JP2007039213A - Safety operation device, safety operation method and safety operation control system of transport apparatus - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To safely transport and carry a cargo by preventing a falling accident by the collapse of a load stack by warning to a driver by recognizing that malfunction such as the collapse of a load stack is caused when a shock exceeding a threshold value is caused when a transport apparatus such as a forklift travels. <P>SOLUTION: This transport apparatus 1 is composed of a vehicle body 3 having a lifting device 2 liftable by placing the cargo (c); and has a shock sensor 6 detecting the shock impressed on the cargo (c) when the lifting device 2 lifts or when the vehicle body 3 travels, and a warning part 7 warning its abnormal state when the shock sensor 6 detects an abnormal state such as the collapse of the cargo (c). <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a safe operation technique in a transport device such as a forklift, and in particular, a safe operation device for a transport device capable of safely transporting and transporting a load while preventing a drop of a load and a sudden impact in the transport device, The present invention relates to a safe operation method and a safe operation management system.

  A transport device (equipment) such as a forklift can be rotated 180 degrees around itself instantly even in a narrow place, and can easily transport a load. Therefore, it is used everywhere. For example, it is used to transport products and raw materials in warehouses, harbors, factories, and the like. On the other hand, even experienced drivers frequently have accidents caused by cargo collapse / dropping during loading / unloading / moving. In addition, it is more likely to become unstable when carrying high loads.

  Various techniques have been proposed in order to prevent such accidents in transportation equipment (instruments) such as forklifts. For example, a device for preventing the collapse of a load when a machine base tilts in a forklift has been proposed. As disclosed in Japanese Patent Application Laid-Open No. 2004-182455 “Unload collapse prevention device for forklifts”, even if the forklift machine tilts, the loading posture on the fork is automatically controlled horizontally to load the load. A load collapse prevention device for preventing collapse has been proposed.

  This device is a forklift that forms a machine base with a vehicle body, a mast equipped at the front of the vehicle body, and a finger bar coupled to a lift bracket that moves up and down along the mast. The load mounting member is pivotably pivoted, and the load mounting member and the finger bar are connected via the posture control means of the load mounting member. The posture control means detects the tilt of the machine base. In conjunction with the information from the detection means, the loading posture of the loading member is controlled horizontally. The machine base tilt detection means is an inclination angle sensor that is disposed on the machine base side, detects the tilt amount of the machine base, and operates the attitude control means based on the information to level the load mounting member. The attitude is controlled.

In this load collapse prevention device for forklifts, when the forklift tilts while the forklift is traveling on uneven road surfaces, inclined road surfaces, etc. with the tilt angle sensor, the load mounting members such as forks are automatically moved by the tilt amount corresponding to the tilt angle. In this way, the swing control is performed in a horizontal orientation direction to prevent the occurrence of load collapse.
JP 2004-182455 A

  However, an actual load collapse accident in a transport device (equipment) such as a forklift is not simply caused by a tilt of a machine base such as a forklift. For example, when the vehicle speed of a forklift or the like is fast, it is easy for the cargo to collapse when suddenly steering, suddenly starting or stopping. The device of Patent Document 1 that only includes an inclination angle sensor has a problem that it cannot cope with such a collapse of load caused by a high vehicle speed or a sudden handle.

  In addition, there is a problem that the load collapses easily depending on the weight of the load to be transported, and the apparatus using the tilt angle sensor of Patent Document 1 has a problem that the load collapse caused by such a light weight cannot be accurately handled. Was.

  The present invention has been developed to solve such problems. That is, the purpose of the present invention is to detect an impact directly applied to a package being transported mainly by an impact sensor installed in the transport device, and when an impact exceeding a threshold value occurs during travel of the transport device, Recognizing that problems such as collapse of cargo have occurred and warning the driver, etc., prevent accidents caused by collapse of cargo collapse and safe transport and transport equipment that can be transported and transported safely. It is to provide a safe operation management system.

  According to the safety operation device of the present invention, there is provided a transport device (1) comprising a vehicle body (3) provided with a lifting device (2) on which a load (c) can be placed and moved up and down. ) Moves up and down, or when the vehicle body (3) travels, an impact sensor (6) for detecting an impact applied to the load (c), and the impact sensor (6) There is provided a safe operation device for a transporting device, characterized by comprising an alarm unit (7) for alarming the abnormal state when an abnormal state such as a collapse is detected.

The transport device (1) is a forklift provided with a machine base (2) as the lifting device (2), and an impact sensor (6) is attached to the machine base (2).
The transport device (1) further includes a vehicle speed sensor (8) for detecting the speed of the vehicle body (3).
The transport device (1) further includes a GPS (9) for detecting the position of the vehicle body (3).
The transport device (1) further includes a load cell (10) for detecting the weight of the load (c).

  According to the safe operation method of the present invention, there is provided a safe operation method for a transporting device for carrying and transporting a load (c) on an elevating device (2) provided in a vehicle body (3), wherein the transporting device (1) The impact sensor (6) included in the vehicle detects an impact applied to the load (c) when the elevating device (2) moves up and down or when the vehicle body (3) travels, and the impact exceeds a predetermined level. A safe operation method for a transporting device is provided, characterized in that an alarm is issued from the alarm unit (7) when an alarm is detected.

The impact sensor (6) individually detects the magnitudes of the front and rear, left and right impacts of the elevating device (2), and individually sets the alarm area (threshold).
An alarm is issued from the alarm unit (7) when an impact of a predetermined level or more generated at the time of sudden steering is detected by the impact sensor (6).
The impact sensor (6) issues an alarm from the alarm unit (7) when a centrifugal force acts on the load (c) depending on the imbalance between the sudden handle and the speed of the transport device (1).

  According to the management system of the present invention, when the load (c) is transported by the transport device (1), the sensor unit (11) that detects the acceleration of the impact applied to the load (c), the vehicle speed, and the current position; An analysis unit (21) that analyzes the signal detected by the sensor unit (11), a display setting unit (22) that displays the transport state of the load (c) of the transport device (1), and the analysis unit (21 The alarm unit (7) that issues a warning to the driver in response to a command signal from the control unit) and the data analyzed by the analysis unit (21) are wirelessly transmitted to the monitoring center (24) that monitors the transport of the cargo of the transporting device (1). A communication unit (23) for transmitting, and when the acceleration or vehicle speed detected by the sensor unit (11) exceeds a preset upper limit value or lower limit value, the analysis unit (21) A command signal is transmitted to the alarm unit (7).搬機 instrument safe operation management system is provided.

The status data during transportation of the transporting device (1) is recorded in a recording unit (29) such as a memory card.
The reference values that serve as the reference values for setting the upper limit and lower limit of the acceleration or vehicle speed set in advance are obtained from actual transport data of the veteran driver of the transport device (1).

  As described above, in the present invention, the impact directly applied to the load (c) is detected mainly by attaching the impact sensor (6) to the lifting device (2) of the transporting device (1) such as a forklift. When the impact detected by the impact sensor (6) exceeds the threshold value, the alarm section (7) issues a warning to alert the driver, such as an alarm sound or a rotating light, to warn the driver. This alarm prevents accidents caused by collapse of cargo and enables safe transportation.

  For example, when an impact by the transport device (1) is applied to the load (c), when the transport device (1) exceeds a specified vehicle speed, when an imbalance occurs between the vehicle speed and the steering operation, the load (c) is further increased. By taking the weight of the vehicle into consideration, an alarm can be issued to alert the driver when the degree of danger occurs during the transport of the load (c) by the transport device (1).

  In addition, the monitoring center (24) can collectively grasp the transportation status of each transporting device (1), so that each driver can be instructed and managed for safety and accident prevention. For example, by collecting and analyzing the status of the package (c) being transported by the transport device (1), it can be used as a material for daily safety and accident prevention instruction management. Therefore, transportation management and driver training of the transportation device (1) are possible.

  The present invention detects an impact directly applied to a load by mainly attaching an impact sensor to a transporting device (equipment) such as a forklift, and warns by voice guidance or a buzzer when the impact exceeds a predetermined threshold value. . This prevents accidents caused by collapsing and dropping, and enables safe transportation.

Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings.
FIG. 1 is an overall configuration diagram of a transport device such as a forklift according to the present invention. FIGS. 2A and 2B are explanatory views showing a safe operation device for a transporting apparatus according to the present invention, in which FIG. 2A shows a normal movement state, FIG. 2B shows a rising movement state, and FIG. 2C shows a horizontal movement state. FIG. 3 is an explanatory view showing the relationship between acceleration, gravity and centrifugal force generated when carrying a load on a transport device, where (a) is a normal movement state, (b) is an ascending movement state, and (c) is a horizontal movement state. is there.
A transport device 1 according to the first embodiment includes a vehicle body 3 provided with an elevating device 2 on which a load c can be placed and moved up and down. As an example of the transport device 1, there is a forklift as shown in FIG. This forklift is provided with a machine base 2 as an elevating device 2, for example. As a basic configuration of the forklift, a pair of left and right masts 4 are provided at the front part of the body 3 of the forklift, and a lift bracket that moves up and down along the mast 4 by a lift cylinder is attached. A pair of upper and lower finger bars are fixed to the front surface of the lift bracket, and a pad that contacts the rear surface of the fork 5 is attached to the front surface of the lower finger bar. In the present invention, the vehicle body 3, the mast 4, the lift bracket and the finger bar constitute a forklift machine base 2.

  The safety operation device of the present invention detects an impact applied to the load c when the lifting device (base) 2 of the transporting device 1 that transports the load c moves up or down or when the vehicle body 3 travels. When the sensor 6 and the impact sensor 6 detect an abnormal state of the load c, an alarm unit 7 is provided for alarming the abnormal state. The alarm unit 7 may be any unit having a function of calling attention to a person, such as a buzzer that rings, a rotating light that lights or flashes, or a high-intensity LED.

  The impact sensor 6 detects the longitudinal acceleration (front-rear G), the lateral acceleration (lateral G), and the vertical acceleration (vertical G) acting on the load c during transportation of the transporting device 1, for example, 5 per second. The data (G data) is transmitted to the analysis unit 21 described later. The impact sensor 6 is attached to the lifting device (machine base) 2 so as to detect the state of the load c most sensitively.

  In addition to the impact sensor 6, the transport device 1 includes a vehicle speed sensor 8 that detects the speed of the vehicle body 3, a GPS 9 that detects the position of the vehicle body 3, or a load cell 10 that detects the weight of the load c. These are collectively referred to as the sensor unit 11.

For example, the following devices can be included as a safe traveling device such as the sensor unit 11 and an example of each function is shown.
(1) Impact sensor sensitivity 0.01G-1.0G (standard) (variable step 0.01G)
(0.1G-10G (if necessary)) (required range specification) (variable step 0.1G)
Front and rear (Y axis) Left and right (X axis)
(2) Vehicle speed 0Km / h to 100Km / h (Variable step 1Km / h)
(3) Weight 0kg to 100kg (variable step 1kg)
(10Kg to 500Kg as required) (required range specification) (variable step 10Kg)
(4) Balance Arbitrary designation within the above range However, alarm functions only are set at the factory in advance. (5) Alarm high-brightness LED, buzzer, rotating lamp (6) Memory card capacity 32MB (standard operation for 8 hours per day) 1 month as a system)

  The position sensor (GPS 9) acquires data (position data) of the current position of the vehicle body 3 being transported by receiving radio waves from the GPS satellite (for example, every second), and also uses an atomic clock mounted on the GPS satellite. Accurate current time data (time data) is acquired. The position data and time data acquired by the position sensor (GPS 9) are transmitted to the analysis unit 21 described later.

  In the transporting device 1 having such a safe operation device, the impact sensor 6 of the sensor unit 11 detects an impact applied to the load c when the machine base 2 is moved up and down, and a predetermined level or more as described later. When an impact is detected, an alarm is issued from the alarm unit 7 by sounding a buzzer or turning on or flashing a rotating lamp.

  Similarly, an impact applied to the load c when the vehicle body 3 travels is detected by the impact sensor 6 or the vehicle speed sensor 8, and an alarm is issued from the alarm unit 7 when an impact exceeding a predetermined level is detected. For example, the impact sensor 6 individually detects the magnitudes of the front and rear and left and right impacts of the lifting device 2 and individually sets the alarm area (threshold).

  Further, when the impact sensor 6 detects a predetermined impact or more generated when the transporting device 1 is suddenly handled, an alarm is issued from the alarm unit 7. Alternatively, an alarm is issued from the alarm unit 7 when the centrifugal force acts on the load c depending on the imbalance between the sudden handle and the speed of the transport device 1 by the impact sensor 6.

Next, based on FIG. 2 and FIG. 3, the operation | movement which shows the relationship of the acceleration, gravity, and centrifugal force which are produced at the time of the load transportation of a conveyance apparatus is demonstrated.
(A) In the normal moving state of the transporting device 1, as shown in FIGS. 2A and 3A, the load c on the fork 5 is at an angle during normal transport, so the impact sensor 6 is gravity. As a result of the movement, the impact in the front-rear direction is smaller than the impact in the left-right direction.
(B) When the fork 5 is in the ascending movement state, as shown in FIGS. 2B and 3B, when the load c of the fork 5 is raised during transportation, the impact sensor 6 causes the gravitational acceleration to move back and forth due to centrifugal force.・ It will be larger in both left and right directions. In this case, special attention should be paid to the case where the weight of the load c is large and the gravity is large and stable. However, when a certain limit (threshold value) is exceeded, the gravitational acceleration increases. Therefore, the impact is not small because the load c is heavy.
(C) When the transport device 1 is in the horizontal movement state, as shown in FIGS. 2 (c) and 3 (c), the impact is detected at the position of the impact sensor 6 that is actually attached to the base of the fork 5 in both the front, rear, left, and right. To do. In this case, especially for left and right impacts, the tip of the fork 5 becomes larger than the mounting portion of the impact sensor 6 due to the centrifugal force according to the distance. It is necessary to set the (threshold) for the alarm domain considering this. As described above, the attachment position of the impact sensor 6 of the present invention is attached to the side opposite to the rotation shaft of the forklift so that the gravitational acceleration due to the centrifugal force can be detected more accurately.

A specific setting procedure of the impact sensor 6 of the forklift will be described.
A threshold when the fork 5 moves up and down or travels on the vehicle body 3 to detect an impact applied to the load c and to issue an alarm from the alarm unit 7 when an impact of a predetermined level or more is detected will be described.
(1) Impact detection area (threshold) for issuing an alarm
As shown in Table 1, the level of impact detected and the level of impact, as shown in Table 1, are the forward / backward switch (S7 switch) and the left / right direction (S8 switch), the amount of impact and the angle. Decide whether to be the target of alerting.

(2) Impact detection time for issuing an alarm As shown in Table 2, how long the impact is detected when an impact is applied depends on the switch position. Determine the target detection time.

(3) Alarm issuing time Table 3 shows the appropriate time for alarming from the alarm unit 7 in the detection of one impact, that is, the buzzer ringing time or the rotating lamp lighting time. The notification time is determined according to the position of the switch. Note that it is desirable that the warning by turning on the rotating lamp be 5 seconds or more because the driver may not notice it instantaneously.

  As described above, when the impact sensor 6 is attached to the lifting device 2 or the like of the transporting device 1 such as a forklift, when the transporting device 1 exceeds the specified vehicle speed, an imbalance between the vehicle speed and the handle operation occurs, and the load c By taking this weight into account, it is possible to alert the driver by issuing an alarm when a high degree of danger occurs during the transportation of the load by the transport device 1.

FIG. 4 is a block diagram illustrating an outline of a safe operation management system for a transport device according to a second embodiment of the present invention.
The safe operation management system according to the second embodiment includes a sensor unit 11 that detects an acceleration G, a vehicle speed, and a current position of a baggage c at the time of baggage transportation of each transporting device 1, and an analysis unit 21 that analyzes a signal detected by the sensor unit 11. And a display setting unit 22 capable of inputting various setting items by a touch panel type and a command signal from the analysis unit 21 to warn the driver of the transporting device 1. From the alarm unit 7 that emits the data, the communication unit 23 that wirelessly transmits the data analyzed by the analysis unit 21, and the monitoring center 24 that receives the data transmission from the communication unit 23 and monitors the conveyance status of the cargo c of each conveyance device 1 Become. This safe operation management system records, displays, analyzes, and warns the transport status of the transport device 1 that transports the load c.

FIG. 5 is a block diagram showing the configuration of the analysis unit of the safe operation management system.
The analysis unit 21 provided in the transport device 1 acquires the impact data transmitted from the impact sensor 9 and the position data and time data transmitted from the GPS receiver 9 and analyzes them.
As shown in the figure, the analysis unit 21 has an interface 26 for receiving data transmitted from the sensors 9, 10... Around a CPU (Central Processing Unit) 25, and reference data for ideal transport. Linking the transport database 27 storing the data, the program storage unit 28 storing the application program for performing data analysis and processing for outputting to various output devices, and the time data, position data, impact data, speed data A recording unit 29 for recording is provided.

  The transport database 27 of the analysis unit 21 stores reference data collected from actual driving data of experienced drivers. For example, this reference data records ideal speed and acceleration at each point for a place where the transport device 1 transports the load c in a predetermined area.

The analysis unit 21 has a form that allows the display setting unit 16 to visually recognize the degree of deviation from the reference data, for example, a screen display that increases or decreases in stages according to the amount (ratio) of speed and acceleration deviation from the reference data. To display. The analysis unit 21 also sets an upper limit value set in advance for the current transport point when the speed or acceleration of the transport device 1 is outside the range of the allowable deviation from the reference data stored in the transport database at the transport point. Alternatively, when the lower limit value is exceeded, a command signal is transmitted to the alarm unit 7 and the data is transmitted to the communication unit 23.
In addition, the data logger 30 records time data, position data, G data, and speed data in association with all the time of transportation or when the upper limit value or lower limit value of the speed and acceleration is exceeded.

  The communication unit 23 associates time data, position data, G data, and speed data at the time when the upper limit value or lower limit value of the speed and acceleration is exceeded, and transmits this to the monitoring center 24 that monitors the transport of the load c of the transport device 1. The monitoring center 24 monitors and records the contents. If necessary, the monitoring center 24 gives an instruction to the driver through a wireless telephone or the like.

  Further, by recording the situation during the transportation of the baggage by the transporting device 1 on a memory card, and collecting and analyzing the data, it can be used as a material for daily safety and accident prevention instruction management. This makes it possible to carry out transportation management and train drivers for transportation equipment.

  In addition, this invention is not limited to embodiment of the invention mentioned above, The traveling apparatus 1 is driving | running | working by detecting the impact directly applied to the load c currently conveyed by the impact sensor 6 mainly installed in the conveying apparatus 1. FIG. When an impact exceeding the threshold value occurs, it is recognized that a problem such as collapse of cargo has occurred and warns the driver, etc. to prevent accidents caused by collapse of cargo collapse and transport and transport safely. Of course, the configuration is not limited to that shown in the drawings, and various modifications can be made without departing from the scope of the present invention.

  The safety operation device for a transporting device according to the present invention can be used not only as a transporting device such as a forklift, but also in a belt conveyor or other work if there is a possibility of an accident caused by a load collapse / loading during loading / unloading / moving. Can be used on site.

1 is an overall configuration diagram of a transport device such as a forklift according to the present invention. It is explanatory drawing which shows the safe operation apparatus of the conveyance apparatus of Example 1 of this invention, (a) is a normal movement state, (b) is a raise movement state, (c) is a horizontal movement state. It is explanatory drawing which shows the relationship of the acceleration, gravity, and centrifugal force which are produced at the time of the baggage conveyance of a conveyance apparatus, (a) is a normal movement state, (b) is an upward movement state, (c) is a horizontal movement state. It is a block diagram which shows the safe operation management system outline | summary of the conveyance apparatus of Example 2 of this invention. It is the block diagram which showed the structure of the analysis part of a safe operation management system.

Explanation of symbols

1 Transport equipment (forklift)
2 Lifting device (machine stand)
3 Car body 6 Impact sensor 7 Alarm unit 9 GPS
DESCRIPTION OF SYMBOLS 10 Load cell 11 Sensor part 21 Analysis part 22 Display setting part 23 Communication part 24 Monitoring center c Luggage

Claims (12)

A transport device (1) comprising a vehicle body (3) provided with an elevating device (2) capable of moving up and down by placing a load (c),
An impact sensor (6) for detecting an impact applied to the load (c) when the elevating device (2) moves up and down or when the vehicle body (3) travels;
A transportation device comprising: an alarm unit (7) that warns the abnormal state when the impact sensor (6) detects an abnormal state such as a load collapse of the load (c). Safe operation device. The said conveyance apparatus (1) is a forklift provided with the machine base (2) as the said raising / lowering apparatus (2), The impact sensor (6) was attached to this machine base (2), It is characterized by the above-mentioned. 1 Safe operation device for transportation equipment. The safety operation device for a transport device according to claim 1, further comprising a vehicle speed sensor (8) for detecting the speed of the vehicle body (3) in the transport device (1). The safety operation device for a transport device according to claim 1, further comprising a GPS (9) for detecting the position of the vehicle body (3) in the transport device (1). The safe operation device for a transport device according to claim 1, further comprising a load cell (10) for detecting the weight of the load (c) in the transport device (1). A safety operation method for a transporting device for placing and transporting a load (c) on a lifting device (2) provided in a vehicle body (3),
An impact sensor (6) provided in the transporting device (1) detects an impact applied to the load (c) when the lifting device (2) moves up and down or when the vehicle body (3) travels. And the safety operation method of the conveyance apparatus characterized by issuing a warning from an alarm part (7) when the impact more than predetermined is detected. The impact sensor (6) individually detects the magnitudes of front / rear and left / right impacts of the lifting device (2), and individually sets an alarm range (threshold). The safe operation method of the conveyance apparatus of claim | item 6. The method for safely operating a transporting device according to claim 6, wherein the impact sensor (6) issues an alarm from the alarm section (7) when detecting an impact of a predetermined level or more that occurs when the handle is suddenly handled. The impact sensor (6) issues an alarm from the alarm unit (7) when centrifugal force acts on the load (c) depending on the imbalance between the sudden handle and the speed of the transport device (1). A method of safely operating a transporting device according to claim. A sensor unit (11) for detecting an acceleration, a vehicle speed and a current position of an impact applied to the load (c) when the load (c) is transported by the transport device (1);
An analysis unit (21) for analyzing a signal detected by the sensor unit (11);
A display setting unit (22) for displaying the transport state of the load (c) of the transport device (1);
An alarm unit (7) that issues a warning to the driver by a command signal from the analysis unit (21);
A communication unit (23) that wirelessly transmits the data analyzed by the analysis unit (21) to a monitoring center (24) that monitors the transportation of the load of the transporting device (1),
The analysis unit (21) transmits a command signal to the alarm unit (7) when the acceleration or vehicle speed detected by the sensor unit (11) exceeds a preset upper limit value or lower limit value. A safe operation management system for transporting equipment. 11. The safe operation management system for a transport device according to claim 10, wherein status data during transport of the transport device (1) is recorded in a recording unit (29) such as a memory card. The reference value that is a setting reference for the upper limit value and the lower limit value of acceleration or vehicle speed set in advance is collected from actual transport data of a veteran driver of the transport device (1). Item 10. A safe operation management system for a transportation device according to Item 10.

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