JP2021111138A - Transport vehicle, travel monitoring method, and mast monitoring method - Google Patents

Abstract

To prevent a load or a mast from colliding with an obstacle when the height of the obstacle, the load loaded on the transport vehicle, or the mast provided on the transport vehicle changes.SOLUTION: A transport vehicle Ve calculates a height H1 of a load A with reference to the height of an obstacle sensor 1 using a detection result of the obstacle sensor 1 and prohibits or stops the transport vehicle from traveling when an obstacle is detected by the obstacle sensor 1 in a range of an angle θc between a direction c1 passing through a point away from the obstacle sensor 1 by a distance Lc in the direction of travel of the transport vehicle Ve and a direction c2 passing through a point away from the obstacle sensor 1 by a distance Lc in the direction of travel of the transport vehicle Ve and at a distance of the height H1 of the load A in the direction of the height H1 of the load A.SELECTED DRAWING: Figure 1

Description

The present invention relates to a transport vehicle and a traveling monitoring method and a mast monitoring method applied to the transport vehicle.

Some transport vehicles are provided with an obstacle sensor that detects an obstacle in the traveling direction of the transport vehicle, and control the travel of the transport vehicle based on the detection result of the obstacle sensor. Patent Document 1 is a related technique.

By the way, the height of obstacles (crane, shutter, etc.), the load loaded on the transport vehicle, and the mast provided on the transport vehicle may change to various heights from time to time.

Therefore, in the above-mentioned transport vehicle, if the height of the obstacle changes to a height that cannot be detected by the obstacle sensor, or if the height of the load or mast changes and the height of the load or mast becomes unknown, the load is loaded. And the mast may collide with obstacles.

Japanese Unexamined Patent Publication No. 7-72249

An object of one aspect of the present invention is to prevent a load or mast from colliding with an obstacle when the height of a load loaded on an obstacle or a transport vehicle or a mast provided on the transport vehicle changes. It is to provide a transport vehicle capable of the above, and a traveling monitoring method and a mast monitoring method applied to the transport vehicle.

The transport vehicle according to the present invention is a transport vehicle including a transport vehicle or a mast on which a load is loaded on a vehicle body, and includes an obstacle sensor and a control unit for controlling the traveling of the transport vehicle.

The control unit calculates the height of the load or mast based on the height of the obstacle sensor using the detection result of the obstacle sensor, and determines the position one distance away from the obstacle sensor in the traveling direction of the transport vehicle. Within the range of the angle between the passing direction and the direction of passing the obstacle sensor by the first distance in the traveling direction of the transport vehicle and further in the direction of the height of the load or mast by the distance of the height of the load or mast. When an obstacle is detected by the obstacle sensor, the traveling vehicle is prohibited or stopped.

As a result, the obstacle sensor detects an obstacle at the same position as the height of the load or mast or an obstacle at a position lower than the height of the load or mast in the traveling direction of the transport vehicle, and prohibits or stops the traveling of the transport vehicle. Therefore, even when the height of the obstacle, the load, or the mast changes, it is possible to prevent the load or the mast from colliding with the obstacle.

Further, the control unit passes through a position that is longer than the first distance by a second distance in the traveling direction of the transport vehicle from the obstacle sensor, and is separated by a second distance in the traveling direction of the transport vehicle from the obstacle sensor, and is further loaded or loaded. When an obstacle is detected by the obstacle sensor within the range of the angle formed by the load or the direction of passing the mast at a distance in the direction of the mast height, an obstacle is detected in the traveling direction of the transport vehicle. A certain fact may be configured to be transmitted to a higher-level control device that controls the traveling of the transport vehicle.

As a result, when the host control device receives that there is an obstacle in the traveling direction of the transport vehicle, it can prohibit or stop the traveling of the transport vehicle or change the traveling route of the transport vehicle. And the mast can be prevented from colliding with obstacles.

Further, when the height of the load fluctuates, the control unit may be configured to transmit the fact that the height of the load has fluctuated to a higher-level control device that controls the traveling of the transport vehicle.

As a result, the control device can prohibit or stop the traveling of the transport vehicle when the current position of the transport vehicle when receiving the notification that the height of the load has changed is not the transfer location, so that the load collapses, etc. Can be prevented from further fluctuating the height of the load due to the occurrence of.

A transport vehicle according to the present invention includes a mast, an obstacle sensor, and a control unit that controls the raising and lowering of the mast.

The control unit uses the detection result of the obstacle sensor to calculate the first height, which is lower than the height to the obstacle in the upward direction of the transport vehicle based on the height of the obstacle sensor, and the obstacle. The second height to the upper end of the mast is calculated based on the height of the obstacle sensor using the detection result of the sensor, and when the second height becomes equal to or higher than the first height, the mast rises. Prohibit or stop.

As a result, it is possible to prohibit or stop the mast from rising before it collides with an obstacle such as the ceiling, so that it is possible to prevent the mast from colliding with an obstacle such as the ceiling.

The transport vehicle according to the present invention includes a mast, an obstacle sensor provided on the upper surface of the vehicle body of the transport vehicle, and a control unit for controlling the raising and lowering of the mast.

The control unit has a direction that passes through the intersection of the vertical line extending downward from the upper end of the mast and the upper surface of the vehicle body of the transport vehicle with the obstacle sensor as a reference, and a direction that passes through the upper end of the mast when the mast rises from the obstacle sensor to the maximum. When an obstacle other than the mast is detected by the obstacle sensor within the range of the angle to be formed, the mast is prohibited from rising.

This makes it possible to prohibit the mast from rising when the mast may collide with an obstacle such as the ceiling immediately before the mast starts to rise, thus suppressing the mast from colliding with an obstacle such as the ceiling. can do.

The travel monitoring method, which is one embodiment of the present invention, is a travel monitoring method executed by a control unit of a transport vehicle or a transport vehicle having a mast on which a load is loaded on a vehicle body, and the control unit is an obstacle sensor. The height of the load or mast is calculated based on the height of the obstacle sensor using the detection result of, and the direction of passing the first distance away from the obstacle sensor in the traveling direction of the transport vehicle and the obstacle sensor Obstacles by the obstacle sensor within the range of the angle formed by the first distance away from the traveling direction of the transport vehicle and the direction of passing the load or mast height distance away from the load or mast height. When is detected, the movement of the transport vehicle is prohibited or stopped.

As a result, the obstacle sensor detects an obstacle at the same position as the height of the load or mast or an obstacle at a position lower than the height of the load or mast in the traveling direction of the transport vehicle, and prohibits or stops the traveling of the transport vehicle. Therefore, even when the height of the obstacle, the load, or the mast changes, it is possible to prevent the load or the mast from colliding with the obstacle.

The mast monitoring method, which is one embodiment of the present invention, is a mast monitoring method executed by the control unit in a transport vehicle including a mast, an obstacle sensor, and a control unit for controlling the raising and lowering of the mast. The control unit uses the detection result of the obstacle sensor to calculate the first height, which is lower than the height to the obstacle in the upward direction of the transport vehicle based on the height of the obstacle sensor, and the obstacle. The second height to the upper end of the mast is calculated based on the height of the obstacle sensor using the detection result of the sensor, and when the second height is equal to or higher than the first height, the mast rises. Prohibit or stop.

As a result, it is possible to prohibit or stop the mast from rising before it collides with an obstacle such as the ceiling, so that it is possible to prevent the mast from colliding with an obstacle such as the ceiling.

The mast monitoring method, which is one embodiment of the present invention, is executed by the control unit in a transport vehicle including the mast, an obstacle sensor provided on the upper surface of the vehicle body of the transport vehicle, and a control unit for controlling the raising and lowering of the mast. This is a mast monitoring method in which the control unit passes through the intersection of the vertical line extending downward from the upper end of the mast and the upper surface of the vehicle body of the transport vehicle with reference to the obstacle sensor, and the mast at the maximum rise from the obstacle sensor. When an obstacle other than the mast is detected by the obstacle sensor within the range of the angle formed by the direction passing through the upper end of the mast, the mast is prohibited from rising.

This makes it possible to prohibit the mast from rising when the mast may collide with an obstacle such as the ceiling immediately before the mast starts to rise, thus suppressing the mast from colliding with an obstacle such as the ceiling. can do.

According to the present invention, it is possible to prevent the load or mast from colliding with the obstacle when the height of the load loaded on the obstacle or the transport vehicle or the mast provided on the transport vehicle changes.

It is a figure which shows the transport vehicle of 1st Embodiment. It is a flowchart which shows the traveling monitoring method of 1st Embodiment. It is a figure which shows the transport vehicle of 2nd Embodiment. It is a flowchart which shows the traveling monitoring method of 2nd Embodiment. It is a figure which shows the transport vehicle of 3rd Embodiment. It is a flowchart which shows the mast monitoring method of 3rd Embodiment. It is a figure which shows the transport vehicle of 4th Embodiment. It is a flowchart which shows the mast monitoring method of 4th Embodiment.

Hereinafter, embodiments will be described in detail based on the drawings.
<First Embodiment>
FIG. 1 is a diagram showing a transport vehicle of the first embodiment.

The automatic guided vehicle Ve shown in FIG. 1 is an automatic guided vehicle or a manned vehicle that travels with a load A loaded on the vehicle body, and includes an obstacle sensor 1 and a control unit 2.

The obstacle sensor 1 is composed of a laser obstacle sensor, a stereo camera, or the like. Further, the obstacle sensor 1 is provided on the upper surface of the vehicle body of the transport vehicle Ve, and detects obstacles (shutters, cranes, etc.) in a range of at least 180 degrees in the upward direction of the vehicle body.

The control unit 2 is composed of a CPU (Central Processing Unit) or a programmable device (FPGA (Field Programmable Gate Array) or PLD (Programmable Logic Device)), and uses the detection result of the obstacle sensor 1 to carry the vehicle Ve. Control the running (speed, etc.) of.

Further, the control unit 2 transmits information indicating the state of the carrier vehicle Ve to the upper control device 3, and based on the information, the control signal transmitted from the upper control device 3 causes the speed and travel path of the carrier vehicle Ve, etc. To control.

Further, the control unit 2 executes a travel monitoring method for each control timing.
FIG. 2 is a flowchart showing the traveling monitoring method of the first embodiment. The flowchart shown in FIG. 2 is assumed to be executed immediately before the start of traveling of the transport vehicle Ve or during traveling.

First, the control unit 2 calculates the height H1 of the load A based on the height of the obstacle sensor 1 (the height of the upper surface of the vehicle body of the transport vehicle Ve) by using the detection result of the obstacle sensor 1 ( Step S11). For example, the control unit 2 has a direction a1 passing through an intersection a (lower end of the load A) between a vertical line extending downward from the upper end of the load A and the upper surface of the vehicle body of the transport vehicle Ve with the obstacle sensor 1 as a reference, and an obstacle. The height is obtained by acquiring the angle θa formed by the sensor 1 and the direction a2 passing through the upper end of the load A, and calculating the height H1 = tan (θa) × (distance La from the obstacle sensor 1 to the intersection a). Find H1.

Next, the control unit 2 determines whether or not the height H1 has fluctuated (step S12). For example, when the difference between the height H1 calculated at the previous control timing and the height H1 calculated at the current control timing is equal to or greater than the threshold value, the control unit 2 determines that the height H1 has fluctuated, and the difference is If it is smaller than the threshold value, it is determined that the height H1 does not fluctuate.

Next, when the control unit 2 determines that the height H1 has fluctuated (step S12: Yes), the control unit 2 transmits to the upper control device 3 that the height H1 has fluctuated (step S13), and performs the current travel monitoring method. finish. Upon receiving the fact that the height H1 has changed, the host control device 3 determines whether or not the current position of the transport vehicle Ve is the transfer location, and determines that the current position of the transport vehicle Ve is not the transfer location. , The instruction to prohibit or stop the traveling of the transport vehicle Ve is transmitted to the control unit 2.

On the other hand, when the control unit 2 determines that the height H1 has not changed (step S12: No), the control unit 2 passes through a position separated from the obstacle sensor 1 by a certain distance Lb (second distance) in the traveling direction of the transport vehicle Ve. The angle θb formed by the direction b1 and the direction b2 passing through a position separated from the obstacle sensor 1 by a certain distance Lb in the traveling direction of the transport vehicle Ve and further separated by a distance H1 in the height H1 direction is calculated (step S14). ). For example, the control unit 2 obtains the angle θb by calculating tan (θb) = height H1 / constant distance Lb.

Next, the control unit 2 passes through a position c1 that is a certain distance Lc (first distance) away from the obstacle sensor 1 in the traveling direction of the transport vehicle Ve, and is constant in the traveling direction of the transport vehicle Ve from the obstacle sensor 1. The angle θc formed by the direction c2 passing through the position separated by the distance Lc and further separated by the distance H1 in the height H1 is calculated (step S15). For example, the control unit 2 obtains the angle θc by calculating tan (θb) = height H1 / constant distance Lc. It should be noted that constant distance Lc <constant distance Lb. Further, the constant distance Lc is a distance longer than the distance that the transport vehicle Ve moves from the time when the transport vehicle Ve is decelerated to the time when the transport vehicle Ve is stopped. Further, the order of step S14 and step S15 may be exchanged.

Next, when the obstacle sensor 1 does not detect an obstacle in the range of the angle θb (step S16: No), the control unit 2 returns to the process of step S11 and returns to the range of the angle θb by the obstacle sensor 1. When an obstacle is detected (step S16: Yes), the load A is between a position Lb away from the obstacle sensor 1 by a certain distance Lb and a position Lc away from the obstacle sensor 1 in the traveling direction of the transport vehicle Ve. It is transmitted to the host control device 3 that there is an obstacle that may collide with (step S17).

Then, when the obstacle sensor 1 does not detect an obstacle in the range of the angle θc (step S18: No), the control unit 2 determines whether or not the obstacle sensor 1 has detected an obstacle in the range of the angle θc. When an obstacle is detected in the range of the angle θc by the obstacle sensor 1 (step S18: Yes), the traveling of the transport vehicle Ve is prohibited or stopped (step S19), and the traveling monitoring method of this time is performed. To finish.

The control unit 2 may be configured to stop the transport vehicle Ve after decelerating the transport vehicle Ve in step S19.

Further, steps S12 and S13 may be omitted.
Further, step S14, step S16, and step S17 may be omitted.

In this way, the control unit 2 of the first embodiment calculates the height H1 of the load A based on the height of the obstacle sensor 1 by using the detection result of the obstacle sensor 1, and starts from the obstacle sensor 1. A position c1 passing through a position Lc away from the obstacle sensor 1 by a certain distance Lc in the traveling direction of the transport vehicle Ve, a constant distance Lc away from the obstacle sensor 1 in the traveling direction of the transport vehicle Ve, and a distance H1 in the height H1 direction. When an obstacle is detected by the obstacle sensor 1 within the range of the angle θc formed by the direction c2 passing through the vehicle, the traveling vehicle Ve is prohibited or stopped.

As a result, the obstacle sensor 1 detects an obstacle at the same position as the height H1 of the load A or an obstacle at a position lower than the height H1 of the load A in the traveling direction of the transport vehicle Ve, and travels the transport vehicle Ve. Since the vehicle can be prohibited or stopped, the collision between the obstacle and the load A can be suppressed even when the height of the obstacle or the load A changes.

Further, the control unit 2 of the first embodiment has a direction b1 passing through a position Lb away from the obstacle sensor 1 in the traveling direction of the transport vehicle Ve by a certain distance, and a constant distance in the traveling direction of the transport vehicle Ve from the obstacle sensor 1. When an obstacle is detected by the obstacle sensor 1 in the range of the angle θb formed by the direction b2 passing away from the Lb and further away from the height H1 by the distance of the height H1, the vehicle Ve travels in the direction of travel. The configuration is such that the fact that there is an obstacle is transmitted to the host control device 3.

As a result, when the host control device 3 receives that there is an obstacle in the traveling direction of the transport vehicle Ve, the host control device 3 may prohibit or stop the traveling of the transport vehicle Ve or change the traveling route of the transport vehicle Ve. Therefore, the collision between the load A and the obstacle can be suppressed.

Further, the control unit 2 of the first embodiment has a configuration in which when the height of the load A fluctuates, the fact that the height of the load A fluctuates is transmitted to the upper control device 3.

As a result, the control device 3 can prohibit or stop the traveling of the transport vehicle Ve when the current position of the transport vehicle Ve when receiving the notification that the height of the load A has changed is not the transfer location. , It is possible to prevent the height of the load A from further fluctuating due to the occurrence of a load collapse or the like.

<Second Embodiment>
FIG. 3 is a diagram showing a transport vehicle of the second embodiment. The same components as those shown in FIG. 1 are designated by the same reference numerals, and the description thereof will be omitted.

The guided vehicle Ve shown in FIG. 3 is a forklift, an automatic guided vehicle, a manned vehicle, or the like, and includes a mast M, an obstacle sensor 1, and a control unit 2. A load may be loaded on a fork that moves up and down together with the mast M.

FIG. 4 is a flowchart showing the traveling monitoring method of the second embodiment. The flowchart shown in FIG. 4 is assumed to be executed immediately before the start of traveling of the transport vehicle Ve or during traveling.

First, the control unit 2 calculates the height H2 of the mast M based on the height of the obstacle sensor 1 by using the detection result of the obstacle sensor 1 (step S21). For example, the control unit 2 has a direction d1 passing through an intersection d between a vertical line extending downward from the upper end portion of the mast M and the upper surface of the vehicle body of the transport vehicle Ve with reference to the obstacle sensor 1, and the upper end of the mast M from the obstacle sensor 1. The height H2 is obtained by acquiring the angle θd formed by the direction d2 passing through the portion and calculating the height H2 = tan (θd) × (distance Ld from the obstacle sensor 1 to the intersection d).

Next, the control unit 2 has a direction e1 passing through a position separated from the obstacle sensor 1 by a certain distance Le (second distance) in the traveling direction of the transport vehicle Ve, and a constant direction e1 from the obstacle sensor 1 in the traveling direction of the transport vehicle Ve. The angle θe formed by the distance Le and the direction e2 passing through the position further separated by the height H2 in the height H2 direction is calculated (step S22). For example, the control unit 2 obtains the angle θe by calculating tan (θe) = height H2 / constant distance Le.

Next, the control unit 2 has a direction f1 passing through a position separated from the obstacle sensor 1 by a certain distance Lf (first distance) in the traveling direction of the transport vehicle Ve, and a constant direction f1 from the obstacle sensor 1 in the traveling direction of the transport vehicle Ve. The angle θf formed by the distance f2 and the direction f2 passing through the position separated by the height H2 in the height H2 direction is calculated (step S23). For example, the control unit 2 obtains the angle θf by calculating tan (θf) = height H2 / constant distance Lf. It should be noted that constant distance Lf <constant distance Le. Further, the constant distance Lf is set to be a distance longer than the distance that the transport vehicle Ve moves from the time when the transport vehicle Ve is decelerated to the time when the transport vehicle Ve is stopped. Further, the order of steps S21 to S23 is not particularly limited.

Next, when the obstacle sensor 1 does not detect an obstacle in the range of the angle θe (step S24: No), the control unit 2 returns to the process of step S21 and returns to the range of the angle θe by the obstacle sensor 1. When an obstacle is detected (step S24: Yes), the mast M is between a position Le away from the obstacle sensor 1 by a certain distance Le and a position Lf away from the obstacle sensor 1 in the traveling direction of the transport vehicle Ve. It is transmitted to the host control device 3 that there is an obstacle that may collide with (step S25).

Then, when the obstacle sensor 1 does not detect an obstacle in the range of the angle θf (step S26: No), the control unit 2 determines whether or not the obstacle sensor 1 has detected an obstacle in the range of the angle θf. When an obstacle is detected in the range of the angle θf by the obstacle sensor 1 (step S26: Yes), the traveling of the transport vehicle Ve is prohibited or stopped (step S27), and the traveling monitoring method of this time is performed. To finish.

The control unit 2 may be configured to stop the transport vehicle Ve after decelerating the transport vehicle Ve in step S27.
Further, step S22, step S24, and step S25 may be omitted.

In this way, the control unit 2 of the second embodiment calculates the height H2 of the mast M based on the height of the obstacle sensor 1 by using the detection result of the obstacle sensor 1, and starts from the obstacle sensor 1. A position f1 passing through a position Lf away from the obstacle sensor 1 by a certain distance Lf in the traveling direction of the transport vehicle Ve, a constant distance Lf away from the obstacle sensor 1 in the traveling direction of the transport vehicle Ve, and a distance H2 in the height H2 direction. When an obstacle is detected by the obstacle sensor 1 in the range of the angle θf formed by the direction f2 passing through the vehicle, the traveling vehicle Ve is prohibited or stopped.

As a result, the obstacle sensor 1 detects an obstacle at the same position as the height H2 of the mast M or an obstacle at a position lower than the height H2 of the mast M in the traveling direction of the transport vehicle Ve, and travels the transport vehicle Ve. Since the vehicle can be prohibited or stopped, collision between the obstacle and the mast M can be suppressed even when the height of the obstacle or the mast M changes.

Further, the control unit 2 of the first embodiment has a direction e1 passing through a position Le away from the obstacle sensor 1 in the traveling direction of the transport vehicle Ve by a certain distance, and a constant distance in the traveling direction of the transport vehicle Ve from the obstacle sensor 1. When an obstacle is detected by the obstacle sensor 1 in the range of the angle θe formed by the direction e2 passing away from Le and further away from the height H2 by the distance of the height H2, the traveling direction of the transport vehicle Ve The configuration is such that the fact that there is an obstacle is transmitted to the host control device 3.

As a result, when the host control device 3 receives that there is an obstacle in the traveling direction of the transport vehicle Ve, the host control device 3 may prohibit or stop the traveling of the transport vehicle Ve or change the traveling route of the transport vehicle Ve. Therefore, the collision between the obstacle and the mast M can be suppressed.

<Third Embodiment>
FIG. 5 is a diagram showing a transport vehicle according to a third embodiment. The same components as those shown in FIG. 3 are designated by the same reference numerals, and the description thereof will be omitted.

The guided vehicle Ve shown in FIG. 5 is a forklift, an automatic guided vehicle, a manned vehicle, or the like, and includes a mast M, an obstacle sensor 1, and a control unit 2. A load may be loaded on a fork that moves up and down together with the mast M.

The control unit 2 controls the raising and lowering operation of the mast M by using the detection result of the obstacle sensor 1.
Further, the control unit 2 executes the mast monitoring method for each control timing.

FIG. 6 is a flowchart showing the mast monitoring method of the third embodiment. The flowchart shown in FIG. 6 is assumed to be executed immediately before or during the rise of the mast M.

First, the control unit 2 calculates the height H3 to the obstacle (ceiling or the like) in the upward direction of the transport vehicle Ve based on the height of the obstacle sensor 1 by using the detection result of the obstacle sensor 1. (Step S31). For example, the control unit 2 has a direction g1 passing through an intersection g of a vertical line extending downward from the upper end of the mast M and the upper surface of the vehicle body of the transport vehicle Ve with reference to the obstacle sensor 1, and the obstacle sensor 1 to the transport vehicle Ve. The height H3 is calculated by acquiring the angle θg formed by the direction g2 passing through the obstacle above and calculating the height H3 = tan (θg) × (distance Lg from the obstacle sensor 1 to the intersection g). Ask.

Next, the control unit 2 calculates a height H4 (first height) lower than the height H3 (step S32). For example, the control unit 2 obtains the result of subtracting the predetermined distance x1 from the height H3 as the height H4.

Next, the control unit 2 calculates a height H5 lower than the height H4 (step S33). For example, the control unit 2 obtains the result of subtracting the predetermined distance x2 from the height H4 as the height H5.

Next, the control unit 2 calculates the height H6 (second height) to the upper end of the mast M based on the height of the obstacle sensor 1 by using the detection result of the obstacle sensor 1. (Step S34). For example, the control unit 2 acquires an angle θh formed by the direction g1 passing through the intersection g from the obstacle sensor 1 and the direction h passing through the upper end portion of the mast M from the obstacle sensor 1, and the height H6 = tan (θh). ) X (distance Lg) to obtain the height H6.

Next, when the height H6 is lower than the height H5 (step S35: No), the control unit 2 returns to the process of step S31, and when the height H6 becomes the height H5 or more (step S35: Yes), the mast The fact that the mast M may collide with an obstacle in the ascending direction of M is transmitted to the upper control device 3 (step S36). As a result, when the host control device 3 receives that the mast M may collide with an obstacle, the mast M can be prohibited or stopped from rising, so that the collision between the obstacle and the mast M is suppressed. be able to.

Then, the control unit 2 calculates the height H6 again (step S37), and when the height H6 is lower than the height H4 (step S38: No), repeatedly executes the steps S37 and S38 to execute the height H6. When the height becomes H4 or higher (step S38: Yes), the rise of the mast M is prohibited or stopped (step S39), and the current mast monitoring method is terminated.
Note that steps S33 to S36 may be omitted.

As described above, the control unit 2 of the third embodiment uses the detection result of the obstacle sensor 1 to reach the height H3 to the obstacle in the upward direction of the transport vehicle Ve based on the height of the obstacle sensor 1. A lower height H4 is calculated, and the height H6 to the upper end of the mast M based on the height of the obstacle sensor 1 is calculated using the detection result of the obstacle sensor 1, and the height H6 is higher. When the height is H4 or higher, the mast M is prohibited or stopped from rising.

As a result, the rise of the mast M can be prohibited or stopped before the mast M collides with an obstacle such as the ceiling, so that the mast M can be prevented from colliding with the obstacle such as the ceiling.

<Fourth Embodiment>
FIG. 7 is a diagram showing a transport vehicle according to a fourth embodiment. The same components as those shown in FIG. 5 are designated by the same reference numerals, and the description thereof will be omitted.

The guided vehicle Ve shown in FIG. 7 is a forklift, an automatic guided vehicle, a manned vehicle, or the like, and includes a mast M, an obstacle sensor 1, and a control unit 2. A load may be loaded on a fork that moves up and down together with the mast M.

The control unit 2 controls the raising and lowering operation of the mast M by using the detection result of the obstacle sensor 1.
FIG. 8 is a flowchart showing the mast monitoring method of the fourth embodiment. The flowchart shown in FIG. 8 is assumed to be executed immediately before the start of ascending of the mast M.

First, the control unit 2 uses the detection result of the obstacle sensor 1 to pass through the intersection g of the vertical line extending downward from the upper end of the mast M and the upper surface of the vehicle body of the transport vehicle Ve with the obstacle sensor 1 as a reference. And the angle θi formed by the obstacle sensor 1 and the direction i passing through the upper end of the mast M at the time of maximum ascent (step S41). For example, the control unit 2 calculates tan (θi) = (height H7 from the upper end of the mast M at the maximum rise to the intersection g) / (distance Lg from the obstacle sensor 1 to the intersection g). , Find the angle θi.

Next, when the obstacle sensor 1 does not detect an obstacle other than the mast M in the range of the angle θi (step S42: No), the control unit 2 ends the mast monitoring method this time, and the obstacle sensor 1 ends. When an obstacle other than the mast M is detected in the range of the angle θi (step S42: Yes), the mast M is prohibited from rising (step S43), and the mast monitoring method this time is terminated.

As described above, the control unit 2 of the fourth embodiment has the direction g1 passing through the intersection g of the vertical line extending downward from the upper end portion of the mast M and the upper surface of the vehicle body of the transport vehicle Ve with the obstacle sensor 1 as a reference, and the obstacle. When the obstacle sensor 1 detects an obstacle other than the mast M within the range of the angle θi formed by the direction i passing through the upper end of the mast M at the time of maximum ascent from the sensor 1, the mast M is prohibited from ascending. Is.

As a result, it is possible to prohibit the mast M from rising when the mast M may collide with an obstacle such as the ceiling immediately before the mast M starts to rise, so that the mast M collides with an obstacle such as the ceiling. Can be suppressed.

Further, the present invention is not limited to the above embodiments, and various improvements and changes can be made without departing from the gist of the present invention.

1 Obstacle sensor 2 Control unit 3 Upper control device Ve Vehicle A Load M mast

Claims (8)

A transport vehicle or a transport vehicle equipped with a mast in which the load is loaded on the vehicle body.
Obstacle sensor and
A control unit that controls the running of the carrier and
With
The control unit calculates the height of the load or the mast based on the height of the obstacle sensor by using the detection result of the obstacle sensor, and moves from the obstacle sensor to the traveling direction of the transport vehicle. The direction of passing the position separated by the first distance and the direction of passing the position separated from the obstacle sensor by the first distance in the traveling direction of the transport vehicle and further separated by the height in the direction of the height are formed. A transport vehicle characterized in that when an obstacle is detected by the obstacle sensor within an angle range, the transport vehicle is prohibited or stopped from traveling. The transport vehicle according to claim 1.
The control unit passes through a position separated from the obstacle sensor by a second distance longer than the first distance in the traveling direction of the transport vehicle, and the second distance in the traveling direction of the transport vehicle from the obstacle sensor. When an obstacle is detected by the obstacle sensor within the range of the angle formed by the direction of the distance and the direction of passing the distance away from the height, the obstacle is detected in the traveling direction of the transport vehicle. A transport vehicle characterized in that the presence is transmitted to a higher-level control device that controls the travel of the transport vehicle. The transport vehicle according to claim 1 or 2.
The control unit is characterized in that when the height of the load fluctuates, the fact that the height of the load fluctuates is transmitted to a higher-level control device that controls the traveling of the transport vehicle. With the mast
Obstacle sensor and
A control unit that controls the raising and lowering of the mast,
With
The control unit calculates a first height lower than the height to the obstacle in the upward direction of the transport vehicle based on the height of the obstacle sensor by using the detection result of the obstacle sensor. At the same time, the second height to the upper end of the mast based on the obstacle sensor is calculated using the detection result of the obstacle sensor, and the second height is equal to or higher than the first height. When the mast becomes, the transport vehicle is characterized by prohibiting or stopping the ascent of the mast. With the mast
An obstacle sensor provided on the upper surface of the vehicle body of the transport vehicle and
A control unit that controls the raising and lowering of the mast,
With
The control unit passes through the intersection of the vertical line extending downward from the upper end of the mast and the upper surface of the vehicle body of the transport vehicle with reference to the obstacle sensor, and the upper end of the mast when the mast rises maximum from the obstacle sensor. A transport vehicle characterized in that when an obstacle other than the mast is detected by the obstacle sensor within a range of an angle formed by a direction passing through the portion, the mast is prohibited from rising. A traveling monitoring method executed by a control unit of a transport vehicle or a transport vehicle having a mast in which a load is loaded on a vehicle body.
The control unit
Using the detection result of the obstacle sensor, the height of the load or the mast based on the height of the obstacle sensor is calculated.
The height is separated from the obstacle sensor by a first distance in the traveling direction of the transport vehicle, from the obstacle sensor by the first distance in the traveling direction of the transport vehicle, and further in the height direction. A traveling monitoring method characterized in that when an obstacle is detected by the obstacle sensor within a range of angles formed by a direction passing through a position separated by a distance, the traveling of the transport vehicle is prohibited or stopped. A mast monitoring method executed by the control unit in a transport vehicle including a mast, an obstacle sensor, and a control unit that controls the raising and lowering of the mast.
The control unit
Using the detection result of the obstacle sensor, a first height lower than the height to the obstacle in the upward direction of the transport vehicle based on the height of the obstacle sensor is calculated, and the obstacle is calculated. Using the detection result of the sensor, the second height to the upper end of the mast based on the height of the obstacle sensor is calculated.
A mast monitoring method comprising prohibiting or stopping the ascent of the mast when the second height becomes equal to or higher than the first height. A mast monitoring method executed by the control unit in the transport vehicle including the mast, an obstacle sensor provided on the upper surface of the vehicle body of the transport vehicle, and a control unit for controlling the raising and lowering of the mast.
The control unit passes through the intersection of the vertical line extending downward from the upper end of the mast and the upper surface of the vehicle body of the transport vehicle with reference to the obstacle sensor, and the upper end of the mast when the mast rises maximum from the obstacle sensor. A mast monitoring method characterized in that when an obstacle other than the mast is detected by the obstacle sensor within a range of an angle formed by a direction passing through the mast, the mast is prohibited from rising.

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