylinder 15 is being driven, the cargo handling control unit 47 detects the lift position of the fork 2 at predetermined time intervals based on the detection signal from the lift sensor 58.

When the lift position of the fork 2 reaches the height before the target position by a predetermined distance, the cargo handling control unit 47 controls the current value of the electromagnetic control valve 66 to stop the extension operation of the lift cylinder 15. Then, the fork 2 stops at the target position. That is, if there is a load 43 on the fork 2, the load is stopped at the loading position (FIG. 8B) and loading is performed at that height. If there is no load 43 on the fork 2, the load is stopped at the load pickup position (FIG. 8A), and the load is discharged at that height. And when the work at that height is completed, the fork 2
Move from that height. For example, when the automatic lifting is continued, the next number keys 92a to 92c
Is pressed to automatically move the fork 2 to the next target position.

According to this embodiment, the following effects can be obtained. (4) If any one of the number keys 92a to 92c is pressed, the load W ≦ based on the detected value of the load sensor 59 at that time.
If Wo is established, the fork 2 is raised to the unloading position with the "loading position" as the target position, and if W> Wo is established, the fork 2 is set to the unloading position with the "loading position" as the target position. To rise. Therefore, it is not necessary for the driver to select the key to be operated by deciding whether to load or store the load, and it suffices to press one of the desired heights among the number keys 92a to 92c.

The embodiment is not limited to the above, and the following embodiment can be carried out. The control contents of the automatic cargo handling control are not limited to the automatic fork alignment control or the automatic lift control in each of the above embodiments. For example, when it is determined to be "loading work" based on the detected load, the lifting speed of the cargo handling equipment is made to operate at a relatively high speed, and when "loading work" is determined based on the detected load, the cargo handling equipment is lifted. It may be speed control of the cargo handling equipment that operates at a relatively low speed.

The load detecting means is not limited to the load sensor. The load detecting means may be, for example, a limit switch installed on the fork. Other sensors that detect the load placed on the fork can also be used. For example, a non-contact sensor such as a proximity sensor that detects a load in a non-contact manner can be used. It is also possible to use a load detecting means for detecting the presence or absence of a load on the fork by an image recognition process based on an image taken by a camera. For example, if the bottom shape of the fork is recognized by image recognition, and if the bottom shape of the fork can be recognized, it is determined that there is no load (loading work), and if the bottom surface of the fork is hidden by the load and the bottom shape of the fork cannot be recognized, there is a load. Determined as (loading work).

When the limit switch or proximity switch is used, the signal output from the switch is turned on.
Since it is an off signal, for example, if it is an on signal that detects a load, it is determined to be a loading operation, and a loading operation or a support operation according to the loading operation is performed. If it is an off signal that cannot detect a load, it is determined to be a picking work, and a cargo handling operation or a support operation according to the picking work is performed. When the load detection means is a switch, the determination means determines whether the signal from the switch is on or off. The control means causes the cargo handling control according to the loading operation when the determination means is determined to be on, and performs the cargo handling control according to the cargo handling operation when determined to be off. The determination means does not have to issue a concrete determination result as to whether it is a picking work or a placing work, and the control means can recognize which of the cargo handling work control and the picking work control should be selected. It is sufficient if the judgment result is on or off.

In the above embodiment, the lifting condition (lifting H
≧ 2 m), that is, when the lift sensor 58 detects that the lift H has reached 2 m, the camera lift control is started using the signal as a command signal. Instead of this, the operation signal of the operation switch 38 may be used as a command signal for starting the camera lift control. In this case, the moving time of the camera unit 23 is delayed for the automatic cargo handling control, but
There is no change in what you can do with one operation.

In the above embodiment, the operation switch 38
The automatic fork alignment control was started by using the operation signal of as a command signal. Alternatively, the automatic fork alignment control may be started when it is determined that the starting condition is satisfied based on the signal output by the sensor as the detection unit. However, this sensor does not detect the operation of the driver. For example, after a certain time (for example, 0.3 seconds) has elapsed after the fork was lifted to a predetermined height and stopped, the CPU starts the fork automatic alignment control. Then, the fork alignment control is performed with the mark closest to the stopped fork (one of the marks M1 and M2 depending on the detected load) as a target. In this case, the detection unit is configured by the detection unit that detects the stop of the fork and the timer (counter) that measures a fixed time after the stop.

In the automatic lifting device, a plurality of lifts is stored in the memory in advance, and the target height for lifting the fork is designated by the button operation. On the other hand, after the fork is placed at an approximate height by operating the operating lever, an appropriate position is automatically determined from the plurality of target positions stored in the memory, and the fork is placed at the appropriate target height. May be adopted. That is, the driver operates the operating lever to detect the height at which the fork is arranged by the lift sensor, and the driver finds the height closest to the detected height from the lift data stored in the memory. The lift cylinder is controlled so as to determine that the height is the intended height and place the fork at the loading position or the loading position with respect to the height intended by the driver. With this configuration, the driver does not automatically lift, but the driver always aligns the fork to a tentative height and then always uses the same button (switch).
When is operated, it is determined whether the work is a picking work or a placing work based on the detection value of the load sensor, and the position of the fork is automatically adjusted to an appropriate position according to the result of the judgment.

○ The start command means is a button (switch)
The lift may be designated by voice input instead of the operation. For example, the driver attaches a headphone type microphone, and transmits information specifying the lift height such as the number of shelves to the controller from the microphone by voice input.

○ The cargo handling operation after the alignment of the cargo handling equipment can also be automatically controlled. For example, it is possible to adopt a configuration in which after the forks are aligned, the loading operation and the loading operation accompanied by the forward / backward movement of the forks are automatically performed. That is, in the case of load pickup determination, after the fork is aligned, the fork is reached and inserted into the hole of the pallet, and then the fork is lifted by a predetermined amount (for example, about 10 to 20 cm) to lift the load, and then the fork is lifted. Pull it back and take in the load from a shelf. On the other hand, in the case of loading determination, after the forks are aligned, the fork is reached to push the load on the fork forward, and then the fork is lowered by a predetermined amount (for example, about 10 to 20 cm) to place the load on a shelf or the like. After placing, pull the fork back.

The O marks are not limited to being used separately for two types, one for picking up and one for placing. It is also possible to adopt a method in which one mark common to the pickup and the placement of the load is attached to the shelf, for example. For example, when obtaining the target position of a fork when unloading by this method, the position of the shelf can be known by recognizing the mark, so the height of the hole of the pallet placed on the shelf surface from the position of the shelf Is calculated as the target position of the fork.

The present invention is not limited to the determination of taking a load when there is a load and placing the load when there is no load. For example, the timing of operating the start switch is set immediately after the completion of unloading or placing the load, and when the operation of the cargo handling equipment after the completion is started by the operation of the start switch, when there is a load on the contrary. It is also possible to determine that the work is the loading work and that the work is the picking work when there is no load. When the operation switch is operated after the loading of the fork is completed, the operation of retracting the fork is automatically performed, and when the operation switch is operated after the loading of the fork is completed, the operation of retracting the fork is automatically performed.

The cargo handling device is not limited to the fork.
Attachments other than forks may be used. Alternatively, a clamp device may be used. Further, it may be a bucket. The load is not limited to a pallet or a load handled by the pallet, and may be a log, roll paper, container, earth and sand, or any other object that an industrial vehicle handles during work. It also includes load-carrying members other than pallets and load storage boxes. Note that "loading" means holding and holding a load such as a fork or bucket, and "grasping" means holding a load surface such as a clamp by applying pressure to the load surface. is there. It also includes magnetic attachment that applies gripping pressure to the surface of the load.

The industrial vehicle is not limited to the reach type forklift. A counterbalanced forklift may be used. It may be an industrial vehicle other than a forklift. The technical idea understood from the embodiment and other examples will be described below.

(1) In any one of claims 1 to 13, the load detection means detects a value according to a weight of a load loaded or gripped on a cargo handling device provided on an industrial vehicle. The determination means is a means for determining the type of cargo handling work based on the detection value detected by the load detection means.

(2) In any one of claims 1 to 13, the load detection means detects a value according to a weight of a load loaded or gripped on a cargo handling device provided on an industrial vehicle. The determining means determines that the work is a unloading operation when the detection value detected by the load detecting means is equal to or less than a preset threshold value, and the load is determined when the detection value exceeds the threshold value. The main point is to determine that the work is stationary.

(3) In any one of claims 1 to 7 and 11 to 13, the control means performs a positioning control for positioning a cargo handling device with respect to a cargo handling target according to a type of cargo handling work.

(4) In any one of claims 1 to 7 and 11 to 13, the control means is configured to perform the unloading work or the unloading work before the unloading or the unloading completion, or the unloading or the unloading completion. The control for automatically performing the subsequent loading work or loading work is started based on the operation signal of the starting operation means, and the operation control of at least one actuator provided for operating the cargo handling equipment is performed. The point is to do.

(5) In any one of claims 1 to 7 and 11 to 13, the control means controls the operation of at least one actuator provided for operating the cargo handling equipment, and takes a load or a load. The gist of the invention is to start the control for automatically performing the unloading work or the unloading work until the unloading is completed based on the operation signal of the starting operation means.

(6) Claims 1 to 13 and (1),
In any one of the technical ideas of (3) to (5),
The determination means determines that the signal output from the load detection means is a signal indicating that there is no load, and determines that the signal is a load operation, and that the signal that indicates that there is a load determines the load operation. And

[0114]

As described in detail above, according to the invention described in claims 1 to 14, the type of the cargo handling work is determined based on the signal of the load detecting means, and the driver can determine the type of the cargo handling work. It is possible to cause the operation or process for cargo handling work according to the determined type of cargo handling work to be performed without requesting.

[Brief description of drawings]

FIG. 1 is a perspective view of a forklift according to a first embodiment.

FIG. 2 is a plan view of a multi lever.

FIG. 3 is a partial perspective view showing a state of cargo handling work.

FIG. 4 is a block diagram showing an electrical configuration of a cargo handling operation support device.

FIG. 5 is a front view showing a mark and a template.

FIG. 6 is a screen diagram illustrating a screen coordinate system.

FIG. 7 is a flowchart of a cargo handling work determination routine.

FIG. 8 (a) is a side view showing a state in which the fork is arranged at a load pickup position, and FIG. 8 (b) is a side view showing a state in which the fork is arranged at a load placement position.

FIG. 9 is a plan view of a control panel of the automatic lifting device according to the second embodiment.

FIG. 10 is a block diagram showing an electrical configuration of an automatic lifting device.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Forklift as an industrial vehicle, 2 ... Fork as a cargo handling device, 3 ... Car body, 11 ... Cargo handling device, 13 ... Mast, 15 ... Lift cylinder as an actuator,
20 ... Cargo handling support device as a support device, 23 ... Camera unit, 24 ... Camera as photographing means, 38 ... Actuation switch as starting operation means, 41 ... Pallet as cargo handling target, 42 ... Shelf part as cargo handling target , 45 ... Controller as judging means and control means, 47 ... Cargo handling control section as judging means and control means, 58 ... Lifting sensor as detecting means (for assisting device), 59 ... Load sensor as load detecting means, 61 ... Electric actuator as an actuator (support device side), 65 ... Oil control valve constituting control means, 76 ... Image processing section as image processing means, 81 ... Image recognition processing section constituting image processing means, 82 ... Template storage section constituting image processing means, 83 ... Image calculation section constituting position calculation means, 92a to 92c Number key as a start-up operation means,
M1, M2 ... Marks as signs.

Continued front page    F term (reference) 3F333 AA02 AB13 BD02 FA17 FA21                       FA27 FD03 FD12 FE03 FE05                       FE09

Claims (14)

[Claims] 1. A load detection means for outputting a signal capable of discriminating the presence / absence of a load loaded or gripped on a cargo handling device provided on a vehicle body of an industrial vehicle for displacement for cargo handling operation, and the load detection means. Determining means for determining whether the work is a picking-up operation or a placing work based on the detection signal, and when the judging means determines that the work is a picking-up operation, a preset operation or process for the picking-up work is performed to set the loading operation. A cargo handling control device for an industrial vehicle, comprising: a control unit that performs a preset operation or process for a loading work when it is determined to be work. 2. A load detecting means for outputting a signal capable of discriminating the presence / absence of a load loaded or grasped on a cargo handling device provided on a vehicle body of an industrial vehicle so as to be displaced for a cargo handling operation, and the cargo handling device. At least one actuator that is driven to perform a cargo handling operation, a determination unit that determines the type of cargo handling work based on a detection signal of the load detection unit, and a control according to the type of cargo handling work that is determined by the determination unit A cargo handling control device for an industrial vehicle, comprising: a control unit that drives and controls the actuator according to the content. 3. The cargo handling control device according to claim 2, wherein the actuator is driven to raise and lower the cargo handling equipment along a mast provided on a vehicle body, and the determination by the determination means is performed. Is a loading operation, the actuator is drive-controlled to raise the cargo handling equipment to a loading height, and when the determination of the determination means is a loading operation, the actuator is drive-controlled to drive the cargo handling equipment. The cargo handling control device in an industrial vehicle, wherein the cargo handling height is increased to a loading height. 4. The cargo handling control device for an industrial vehicle according to claim 2 or 3, wherein the determination means determines loading work when detecting the presence of a load in the cargo handling equipment, and detects the absence of a load in the cargo handling equipment. Then, when it is determined that the work is picking up work, the control unit, when the determining unit determines that the work is picking up work, drives the actuator to cause the cargo handling device to perform a picking operation, and determines that the work is loading work. In this case, the cargo handling control device in an industrial vehicle is characterized in that the actuator controls the actuator to cause the cargo handling equipment to perform a loading operation. 5. The cargo handling control device for an industrial vehicle according to any one of claims 2 to 4, wherein the cargo handling control device is operated to issue a command to start automatic cargo handling control of the cargo handling equipment, and between different cargo handling operations. When the operation signal from the start operation means is received, the start operation means commonly used in the above and the control means drive and control the actuator with the control content according to the type of the cargo handling work determined by the determination means. A cargo handling control device for an industrial vehicle, wherein the automatic cargo handling control is performed thereby. 6. The cargo handling control device for an industrial vehicle according to claim 2, wherein the detection means outputs a signal used to determine whether a starting condition for starting automatic cargo handling control of the cargo handling equipment is satisfied. When the control means receives a signal that the start condition is satisfied from the detection means, the automatic cargo handling control is performed by driving and controlling the actuator with the control content according to the type of the cargo handling work determined by the determination means. A cargo handling control device for an industrial vehicle, which is characterized by performing. 7. The cargo handling control device for an industrial vehicle according to claim 5 or 6, wherein the automatic cargo handling control is control for aligning the cargo handling equipment with a cargo handling target, and the control means is the determination means. A cargo handling control device for an industrial vehicle, which drives and controls the actuator so as to position the cargo handling equipment at a work start position corresponding to the type of cargo handling work determined by. 8. A load detection means for outputting a signal capable of identifying the presence or absence of a load loaded or gripped on a cargo handling device provided on a vehicle body of an industrial vehicle so as to be displaced for a cargo handling operation, and the cargo handling device At least one actuator included in the support device provided to support the automatic cargo handling operation, a determination unit that determines the type of cargo handling work based on the detection signal of the load detection unit, and a determination made by the determination unit A cargo handling control device for an industrial vehicle, comprising: a control unit that drives and controls the actuator according to the control content according to the type of the cargo handling work. 9. The cargo handling control device for an industrial vehicle according to claim 8, which is operated to issue a command to start automatic cargo handling control of the cargo handling equipment, and is commonly used between different cargo handling operations. Means, the control means, when receiving an operation signal from the starting operation means, the automatic cargo handling control of the automatic cargo handling control by driving and controlling the actuator with the control content according to the type of the cargo handling work determined by the determination means. A cargo handling control device for an industrial vehicle that provides support. 10. The cargo handling control device for an industrial vehicle according to claim 8, further comprising: a detection unit that outputs a signal used to determine whether a starting condition for starting an assisting operation that supports automatic cargo handling control of the cargo handling equipment is satisfied. When the control means receives a signal that the start condition is satisfied from the detection means, the control means drives and controls the actuator according to the control content according to the type of the cargo handling work determined by the determination means to support the automatic cargo handling control. Cargo handling control device for industrial vehicles. 11. The cargo handling control device for an industrial vehicle according to claim 2, wherein the types of the cargo handling work determined by the determination means are a loading work and a pickup work. Is a cargo handling control device for an industrial vehicle. 12. The cargo handling control device for an industrial vehicle according to claim 1 or 2, wherein the industrial vehicle photographs a position detection sign provided on a cargo handling target, and a photographed by the photographing means. Image processing means for detecting the position of the object of cargo handling by performing image processing based on image data, and the control means detects by the image processing means when the determination means determines that the cargo is to be picked up. The cargo handling equipment is raised or lowered to the cargo handling height estimated from the position of the cargo handling target, and is estimated from the position of the cargo handling target detected by the image processing means when the determination means determines the loading operation. A cargo handling control device for an industrial vehicle that raises or lowers the cargo handling equipment to a desired loading height. 13. The cargo handling control device according to claim 1 or 2, wherein the industrial vehicle has a starting operation means for automatic lifting, and a lifting height corresponding to a shelf portion designated by an operation signal of the starting operation means. An automatic lifting device for raising the cargo handling equipment up to, wherein the control means drives and controls an actuator for performing automatic lifting control of the cargo handling equipment by the automatic lifting device, Is a loading position that is determined according to the type of cargo handling work determined by the determination means with respect to the height commanded by the operation signal when a corresponding height is designated by the operation signal of the start operation means. A cargo handling control device for an industrial vehicle that positions the cargo handling equipment at one of a pickup position. 14. An industrial vehicle comprising the cargo handling control device according to claim 1.