JP2006350507A - Cargo handling system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a cargo handling system allowing smooth working in a cargo storage area for cargo handling work. <P>SOLUTION: In this cargo handling system 1, an operator recognizes a steering angle of a steering wheel 12 while the operator steps on a foot pedal 20 of a cargo handling vehicle 5, and turns the steering wheel 12 such that a direction of the steering wheel 12 accords with a straight line travel route 6. Thereafter, when the operator operates an accelerator 22 to start the cargo handling vehicle 5, the cargo handling vehicle 5 straight and autonomously travels on the straight line travel route 6. Accordingly, the cargo handling vehicle 5 just after restarting does not meander as is conventionally done, and a problem wherein the cargo handling vehicle 5 collides with an article storage shelf 2 does not occur. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a cargo handling system that performs cargo handling work with a cargo handling vehicle operated by an operator.

  As shown in FIG. 6, a cargo storage area 3 in which article storage shelves 2 are arranged in a plurality of rows and a cargo that is loaded and unloaded in the cargo storage area 3 are transported to the warehouse premises where the cargo handling vehicle travels. There is a load transport area 4 for the purpose. Such a cargo storage area 3 is designed so that the passage width is narrow enough to allow the cargo handling vehicle 5 to pass through so that as many articles as possible can be stored. For vehicles that perform cargo handling work in a narrow passageway, a cargo handling vehicle 5 such as a three-way stacking truck is suitable. A fork 11 is attached to the front of the vehicle body, and steering that also serves as drive wheels at the rear of the vehicle body. A ring 12 is arranged. The cargo handling vehicle 5 can be driven by an operator's manual operation.

  Moreover, the following patent document 1 discloses an auto guidance device. This is a technique related to an automatic steering control function in which a guide line is embedded in the floor of a warehouse or the like, and the direction of the steered wheels 12 is controlled so that the traveling direction of the cargo handling vehicle 5 coincides with the direction in which the guide line extends. . As another auto guidance device, a magnetic sensor provided on the cargo handling vehicle 5 detects the guidance magnet 27 affixed to the floor with a single piece of adhesive tape or the like, and the traveling direction of the cargo handling vehicle 5 is detected on the guidance magnet 27. There is something to follow.

  When the cargo handling vehicle 5 enters the cargo storage area 3 from the cargo transport area 4, the operator enters the straight traveling path 6 between the article storage shelves 2 while manually operating the cargo handling vehicle 5. In this case, the operator turns the cargo handling vehicle 5 back and forth within the cargo transport area 4 and directs the attitude of the cargo handling vehicle 5 straight with respect to the straight traveling path 6 in advance.

  Further, the operator may stop the cargo handling vehicle 5 immediately after the posture of the cargo handling vehicle 5 is adjusted, for example, for loading and unloading. In this case, the steering wheel 12 of the cargo handling vehicle 5 may be inclined with respect to the straight traveling path 6 when the operator restarts the cargo handling vehicle 5 after finishing loading and unloading. This is because, at the stage of adjusting the posture as described above, the steering wheel 12 is steered sideways for turning the cargo handling vehicle 5 back, and the steering wheel 12 is not returned to the direction in which the cargo handling vehicle 5 goes straight as it is. . Hereinafter, the direction of the steering wheel 12 that causes the cargo handling vehicle 5 to travel straight is referred to as a “straight traveling direction”.

  Further, when the above-described auto guidance device is provided on the cargo handling vehicle 5 and the straight traveling path 6, the automatic steering control function described above is used in order to cause the cargo handling vehicle 5 that has been restarted to travel straight on the straight traveling path 6. The cargo handling vehicle 5 can be operated autonomously.

  However, immediately after the cargo handling vehicle 5 is re-started, if the steering wheel 12 remains sideways as described above, the cargo handling vehicle 5 tries to turn. For this reason, since the attitude of the cargo handling vehicle 5 is greatly inclined with respect to the straight traveling path 6, the steered wheels 12 are immediately steered in the direction opposite to the direction at the start based on the automatic steering control function. The The meandering width of the cargo handling vehicle 5 meandering by repeating such steering gradually converges, but there is a problem that the cargo handling vehicle 5 collides with the article storage rack 2 in the vicinity indicated by “x” in the drawing. There is also a risk of cargo collapse due to meandering.

Patent Documents 2 and 3 listed below disclose techniques for returning the steered wheels 12 steered in the horizontal direction in a straight ahead direction under preset conditions. The Patent Documents 2 and 3 are techniques for controlling the steered wheels 12 in the straight traveling direction regardless of the place where the load is loaded or unloaded. In this technique, the steered wheels 12 are set in a straight traveling direction in advance so that the cargo handling vehicle 5 does not meander once the cargo handling operation is interrupted or stopped, or when a new cargo handling operation is performed.
JP 2004-280147 A JP 2003-165659 A JP 2003-154959 A

  As described above, a cargo handling vehicle that performs work in the cargo storage area enters the cargo storage area from the cargo transport area, performs loading / unloading work against the article storage shelf, and then enters the cargo transport area. Such a series of operations are performed continuously. In this series of operations, when entering the cargo storage area from the cargo transport area, the posture of the vehicle body of the cargo handling vehicle is once adjusted to the straight path and then entered into the travel path.

  As described above, even when the attitude of the cargo handling vehicle is adjusted to a straight path, the steered wheels may not be in a straight traveling direction, and if the vehicle enters the cargo transport area as it is, the vehicle meanders into the article storage shelf. The problem of collision will occur. For this reason, in a series of work that is performed by a cargo handling vehicle driven by an operator, the work does not proceed smoothly, or the vehicle unexpectedly collides with an article shelf and gives an unpleasant vibration to the operator, affecting the work efficiency. Will be given.

  Therefore, the present invention has been made in view of the above circumstances, and an object thereof is to provide a cargo handling system capable of smoothly performing work when entering a cargo storage area and performing cargo handling work. And

  A first cargo handling system according to the present invention is a cargo handling vehicle in which an operator operates a cargo storage area having article storage shelves installed in a plurality of rows and a cargo transport area for transporting loads in the cargo storage area. Is a system for performing a cargo handling operation while reciprocating, wherein the cargo handling vehicle is formed between the shelves of the cargo storage area and the cargo handling vehicle travels linearly, and is formed in the cargo transport area. A wide-area free-traveling road that can travel freely; and attitude changing means for controlling the attitude of the cargo-handling vehicle entering the straight-running road from the free running road, wherein the attitude changing means A vehicle body angle change support device for matching the angle of the vehicle body with the straight travel path, and a steering angle change support device for matching the angle of the steering wheel of the cargo handling vehicle with the straight travel path. When That.

  Furthermore, a second cargo handling system according to the present invention is the first cargo handling system, wherein the cargo handling vehicle includes a plurality of wheels including steering wheels, and a deadman brake that releases braking of the wheels by depressing a foot pedal. And the steering angle change assisting device matches the angle of the steered wheel of the cargo handling vehicle with the straight traveling path based on depression of the foot pedal.

  Furthermore, a third cargo handling system according to the present invention is the first or second cargo handling system, wherein the cargo handling vehicle includes a steering handle capable of steering the steering wheel, and the steering wheel is steered by the steering handle. Alternatively, the steering wheel can be selectively steered by the vehicle body angle change assisting device.

  According to the cargo handling system according to the present invention, when a cargo handling vehicle enters the cargo storage area from the cargo transport area when the cargo handling vehicle enters the cargo storage area when entering the cargo storage area, the vehicle body angle of the cargo handling vehicle is matched with the straight traveling path. Thus, the steered wheel is steered in the straight direction, and the cargo handling vehicle enters the load storage area in this state, so that the work can be performed smoothly and work efficiency can be improved.

  As shown in FIG. 1, a cargo handling system 1 according to the present invention includes a load storage area 3 having article storage shelves 2 installed in a plurality of rows, and a load transfer area 4 for transferring loads in the load storage area 3. Is a system that performs the cargo handling work while the cargo handling vehicle 5 driven by the operator reciprocates. Details will be described in the following examples. In addition, elements already described as conventional techniques are denoted by the same reference numerals or designations below.

  As shown in FIGS. 1 to 3, the cargo handling system 1 includes a straight traveling path 6 that is formed between the shelves in the cargo storage area 3 and that the cargo handling vehicle 5 travels linearly, and a cargo handling vehicle that is formed in the cargo transport area 4. 5 has a wide free running path 7 on which the vehicle 5 can freely travel, and a posture changing means 8 for controlling the posture of the cargo handling vehicle 5 entering the straight traveling road 6 from the free traveling road 7.

  The cargo handling vehicle 5 includes a mast 10 erected in the vertical direction at the front portion of the vehicle body 9, and can be moved up and down along the mast 10 at the front portion of the mast 10. A three-way loading fork 11 that rotates around is provided. In addition, the cargo handling vehicle 5 has steering wheels 12 having both a steering function and a driving function. Inside the vehicle body 9 is provided with a traveling motor 13 for traveling by driving the steering wheel 12, and an EPS motor 14, which is a steering device for steering the steering wheel 12 to change the traveling direction. When the traveling motor 13 operates, the steering wheel 12 is driven to drive the vehicle, and when the EPS motor 14 operates, the steering wheel 12 is steered to change the traveling direction of the vehicle.

  Further, the steering wheel 12 is provided with a travel polarity detector encoder 15 for discriminating the vehicle speed of the cargo handling vehicle 5 and the travel polarity of forward or reverse travel. The movement polarity of the vehicle is detected directly to obtain the correct driving polarity. Further, the steering wheel 12 is provided with a tire angle detection device 16 that detects a steering angle with respect to the straight traveling direction of the steering wheel 12.

  Magnetic sensors 17 are provided on the front side and the rear side of the vehicle body 9 and at substantially the center of the vehicle width of the vehicle body 7. As this magnetic sensor, a pickup coil or an optical sensor for detecting magnetism may be used. A driver's cab 18 on which an operator of the vehicle body 9 is boarded is provided, and a foot pedal 20 having a function of a deadman brake pedal is provided on a floor 19 where the operator of the driver's cab 18 stands. The foot pedal 20 is a brake pedal that releases the braking applied to the steered wheel 12 by depressing it and applies the brake to the steered wheel 12 by returning to the original state.

  The vehicle body 9 includes a steering handle 21 that is rotatable about a vertical axis for steering the steering wheel 12, a traveling motor 13 that can be operated, an accelerator 22 that tilts forward and backward, and a three-way loading. Various operation levers 23 for moving the fork 11 up and down, side shifting, and rotating around the vertical axis, a display device 24 that can be lit on an indicator portion, and an automatic control changeover switch 25 that is a push button type switch are provided. . By tilting the accelerator 22 forward / backward, the traveling motor 13 is operated to move the cargo handling vehicle 5 forward or backward. Further, a control device 26 that executes posture changing means 8 for controlling the posture of the cargo handling vehicle 5 described below is provided inside the vehicle body 9.

  In the cargo storage area 3, a guiding magnet 27 is stretched substantially along the longitudinal direction on the road surface of the straight traveling path 6 between the article storage shelves 2. The guide magnet 27 is attached by a single adhesive tape along the center of the road surface of the straight traveling path 6, and the magnetic sensors 17 provided at the front and rear of the vehicle body 9 of the cargo handling vehicle 5 are connected to the guide magnet 27. The emitted magnetism can be detected. The guiding magnet 27 is stretched and stretched to the free traveling path 7, and the cargo handling vehicle 5 detects the magnetism generated by the guiding magnet 27 by the magnetic sensor 17 on the free traveling path 7. The guide magnet 27 is colored differently from the road surface so that the operator can distinguish it from the road surface.

  As shown in FIG. 4, the above-described control device 26 includes a display control device 28 that performs indicator display control for turning on the display device 24, and the steering wheel 12 at a steering angle that is parallel to the longitudinal direction of the vehicle body. A steering angle change support device 29 that outputs a signal to the EPS motor 14 and a vehicle body angle change support device 30 that changes the steering angle of the steerable wheels 12 so that the center of the vehicle body 9 coincides with the guidance magnet 27. ing.

  Here, a signal from the magnetic sensor 17 is input to the display control device 28. In addition, signals from the magnetic sensor 17, the automatic control changeover switch 25, the foot pedal 20, the tire angle detection device 16, and the display control device 28 are input to the steering angle change support device 29. Furthermore, the magnetic sensor 17, the automatic control changeover switch 25, the foot pedal 20, the tire angle detection device 16, the accelerator 22, the travel polarity detector encoder 15, and the steering angle change support device 29. The signal is input to the vehicle body angle change support device 30. When a signal is input to the display control device 28, a signal is output to the display device 24 and the steering angle change support device 29, and the display device 24 lights up. The steering angle change assisting device 29 is a signal from the display control device 28, the automatic control changeover switch 25, an ON signal that is a signal indicating that the foot pedal 20 is stepped on with a foot, and a steering wheel from the tire angle detecting device 16. When a signal corresponding to a deviation of 12 in the straight traveling direction is input, a control signal is output to the EPS motor 14 to control the steered wheels 12 to coincide with the straight traveling direction. Furthermore, the vehicle body angle change support device 30 includes a magnetic sensor 17, an automatic control changeover switch 25, an on signal output from the foot pedal 20 output by stepping on the foot pedal 20, a tire angle detection device 16, and an accelerator 22. The signal from the traveling polarity detector encoder 15 and a signal for driving the traveling motor 13 and the EPS motor 14 are provided with magnetic sensors 17 on the front and rear of the vehicle body 7 on the induction magnet 27, so that the vehicle width of the vehicle body 7 is substantially reduced. A control signal for controlling the steered wheels 12 is output so that the center line is parallel to the guide magnet 27.

  Next, as shown in FIG. 5, a description will be given of an operation procedure from the manual travel mode manually operated by the operator to the automatic travel mode. The manual steering mode is a steering mode in which the operator can change the steering angle of the steered wheels 12 by operating the EPS motor 14 by operating the steering handle 21. The operator operates the cargo handling vehicle 5 to move the vehicle onto the guide magnet 27 of the free traveling path 7 in order to enter the article storage rack 2 to store or take out the load. When both the front and rear magnetic sensors 17 of the vehicle body 9 detect the guiding magnet 27, the detection signal is transmitted to the display control device 28 provided in the control device 26, and the display device 24 is turned on.

  The operator looks at the lit display device 24 and knows that the cargo handling vehicle 5 is in a state along the guiding magnet 27, and raises his foot from the foot pedal 20 to brake the steered wheels 12. At this time, the brake wheel 12 is braked to transmit a so-called foot pedal off signal to the control device 26. Then, the operator pushes the automatic control changeover switch 25 (turns on the changeover switch) so that the manual drive mode can be switched to the automatic drive mode. Then, the operator depresses the foot pedal 20 (with the foot pedal turned on) to release the braking of the steered wheels 12. Then, the canceled signal is transmitted to the control device 26, and the steering angle change assisting device 29 outputs a control signal for causing the steered wheels 12 to coincide with the straight traveling direction to the EPS motor 14, thereby causing the steered wheels 12 to travel in the straight traveling direction. Control to match

  Next, the operator tilts the accelerator 22 forward, operates the traveling motor 13, and causes the cargo handling vehicle 5 to travel along the guiding magnet 27. At this time, the magnetic sensor 17 detects the guiding magnet 27, and the body angle change assisting device 30 causes the front and rear magnetic sensors 17 of the vehicle body 7 to come on the guiding magnet 27, so that the approximate center line of the vehicle width of the vehicle body 7 is reached. A control signal for controlling the steered wheels 12 is output so that is parallel to the guide magnet 27. Further, here, the vehicle is in the automatic travel mode, and receives the travel polarity signal from the travel polarity detector encoder 15, and if the signal is a forward signal, it moves forward, and if it is a reverse signal, it travels automatically. Take control. If the operator raises his / her foot from the foot pedal 20 and does not output an off signal or does not output an on signal by pressing the automatic control changeover switch 25 in accordance with the above operation procedure, the operator remains in the manual steering mode. It becomes.

  As a result, the angle of the steered wheels 12 matches the straight traveling path 6. Therefore, if the operator operates the accelerator 22 to start the cargo handling vehicle 5, the cargo handling vehicle 5 is moved as described above. Autonomously run straight through 6

  As described above, according to the cargo handling system 1 according to the present invention, when the operator tries to restart the cargo handling vehicle 5, the steering wheel 12 is always returned to the straight traveling direction. 5 does not meander as in the prior art. Therefore, the problem that the cargo handling vehicle 5 collides with the article storage rack 2 does not occur. Further, there is no fear of cargo collapse due to meandering of the cargo handling vehicle 5. By doing so, it is possible to work smoothly and work efficiency can be improved.

  Further, according to the cargo handling system 1, the operator can selectively steer the steered wheels 12 by operating the steering handle 21 or steer the steered wheels 12 by the vehicle body angle changing support device 30 only by operating the automatic control changeover switch 25. Can be done. Therefore, after the operator operates the steering handle 21 to stop the cargo handling vehicle 5 while steering the steering wheel 12 in a direction in which the cargo handling vehicle 5 can turn, the cargo handling vehicle 5 is reactivated (autonomously) at the operator's will. When starting the traveling), the operator simply starts the cargo handling vehicle 5 immediately, and the steering angle change assisting device 29 can return the steering wheel 12 to the straight traveling direction.

  Therefore, the operator is freed from the trouble of confirming whether or not the steered wheels 12 are directed in the straight traveling direction. Further, when the cargo handling vehicle 5 is re-started, even if the steered wheels 12 are not oriented in the straight traveling direction, the operator does not have to consider the trouble caused by the meandering as in the prior art.

  The guide magnet 27 described above is only required to be discernible from the road surface by the operator. For example, the guide magnet 27 is provided with a groove on the road surface to provide unevenness, and further provided with a guide magnet on the unevenness for identification. It may be.

  It should be noted that the present invention can be implemented in a mode in which various improvements, modifications, or variations are added based on the knowledge of those skilled in the art without departing from the spirit of the present invention.

The top view which shows the outline of the cargo handling system which concerns on this invention. The block diagram which shows the structure of the cargo handling system which concerns on this invention. The perspective view of the rear part of the cargo handling vehicle applied to the cargo handling system which concerns on this invention. The electric block diagram of the cargo handling system which concerns on this invention. The flowchart figure which shows the operation | movement from manual steering mode to automatic steering mode. The top view which shows the outline of the cargo handling system of a prior art example.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Cargo handling system 2 Goods storage shelf 3 Cargo storage area 4 Cargo conveyance area 5 Cargo handling vehicle 6 Straight travel path 7 Free travel path 8 Attitude change means 9 Car body 11 Fork 12 Steering wheel 13 Travel motor 14 EPS motor 15 Travel polarity detector encoder 16 Tire angle detection device 17 Magnetic sensor 20 Foot pedal 21 Steering handle 22 Accelerator 23 Operation lever 24 Display device 25 Automatic control changeover switch 26 Control device 27 Guide magnet 28 Display control device 29 Steering angle change support device 30 Vehicle body angle change support device 30

Claims (3)

A system that performs a cargo handling operation while a cargo handling vehicle operated by an operator reciprocates between a cargo storage area having article storage shelves installed in a plurality of rows and a cargo transport area for transporting loads in the cargo storage area. There,
A straight traveling path formed between the shelves in the cargo storage area in which the cargo handling vehicle travels linearly, a wide free traveling path formed in the cargo transport area in which the cargo handling vehicle can travel freely, and the free Posture changing means for controlling the posture of the cargo handling vehicle entering the straight running road from the running road, and the posture changing means is configured to match the angle of the vehicle body of the cargo handling vehicle with the straight running road. A cargo handling system comprising: an angle change support device; and a steering angle change support device for matching an angle of a steering wheel of the cargo handling vehicle with the straight traveling path.   The cargo handling vehicle includes a plurality of wheels including a steering wheel, and a deadman brake that releases braking of the wheels by depressing a foot pedal, and the steering angle change assisting device is based on the depressing of the foot pedal. The cargo handling system according to claim 1, wherein an angle of the steered wheel is matched with the straight traveling path.   The cargo handling vehicle includes a steering handle capable of steering the steered wheel, and can selectively steer the steered wheel by the steering handle or steer the steered wheel by the vehicle body angle change assist device. The cargo handling system according to claim 1 or 2.

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