JP2014213954A - Cargo handling vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a cargo handling vehicle which allows an operator fallen from a control platform to easily get out from the suspended state without waiting for rescuers, and to provide a cargo handling vehicle control system.SOLUTION: A picking lift 1 serving as a cargo handling vehicle includes: a control platform 31 where an operator gets on; a lifting device 20 which moves up and down the control platform 31; and a safety device which suspends the operator when the operator is fallen from the control platform 31. The picking lift 1 includes: a falling detection part 51 for detecting a situation that the operator is fallen from the control platform 31; and a control unit 55 which controls the lifting device 20. The control unit 55 controls the lifting device 20 on the basis of the falling detection part 51 detecting falling of the operator thereby moving down the control platform 31.

Description

  The present invention relates to a cargo handling vehicle that moves an operator up and down together with a driver's cab in order to enable cargo handling at a high place.

  As a cargo handling vehicle that raises and lowers an operator together with a cab, a cargo handling vehicle equipped with a safety device that suspends the operator when the operator falls from the cab is known to prevent the operator from falling from the cab. (For example, refer to Patent Document 1). The safety device includes, for example, a safety belt winder installed on the head guard above the cab, a safety belt drawn out from the safety belt winder, and a safety belt attached to the operator's waist. It has a structure in which the end of the safety belt is fixed to the safety belt.

  However, when the operator falls from the cab, the operator can avoid falling on the ground by the safety device, but the operator may be suspended by the safety device and cannot escape from the suspended state by himself. . Accordingly, an operator who cannot escape from the suspended state has to wait for a rescuer.

JP-A-8-324988

  The present invention has been made in view of the above circumstances, and it is an object of the present invention to provide a cargo handling vehicle in which an operator who has dropped from a cab can easily get out of a suspended state without waiting for a rescuer. Let it be an issue.

  In order to solve the above-described problem, the cargo handling vehicle according to the first aspect of the present invention includes a cab on which an operator is boarded, an elevating device that moves the cab up and down, and the operator when the operator falls from the cab. In a cargo handling vehicle including a safety device that suspends an operator, the vehicle includes a fall detection unit that detects that the operator has dropped from the cab, and a control unit that controls the lifting device, the control unit including the drop unit The cab is lowered by controlling the elevating device based on the detection unit detecting the fall of the operator.

  In addition, in the cargo handling vehicle according to claim 2, the lowest height at which the cab can be lowered by the lifting device in the height direction that is the direction in which the cab rises and lowers is defined as the minimum height, and the minimum A height higher than a height by a predetermined amount is set as an automatic stop height, and the control unit stops the lowering of the cab when the cab is lowered to the automatic stop height.

  In addition, the cargo handling vehicle according to claim 3 includes a landing determination unit that determines whether or not the operator has landed below the cab, and the control unit is configured so that the operator can land by the landing determination unit. When it is determined that the cab is lowered, the descent of the cab is stopped.

  In addition, the cargo handling vehicle according to claim 4 includes a landing determination unit that determines whether or not the operator has landed below the cab, and the control unit causes the landing determination unit to allow the operator to land. When it is determined that the cab is lowered, the speed at which the cab descends is reduced.

  Further, in the cargo handling vehicle according to claim 5, is the traveling device that travels to move the cab together with the lifting device, and whether the cab is lowered by an obstacle when the cab is lowered? A descent obstacle judging unit for judging whether or not, and the control unit controls the traveling device when the descent obstacle judging unit judges that the obstacle is prevented from descending by the obstacle. The cab is moved to a position where the lowering of the cab is not hindered by the obstacle.

  According to the present invention, it is possible to provide a cargo handling vehicle in which an operator who has dropped from a cab can easily get out of a suspended state without waiting for a rescuer.

It is a perspective view which shows the cargo handling vehicle which concerns on one Embodiment of this invention. It is a block diagram which shows the structure of the cargo handling vehicle which concerns on this embodiment. It is a flowchart which shows the flow of the fall monitoring process which concerns on this embodiment. It is a flowchart which shows the flow of the fall monitoring process which concerns on the modification of this invention.

  An embodiment in which a cargo handling vehicle of the present invention is applied to a picking lift will be described with reference to the drawings. Note that a front-rear direction X indicated by an arrow X in the figure, a left-right direction Y indicated by an arrow Y in the figure, and a vertical direction Z indicated by an arrow Z in the figure are directions orthogonal to each other.

  As shown in FIG. 1, a picking lift 1 that is a cargo handling vehicle includes a vehicle body 11, a traveling device 12, a lifting device 20, a cab 31, a pair of forks 32, an operation unit 13, a head guard 14, and a safety device 40. . The operator P gets on the cab 31 for the operation of the picking lift 1 and the cargo handling at a high place.

  The vehicle body 11 houses a traveling device 12 and a prime mover (not shown) that is a drive source of the lifting device 20. The prime mover of the lifting device 20 is constituted by, for example, an electric motor for driving a hydraulic pump. In this case, when the prime mover that is the driving source of the traveling device 12 is configured by an electric motor, the electric motors of the traveling device 12 and the lifting device 20 are used from the same battery in order to simplify the configuration of the picking lift 1. It is preferable that power is supplied.

  The traveling device 12 includes a wheel, a prime mover that rotates the wheel, and a steering device that changes the direction of the wheel. The traveling device 12 travels together with the lifting device 20 to move the cab 31. The picking lift 1 travels on a plane perpendicular to the vertical direction Z by the traveling device 12.

  The lifting device 20 includes a pair of masts 21 extending in parallel with the up-down direction Z, and a prime mover that expands and contracts the mast 21. The mast 21 includes an outer mast 21A and an inner mast 21B. The outer mast 21 </ b> A is fixed to the vehicle body 11. When the prime mover of the lifting device 20 slides the inner mast 21B with respect to the outer mast 21A, the mast 21 expands and contracts. The elevating device 20 elevates and lowers the cab 31 in the vertical direction Z, which is the height direction, by expanding and contracting the mast 21.

  The cab 31 is fixed to the inner mast 21B, and is provided so as to be movable up and down in the vertical direction Z together with the inner mast 21B. The cab 31 is provided with a fork 32 extending in the front-rear direction X.

  The fork 32 extends horizontally from the cab 31 and protrudes rearward from the cab 31. The fork 32 supports the pallet 33, and the pallet 33 supported by the fork 32 is located at the same height as the cab 31.

  The operation unit 13 is provided on the cab 31 and moves up and down together with the cab 31. The operation unit 13 includes a man-machine interface such as a lever and a button for operating the traveling device 12 and the lifting device 20. The operator P inputs various instructions to the picking lift 1 using the operation unit 13.

  The head guard 14 is provided above the cab 31 and is configured by a lattice-like structure. When the operator P is on the cab 31, the head of the operator P is protected by the head guard 14.

  The safety device 40 includes a safety belt winder 41, a safety belt 42, and a belt 43. The safety belt winder 41 is provided on the head guard 14, and the belt 43 is wound around the waist that is a part of the operator P. One end of the safety belt 42 is wound around the safety belt winder 41, and the other end of the safety belt 42 is attached to the belt 43. The safety belt winder 41 can shorten the length of the safety belt 42 from the safety belt winder 41 to the belt 43 by winding the safety belt 42. The operator P can extend the length of the safety belt 42 from the safety belt winder 41 to the belt 43 by extending the safety belt 42 from the safety belt winder 41. The safety device 40 suspends the operator P when the operator P falls from the cab 31 by the safety belt 42 that connects the safety belt winder 41 and the belt 43.

Next, a configuration for controlling the picking lift 1 will be described with reference to FIG.
As shown in FIG. 2, the picking lift 1 includes a drop detection unit 51, a landing determination unit 52, a descent failure determination unit 53, a notification unit 54, and a control unit 55. The landing determination unit 52, the descent failure determination unit 53, and the control unit 55 include an integrated circuit. The integrated circuits constituting the respective parts 52, 53, 55 can be constituted by independent integrated circuits, and two or more of the respective parts 52, 53, 55 may be constituted by one integrated circuit.

  The drop detection unit 51 detects that the operator P has dropped from the cab 31. For example, the drop detection unit 51 includes a tension sensor that detects a tension that is a force by which the safety belt 42 is pulled by the belt 43, and detects a large tension generated when the operator P falls from the cab 31. The operator P is detected to have dropped. When the fall detection unit 51 detects the fall of the operator P, a fall detection signal is input from the fall detection unit 51 to the control unit 55.

  The landing determination unit 52 determines whether or not the operator P has landed below the cab 31 based on the aspect of the safety device 40. For example, the landing determination unit 52 includes a tension sensor that constitutes the fall detection unit 51 and an integrated circuit to which the detection result of the tension of the safety belt 42 by the tension sensor is input, and the safety device 40 suspends the operator P. It is determined that the operator P has landed based on the cancellation of the tension of the safety belt 42 that occurs when The landing determination unit 52 inputs a signal indicating the determination result of whether or not the operator P is landing to the control unit 55.

  The descent obstacle determination unit 53 determines whether or not the descent of the cab 31 is hindered by an obstacle when the cab 31 is lowered. For example, the descent obstacle determination unit 53 includes a camera that captures the lower side of the cab 31 and the pallet 33 and an integrated circuit that analyzes an image captured by the camera. Based on the position immediately below the pallet 33, it is determined that the obstacle 31 prevents the cab 31 from being lowered. The descent failure determination unit 53 inputs a signal indicating a determination result as to whether or not the descent of the cab 31 is hindered to the control unit 55. An obstacle that prevents the cab 31 from descending is, for example, a rack (not shown) on which luggage is placed. When the operator P falls from the cab 31, the safety belt 42 may move the pallet 33 with respect to the fork 32. Therefore, even when the pallet 33 and the rack do not interfere with each other when the cab 31 is raised, There is a possibility that the pallet 33 and the rack interfere when the table 31 is lowered. Therefore, when the cab 31 descends after the operator P falls from the cab 31, the rack that interferes with the pallet 33 may interfere with the descent of the cab 31 provided with the forks 32 that support the pallet 33. .

  The notification unit 54 performs a notification operation by at least one of audio output and light emission. For example, the notification unit 54 includes a speaker and a rotating lamp, and performs a notification operation that is an operation of outputting a notification sound from the speaker and emitting light from the rotating lamp. The notification operation is an operation for notifying that the operator P has dropped from the cab 31.

  The control unit 55 includes an integrated circuit that controls the traveling device 12, the lifting device 20, and the notification unit 54. The control unit 55 causes the picking lift 1 to travel by controlling the traveling device 12 when an instruction to travel the picking lift 1 is input using the operation unit 13. In addition, when an instruction to raise or lower the cab 31 is input using the operation unit 13, the control unit 55 controls the elevating device 20 to raise or lower the cab 31.

  In addition, when a drop detection signal is input from the drop detection unit 51 to the control unit 55, the control unit 55 controls the lifting device 20 to lower the cab 31 and perform a notification operation to the notification unit 54. Make it. Further, when a landing determination signal is input from the landing determination unit 52 to the control unit 55, the control unit 55 controls the lifting device 20 to reduce the descent speed of the cab 31. The landing determination signal is a signal indicating a determination result of whether or not the operator P has landed, and is a signal indicating that the landing determination unit 52 has determined that the operator P has landed.

  The control unit 55 controls the traveling device 12 so that the picking lift 1 travels when the descending failure determination signal is input from the descending failure determination unit 53 to the control unit 55, so that the lowering is not hindered. The cab 31 is moved to. The descent failure determination signal is a signal indicating a determination result of whether or not the descent of the cab 31 is hindered, and a signal indicating that the descent failure determination unit 53 determines that the descent of the cab 31 is hindered. is there.

  With reference to FIG. 3, the flow of the drop monitoring process performed by the picking lift 1 will be described. The fall monitoring process is continued until the operation of the picking lift 1 is stopped after the operation of the picking lift 1 is started. The drop monitoring process includes a descending operation control process, and when it is detected that the operator P has dropped from the cab 31 in the drop monitoring process, the descending operation control process is started. In addition, it is preferable that the transition time between the following steps S1 to S7 and S11 to S13 is as small as possible.

  In the fall monitoring process, first, the control unit 55 determines whether or not the fall detection unit 51 has detected the fall of the operator P from the cab 31 based on the fall detection signal input from the fall detection unit 51. (Step S1).

  When it is determined in step S1 that the operator P has not detected the drop of the operator P, the control unit 55 performs the process of step S1 again at a predetermined monitoring time interval. That is, when a drop detection signal is not input from the drop detector 51 to the controller 55, in other words, when the drop of the operator P is not detected by the drop detector 51, the process of step S1 is repeated, so that the following step S2 Do not move on to subsequent processing. The monitoring time is preferably as short as possible so that the control unit 55 can quickly detect the drop of the operator P.

  Next, when it is determined in step S <b> 1 that the operator P has been detected to be dropped, that is, when a drop detection signal is input from the drop detection unit 51 to the control unit 55, the descent failure determination unit 53 is connected to the cab 31. When descending as it is, it is determined whether or not the descent of the cab 31 is hindered by an obstacle (step S11). When it is determined in step S <b> 11 that the cab 31 is prevented from being lowered by the obstacle, the lowering obstacle determination signal is input from the lowering obstacle determination unit 53 to the control unit 55. The control unit 55 to which the descending obstacle determination signal is input calculates an avoidance amount for avoiding the obstacle (step S12), and operates the traveling device 12 based on the calculated avoidance amount (step S13). That is, in step S13, the control unit 55 controls the traveling device 12 to move the cab 31 to a position where the lowering of the cab 31 is not hindered by an obstacle.

  When it is determined in step S <b> 11 that the obstacle is not hindered by the obstacle, or after the driver's cab 31 is moved in the process of step S <b> 13, the control unit 55 controls the lifting device 20. Then, the descent of the cab 31 is started (step S2). Moreover, the control part 55 starts alerting | reporting operation | movement by controlling the alerting | reporting part 54 (step S3).

  Next, the landing determination unit 52 determines whether or not the operator P who has dropped from the cab 31 has landed (step S4). If it is determined in step S4 that the operator P has not landed, the following step S5 is not performed, and the following step S6 is performed. On the other hand, if it is determined in step S4 that the operator P has landed, a landing determination signal is input from the landing determination unit 52 to the control unit 55.

  The controller 55 to which the landing determination signal is input controls the lifting device 20 to lower the cab 31 at a low speed (Step S5). That is, in step S5, the control unit 55 reduces the lowering speed of the cab 31 as compared with the case where it is determined that the operator P has not landed. At this time, the descending speed of the cab 31 can be reduced stepwise or continuously and gradually.

  Subsequently, the control part 55 which controls the raising / lowering apparatus 20 judges whether the cab 31 fell to the automatic stop height (step S6). The automatic stop height is a height higher than the minimum height by a predetermined amount when the lowest height at which the cab 31 can be lowered by the elevating device 20 in the vertical direction Z is defined as the lowest height. The automatic stop height is a height that secures a space where the operator P is not pressed under the cab 31 and is set to 80 cm, for example.

  When it is determined in step S6 that the cab 31 has been lowered to the automatic stop height, the control unit 55 controls the elevating device 20 to stop the cab 31 from being lowered (step S7), and the descent operation control process Is completed. On the other hand, when it is determined in step S6 that the cab 31 has not been lowered to the automatic stop height, the processing after step S4 is repeated.

The operation of the picking lift 1 of this embodiment will be described.
When the fall detection unit 51 detects the fall of the operator P, the control unit 55 lowers the cab 31 and the operator P suspended by the safety device 40 lands. In addition, when the lowering obstacle determination unit 53 determines that the lowering of the cab 31 is hindered by the obstacle, the control unit 55 causes the picking lift 1 to travel, and the cab 31 moves to a position where the lowering is not hindered. Further, when the landing determination unit 52 determines that the operator P has landed, the control unit 55 reduces the descending speed of the cab 31 and the cab 31 descends at a low speed.

In the picking lift 1 of the present embodiment, the following effects are obtained.
(1) When the fall detection unit 51 detects the fall of the operator P, the control unit 55 controls the lifting device 20 based on the fact that the fall detection unit 51 detects the fall of the operator P, thereby operating the cab 31. Is lowered. For this reason, when the operator P falls from the cab 31 and is suspended by the safety device 40, the controller 55 can cause the operator P to land by automatically lowering the cab 31. it can. Therefore, the operator P who has fallen from the cab 31 can easily escape from the suspended state without waiting for the rescuer.

  (2) The control unit 55 stops the descent of the cab 31 when the cab 31 is lowered to the automatic stop height. Therefore, the cab 31 that descends when the operator P falls from the cab 31 and is suspended by the safety device 40 is the lowest height at which the cab 31 can be lowered by the lifting device 20. Then stop at a position higher by a predetermined amount. Therefore, it is possible to suppress the operator 31 from pressing the landing operator P.

  (3) When the landing determination unit 52 determines that the operator P has landed, the control unit 55 reduces the descending speed of the cab 31. For this reason, the operator platform 31 that descends when the operator P falls from the operator platform 31 and is suspended by the safety device 40 can be decelerated after the operator P has landed. It can suppress that the cab 31 presses. Further, compared with the case where the cab 31 is lowered at a constant speed, the cab 31 can be lowered quickly until it is determined that the operator P has landed.

  (4) When the lowering obstacle determination unit 53 determines that the lowering of the cab 31 is prevented by the obstacle, the control unit 55 controls the traveling device 12 to prevent the lowering of the cab 31 by the obstacle. The cab 31 is moved to a position where it is not possible. For this reason, even if there is an obstacle that prevents the cab 31 from descending, the cab 31 can be lowered while avoiding the obstacle.

  The present invention is not limited to the above-described embodiment, and the configuration of the above-described embodiment can be changed as appropriate. For example, the above configuration can be changed as follows, and the following changes can be combined.

  The control unit 55 may stop the descent of the cab 31 by controlling the lifting device 20 when a landing determination signal is input from the landing determination unit 52 to the control unit 55. That is, when the landing determination unit 52 determines that the operator P is landing, the control unit 55 may stop the descent of the cab 31. According to such a configuration, the operator cab 31 that descends when the operator P falls from the operator cab 31 and is suspended by the safety device 40 can be stopped after the operator P has landed. Thus, the operator 31 can be prevented from pressing the landing operator P.

  With reference to FIG. 4, the descent operation control process in which the control unit 55 to which the landing determination signal is input stops the descent of the cab 31 will be described. FIG. 4 shows the flow of the drop monitoring process including the descending operation control process according to this modification. Note that the processing in steps S1 to S3 and S11 to S13 in FIG. 4 is the same as the processing in the above embodiment, and thus the description of steps S1 to S3 and S11 to S13 is omitted.

  After the control part 55 starts the descent | fall of the cab 31 by step S2, the landing judgment part 52 judges whether the operator P who fell from the cab 31 is landing (step S4). If it is determined in step S4 that the operator P has landed, a landing determination signal is input from the landing determination unit 52 to the control unit 55. The controller 55 to which the landing determination signal is input controls the elevating device 20 to stop the descent of the cab 31 (Step S7), and the descent operation control process is completed.

  On the other hand, when it is determined in step S4 that the operator P has not landed, the controller 55 that controls the lifting device 20 determines whether or not the cab 31 has been lowered to the automatic stop height (step S6). . When it is determined in step S6 that the cab 31 has been lowered to the automatic stop height, the control unit 55 controls the elevating device 20 to stop the cab 31 from being lowered (step S7), and the descent operation control process Is completed. If it is determined in step S6 that the cab 31 has not been lowered to the automatic stop height, the process of step S4 is repeated.

  As described above, in the modified example shown in FIG. 4, when the operator P is determined to have landed, or when it is determined that the cab 31 has been lowered to the automatic stop height, it is lowered. The cab 31 stops.

  The fall detection unit 51 may detect that the operator P has fallen with a camera that captures the operator P on the cab 31, an infrared sensor that detects the operator P on the cab 31, or the like. That is, as long as it is possible to detect that the operator P has dropped, the configuration of the drop detection unit 51 may be changed as appropriate. When the drop detection unit 51 includes an integrated circuit, the integrated circuit that forms at least one of the units 52, 53, and 55 may also serve as the integrated circuit that forms the drop detection unit 51.

  The landing determination unit 52 may determine whether or not the operator P has landed using a camera (not shown) that captures the lower side of the cab 31, and based on the height of the cab 31. It may be determined whether the operator P has landed. That is, if it is possible to determine whether or not the operator P is landing below the cab 31, the configuration of the landing determination unit 52 may be changed as appropriate.

  -The descent | fall obstacle judgment part 53 may detect an obstruction using an infrared sensor, a radar, etc., and may judge whether the descent | fall of the cab 31 is prevented by an obstruction. That is, if it is possible to determine whether or not the lowering of the cab 31 is hindered by an obstacle, the configuration of the lowering obstacle determination unit 53 may be changed as appropriate.

-As long as it is possible to suspend the operator P who fell from the cab 31, the structure of the safety device 40 may be changed suitably.
The present invention may be applied to a cargo handling vehicle that does not include a fork.

1 Picking lift (loading vehicle)
DESCRIPTION OF SYMBOLS 11 Car body 12 Traveling device 13 Operation part 14 Head guard 20 Lifting device 21 Mast 21A Outer mast 21B Inner mast 31 Driver's cab 32 Fork 33 Pallet 40 Safety device 41 Safety belt winder 42 Safety belt 43 Belt 51 Fall detection unit 52 Landing judgment Unit 53 Descent failure determination unit 54 Notification unit 55 Control unit P Operator X Front-rear direction Y Left-right direction Z Vertical direction (height direction)

Claims (5)

In a cargo handling vehicle provided with a cab on which an operator is boarded, an elevating device that raises and lowers the cab, and a safety device that suspends the operator when the operator falls from the cab,
A drop detection unit for detecting that the operator has dropped from the cab, and a control unit for controlling the lifting device;
The control unit lowers the cab by controlling the lifting device based on the fact that the drop detection unit detects the fall of the operator. In the height direction, which is the direction in which the cab rises and lowers, the lowest height at which the cab can be lowered by the elevating device is defined as the lowest height, and the height that is higher than the lowest height by a predetermined amount is automatically stopped Height and
2. The cargo handling vehicle according to claim 1, wherein the control unit stops the descent of the cab when the cab descends to the automatic stop height. A landing judgment unit for judging whether or not the operator is landing below the cab;
3. The cargo handling vehicle according to claim 1, wherein the control unit stops the descent of the cab when it is determined by the landing determination unit that the operator is landing. A landing judgment unit for judging whether or not the operator is landing below the cab;
3. The cargo handling vehicle according to claim 1, wherein when the landing determination unit determines that the operator is landing, the control unit reduces a descending speed of the cab. 4. A traveling device that travels with the lifting device to move the cab; and
A descent obstacle determination unit that determines whether or not the descent of the cab is hindered by an obstacle when the cab descends;
When the controller determines that the lowering of the cab is prevented from being hindered by the obstacle by the lowering obstacle determining unit, the controller controls the traveling device to prevent the cab from being lowered by the obstacle. The cargo handling vehicle according to any one of claims 1 to 4, wherein the driver's cab is moved to a position that does not exist.

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