JP3262734B2 - Cargo handling equipment - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a cargo handling equipment equipped with a crane type cargo handling apparatus used for, for example, loading and unloading and transporting containers without being caught by rails, and in particular, a guiding apparatus for the cargo handling equipment. And an inventory management device.

[0002]

2. Description of the Related Art Conventionally, the following systems have been known as guidance devices for cargo handling devices. a. Electromagnetic induction method Laying electric wires along the traveling route of the cargo handling device, generating an magnetic field by passing an alternating current, installing a sensor on the cargo handling device to detect the magnetic field generated from this electric wire, and traveling along the detected magnetic field .

B. Magnetic induction system A magnetic tape is laid on the road surface along the traveling route of the cargo handling device to generate magnetism, and the cargo handling device is provided with a sensor that detects the magnetism generated from the magnetic tape, and travels along the detected magnetism. .

C. Color line guidance system A tape of a color different from the color of the road surface is laid on the road surface along the traveling route of the cargo handling device, and the tape is detected by detecting a color different from the color of the road surface on the cargo handling device, and the detected color is detected. Run along the tape.

D. Guidance method by GPS A GPS is installed in the cargo handling device, the vehicle recognizes its own position, and travels while correcting the deviation from the traveling route.

E. Autonomous guidance system The traveling distance is determined from the rotation of the wheels of the cargo handling device, the traveling direction is determined from the difference between the rotational speeds of the left and right wheels, and the own position is calculated by integrating the traveling direction and the traveling distance to determine the travel distance. Drive while correcting the deviation.

F. Laser guidance system A laser beam is irradiated on a road surface along a traveling path, and a device for receiving the laser beam is provided in a cargo handling device traveling on the road surface, and the cargo handling device travels guided by the received laser beam.

Further, as a conventional inventory management device for cargo handling equipment, as typified by an automatic warehouse, the presence / absence of a load and information for specifying the load (for example, the name and product number of the load, etc.) ), A method is known in which the quantity of a load is stored and such information is updated each time a load is loaded and unloaded.

[0009]

However, in the above-mentioned cargo handling apparatus used outdoors (for example, a transfer crane used in a container yard), the electromagnetic induction type, the magnetic induction type, and the color line induction type require the following: There is a problem that the traveling route cannot be changed freely, it is further affected by the material and properties of the road surface, and it is difficult to respond to the environment.In addition, since the traveling route is fixed, it can be moved away from the traveling route to an arbitrary position. There is a problem that it is not possible to transfer a load to and from a stopped truck.

In addition, the GPS-based guidance system has a problem that it cannot be used when the traveling route of the cargo handling device is in the shadow of a satellite and is expensive. Further, in the autonomous guidance system, there is a problem that some position correction means must be provided because an accumulated error occurs.

In the laser guiding system, there is a problem that a laser beam cannot be captured due to the influence of sunlight. In the above-mentioned cargo handling equipment used outdoors, when the load is large, such as a container, a large coil, or a large mold, and the size is not constant, find an empty space in the yard according to the size of the load. There is a problem that the conventional inventory management device cannot be used as it is because it is stored and does not have a fixed storage position like an automatic warehouse.

SUMMARY OF THE INVENTION It is therefore an object of the present invention to provide a cargo handling facility that can provide accurate guidance outdoors and does not require a guide wire or tape, and that enables automatic inventory management.

[0013]

According to one aspect of the present invention, there is provided a cargo handling equipment using a self-propelled cargo handling device, wherein a traveling route of the cargo handling device is provided. An irradiating unit that irradiates a light beam upward while scanning along the line, and a light beam generating unit having an angle detecting unit that detects a scan angle of the light beam of the irradiating unit is provided, and the cargo handling device is higher than the light beam generating unit. A light receiving position detecting means for receiving the light beam and detecting the front and rear light receiving positions, and receiving light before and after the light receiving position detected by the light receiving position detecting means. Traveling means for traveling so that the positions are both constant; light reflecting means for retroreflecting the light beam; and an optical sensor for detecting the reflected light from the light reflecting means in the light beam generating means. A scanning angle of the angle detecting unit when the reflected light is detected by the optical sensor, and a loading position detecting means for calculating a traveling position of the loading device based on the scanning angle. It is.

With the above arrangement, the cargo handling device travels in such a manner that the light receiving position before and after the light receiving position detected by the light receiving position detecting means are both constant, thereby being guided by the light beam, and traveling along a predetermined traveling route. At this time, since the light emitted from below is detected, the light can be captured without being affected by sunlight. Further, the traveling position of the cargo handling device is obtained from the scan angle of the angle detection unit when the light reflected by the light reflecting means of the cargo handling device is detected by the optical sensor.

According to a second aspect of the present invention, in accordance with the first aspect of the present invention, when the loading of the cargo by the cargo handling device is completed, the traveling position of the cargo handling device detected by the cargo handling position detecting means is determined by the loading position coordinates. Characterized in that an inventory management means for storing the information as "."

With the above configuration, the traveling position of the cargo handling device is
When the loading of the cargo by the cargo handling device is completed, it is stored as the coordinates of the loading position. Therefore, the storage position of the randomly stored load is specified, and inventory management becomes possible.

The invention according to claim 3 is the invention according to claim 1 or 2, wherein the light beam generating means is arranged at a position higher than the height of a human. According to the above configuration, it is possible to prevent a light beam emitted from the light beam generating means from being obstructed by a human.

According to a fourth aspect of the present invention, there is provided the first or second aspect of the present invention, wherein the light beam generating means irradiates a plurality of cargo handling devices with light beams. With the above configuration, a plurality of cargo handling devices are guided by one light beam generating unit.

According to a fifth aspect of the present invention, in the first or second aspect of the present invention, a second optical sensor for detecting a light beam of the light beam generating means is provided at an end point of the traveling route of the cargo handling device. An alarm means for issuing an alarm signal when a light beam cannot be detected by the second optical sensor is provided.

According to the above configuration, if no light beam is input to the end of the predetermined traveling route, it is determined that the light beam is not irradiated along the traveling route, and an alarm is issued. The invention according to claim 6 is the invention according to claim 5, characterized in that a function of stopping traveling by an alarm signal of an alarm means is added to the traveling means of the cargo handling device.

With the above configuration, the cargo handling device is stopped by the alarm signal. Therefore, the cargo handling device is prevented from being largely deviated from the traveling route.

[0022]

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a perspective view of a main part of the cargo handling equipment according to the embodiment of the present invention. As an example of a cargo handling facility, a Rubber Tired Gantry that unloads and transports containers in a container yard.
The figure illustrates a cargo handling facility using a crane (hereinafter, referred to as an RTG).

The running body 1 of the RTG is provided between a pair of front and rear sill beams 2 arranged in parallel, a column 3 erected from each end of both sill beams 2, and an upper end of the column 3 facing front and rear. And a pair of left and right girders 4 and the like. A bogie 6 having tires 5 is provided on the lower surface side of each end of both sill beams 2, and a traveling motor 7 provided on each of the two bogies 6 is driven forward and reverse, so that the traveling main body is driven. 1 is a right traveling A in the X-axis direction.
In addition, left running B is configured. Each of the sill beams 2 is provided with a hydraulic unit 8, and further provided with an engine room 9 and an electric control room 10 in a state of being distributed to the sill beams 2.

Further, being guided and supported by the two girders 4, a direction perpendicular to the traveling direction of the traveling body 1, that is,
And a club that can move in the reverse D direction (Y-axis direction)
The club 11 is provided with a driver's cab 12. When the transverse motor 13 provided on the club 11 is driven forward and reverse, the club 11 is configured to be movable in the forward C direction and the reverse D direction in the Y-axis direction.

A spreader device 20 is disposed below the club 11 via four (a plurality of) suspension devices 15 so as to be able to move up and down in the Z-axis direction. Each suspending device 15 includes a loop (not shown) disposed on the fixed beam 21 side of the spreader device 20 via a bracket 16, a suspending rope 17 hung on the loop, and winding of the suspending rope 17. The club 11 includes a suspension drive device (not shown) including a drum and a drive motor for the drum (hereinafter, referred to as a suspension motor). In addition, a skew mechanism (not shown) is provided for horizontally rotating the spreader device 20 slightly by loosening or pulling one end of a suspension rope 17 hung on both wheels of the bracket 16 facing diagonally. The drive device of the skew mechanism includes a motor (hereinafter, referred to as a skew motor).

The spreader device 20 comprises a pair of front and rear fixed beams 21 arranged side by side in a horizontal state, and these fixed beams 21
Left and right direction supported by 21 (running direction of running body 1)
A pair of left and right telescopic beams 23 and both telescopic beams
It is constituted by a telescopic drive device (not shown) for expanding and contracting the 23 in the separating direction or the approaching direction. The telescopic drive device includes a drive motor (hereinafter referred to as a telescopic motor) and the like. The fixed beams 21 are integrated by a connecting body 22 disposed between the upper surfaces thereof, and the bracket 16 is provided on the connecting body 22.

A connecting member (not shown) for a container (an example of a load) 30 is provided below each of both ends of the telescopic beams 23, and the connecting member is horizontally rotated by 90 degrees to connect the container 30 to the container 30. Locked.

According to the cargo handling device having the above-described structure, the traveling main body 1 is driven right or left by driving the traveling motor 7 in the forward or reverse direction by operating the cab 12.
Driving the club 11 forward or backward by driving the traverse motor 13 in the forward and reverse directions, raising and lowering the spreader device 20 by driving the suspension motor in the forward and reverse directions, and spreading and moving the skew motor in the forward and reverse directions. apparatus
Skew 20 and drive couplings to container
The container 30 is supported by the spreader device 20, and the container 30 is transported by a combination of locking and unlocking the 30 and extending and retracting the telescopic beam of the spreader device 20 by driving the telescopic motor forward and backward. After that, it can be packed.

In FIG. 1, reference numeral 31 denotes a road surface K outside the RTG.
And irradiates a laser beam along a traveling path E of the RTG to form a laser trajectory F as shown in FIG. The laser scanner 31
Is mounted higher than the human height.

As shown in FIG. 3, the laser scanner 31 includes a laser light source 41, a collimator lens 42 for collimating the laser beam emitted from the laser light source 41, and a laser beam emitted from the collimator lens 42 obliquely upward. , A rotating mirror 43 that scans over a predetermined angle Θ, a motor 44 that drives the rotating mirror 43, and a half mirror 45 that is provided between the collimator lens 42 and the rotating mirror 43, and that refracts reflected light incident from the rotating mirror 43. A phototransistor 46 for detecting reflected light guided by the half mirror 45,
An encoder 47 connected to the rotation shaft of the motor 44, and a pulse output from the encoder 47 is counted to detect the rotation angle of the rotation mirror 43, and the rotation mirror when the reflected light is detected by the phototransistor 46. It comprises an angle detector 48 for outputting data of the rotation angle (angle from the horizontal line) of 43, and a box 49 housing these devices and having a laser beam scanning port provided on the side.

With this configuration, the laser beam emitted from the laser light source 41 is converted into a parallel laser beam by a collimator lens 42, and the laser beam is directed upward by a rotating mirror 43 by a motor 44 over a predetermined angle Θ. A laser trajectory F is formed along the traveling path E, and the irradiation angle Θ is detected by an angle detector 48 that counts output pulses of the encoder 47. The reflected light enters the phototransistor 46 via the rotating mirror 43 and the half mirror 45, is detected by the phototransistor 46, and the angle data at that time is output from the angle detector 48.

Further, as shown in FIG.
Columns 3 of the RTG on the side where the laser trajectory F is formed
Are respectively provided with sensor arms 25 and 26 at a position higher than the laser scanner 31 in a direction in which the laser beams intersect. On the bottom surface of the first sensor arm 25, as shown in FIG. 4, a sensor array 27 for receiving a laser beam by arranging photodiodes in a direction in which the laser beam intersects,
A corner cube array 28 that reflects laser beams by arranging retroreflective sheets (or corner cubes) having a function of returning incident light beams in the exactly incident direction in the direction in which the laser beams intersect is provided. Is provided with only the sensor array 27. The laser beam reflected by the corner cube array 28 is input to the phototransistor 46 of the laser scanner 31, and the angle α at this time is obtained by the angle detector 48 as shown in FIG.

As shown in FIG. 5, the RTG is provided with a signal processing device 29 for detecting respective light receiving positions (irradiation positions of laser beams) from the light receiving signals of the two sensor arrays 27. These sensor array 27 and signal processing device 29
In this method, the front and rear light receiving positions are detected by the method disclosed in, for example, Japanese Patent Application Laid-Open No. 7-198326.

Further, as shown in FIG.
A laser trajectory monitor 32 composed of a photodiode for receiving a laser beam is disposed at an end of the laser trajectory F formed by the laser trajectory F. When the laser trajectory monitor 32 stops detecting the laser beam, the laser trajectory monitor 32 When an abnormality (a deviation of the laser trajectory F, irradiation stop, etc.) is detected, an abnormality alarm signal is sent to the main controller shown in FIG.
Output to 51.

The main controller 51 also includes a host computer 52 for inputting the warehouse entry / exit command data, a laser trajectory monitor 32, an angle detector 48 of the laser scanner 31, and a laser light source.
A communication device 53 for transmitting and receiving data to and from the RTG and the motor 44 is connected to the RTG via the communication device 53. The following data is input / output to / from the main controller 51. Input; 1. Command data of entry / exit output from the host computer 52 Laser scanner output from laser trajectory monitor 32
31 abnormal alarm signals 3. Angle α output from angle detector 48 of laser scanner 31 Club 11 transmitted from RTG via communication device 53
, Traversing position data, height position data of the spreader device 20, and an exit / inbound / outgoing signal (described later); 1. Drive signals for laser light source 41 and motor 44 An abnormal alarm signal of the laser scanner 31 and data of the entry / exit (to be described later) transmitted to the RTG via the communication device 53. As shown in FIG. 5, an encoder 35 is connected to the rotation axis of the traverse motor 13 of the RTG. , RTG is provided with a signal processing device 36 that counts the output pulses of the encoder 35 and outputs the position of the club 11 in the traversing direction. Further, an encoder 37 is connected to the rotation shaft of the suspension motor. A signal processing device 38 that counts output pulses of the encoder 37 and outputs the position of the spreader device 20 in the height direction is provided.

As shown in FIG. 5, the RTG includes a communication device 54 for transmitting and receiving data to and from the communication device 53, and an RTG.
A control device 55 for G and a steering drive 56 are provided. The main control device 51 is connected to the control device 55 for RTG via communication devices 54 and 53. The cab 12 and the signal processing device 29 are also provided. , 36, 38 and the steering traveling drive unit 56 are connected. The communication device 54 is connected to the cab 12, and the main controller 51 transmits the entry / exit data to the cab 12 via the communication devices 53 and 54, and enters the main controller 51 from the cab 12. A leaving end signal is transmitted.

The following data is input / output to / from the RTG controller 55. Input; 1. Light receiving position data of signal processing device 29 2. Club traverse position data of the signal processing device 36 3. Spreader device height position data of the signal processing device 38 Output of a failure alarm signal of the laser scanner 31 transmitted from the main control device 51 via the communication device 54; 1. Steering data and stop command data output to the steering drive unit 56 2. Club traversing position data and spreader device height position data transmitted to the main control device 51 via the communication device 54. Light receiving position data of the signal processing device 29 to be output to the cab 12 The RTG control device 55 transmits the club traversing position data input from the signal processing device 36 and the spreader device height position data input from the signal processing device 38 to a communication device as it is. The signal is sent to the main control unit 51 via 54, and the signal processing unit is sent to the cab 12.
The light receiving position data before and after the signal processor 29 are output, and the amount of deviation from the laser trajectory F is calculated based on the light receiving position data before and after the signal processing device 29, and steering data for eliminating the amount of deviation is formed. When the alarm signal is output from the main controller 51 through the communication device 54 to the laser scanner 31, stop command data is output to the steering drive 39.

The steering traveling drive unit 56 changes the speed of each traveling motor 7 in accordance with the operation signal of the right traveling A or the left traveling B from the driver's cab 12 and the steering data to drive forward and reverse, and also issues a stop command. When the data is input, the driving of these traveling motors 7 is locked. The steering of the traveling main body 1 is performed by changing the speed of each traveling motor 7 to provide a rotational speed difference between the tires 5 on both sides.

The operation of the main control unit 51 at the time of loading and unloading will be described in detail with reference to the flowchart of FIG. First, when the command data of the warehouse is input from the host computer 52 (step-1), the inputted command data of the warehouse is stored (step-2).
The laser orbit F is formed by driving the laser light source 41 and the motor 44 (step-3). The entry / exit command data is formed from an entry / exit command and a container 30 number.

Next, it is confirmed whether or not the command data is warehousing data (step-4). If it is confirmed that the command data is warehousing data, the warehousing data is transmitted to the cab 12 via the communication devices 53 and 54.
(Step-5).

In the operator's cab 12, after confirming the incoming data, the traveling body 1, the club 11, the spreader device 20 and the like are operated to lift and transport the container 30 from the truck 14 to the empty space or the container 30 into the empty space. When the process is completed, a garage exit signal is output to the main control device 51 via the communication devices 53 and 54.

When the main control unit 51 receives the entry / exit end signal (step-6), the main control unit 51 calculates the angle α from the angle detector 48 of the laser scanner 31 and the sensor height h set in advance by the following equation. The distance L of the sensor arm 25 (corner cube array 28) from the laser scanner 31 is calculated according to 1) (step-7).

L = h / tan ^-1 α (1) This distance L, the traversing position data of the club 11 input from the RTG via the communication device 53, and the height position data of the spreader device 20, that is, 3 The inventory data is formed by using the container storage position data of the dimension and the number of the container 30 of the incoming data as a set (step-8), stored (step-9), and the processing is ended.

If it is confirmed in step 4 that the command data is the outgoing data, the inventory data is searched by the number of the outgoing data container 30, and the container data is retrieved.
Obtain three-dimensional storage data storing 30 (Step-1)
0), forming outgoing data consisting of the three-dimensional storage data and the outgoing command (step-11), and outputting this outgoing data to the cab 12 via the communication devices 53 and 54 (step-1).
2).

In the driver's cab 12, when the outgoing data is confirmed, the traveling body 1 and the club are moved to the storage position of the outgoing data container 30.
11. Operate the spreader device 20, etc. to lift the container 30, transport it, drop it to the truck 14, and when finished, send a loading / unloading completion signal to the main control device via the communication devices 53, 54.
Output to 51.

The main controller 51, upon input of the storage / delivery end signal (step-13), deletes the inventory data of the container 30 that has left the storage (step-14) and ends the processing. With the configuration of the above-mentioned cargo handling equipment, a laser trajectory F is formed by the laser scanner 31, a laser beam of this laser trajectory F is detected by the sensor array 27 of the sensor arms 25 and 26, and steering data is formed by the received light data before and after these. Steering is performed, and the traveling body 1 is moved to the laser track F.
Follow along. When the laser trajectory monitor 32 detects an abnormality in the laser scanner 31, an alarm signal is output to the RTG.
The travel lock signal is output to the control device 55, the travel lock signal is output to the steering travel drive unit 56, and the travel body 1 stops.

Further, based on the incoming data output from the host computer 52, the incoming data is output to the operator cab 12 in the main control unit 51, the incoming work is executed, and the three-dimensional storage position data (the distance L and The horizontal position data of the club 11 and the height position data of the spreader device 20) are obtained, and inventory data is formed. Also, based on the outgoing data output from the host computer 52, in the main control unit 51, the stock data is searched and the three-dimensional storage position data in which the container 30 is stored is obtained, output to the cab 12, and the outgoing work is performed. In addition, inventory data is deleted at the end of delivery.

The movement of the RTG traveling body 1 to the line where the other containers 30 are stored in the container yard in the Y-axis direction moves in the X-axis direction to a place where the container 30 is not placed, and the tire 5 moves at a right angle. Direction, and move in the Y-axis direction. When it is confirmed from the received light data that the laser beam of the line to be moved is detected, the operation is stopped, and the tire 5 is again moved to X
This is done by returning in the axial direction.

As described above, since the traveling main body 1 can be automatically guided along the laser trajectory F, the operator does not need to perform the steering operation, and the burden on the operator can be reduced. At this time, since the laser beam emitted from below is detected, the light beam can be captured without being affected by sunlight. In addition, a single laser scanner 31 can simultaneously guide a plurality of RTGs. By providing the laser scanner 31 at a position higher than the height of a human, it is possible to prevent a laser beam from being obstructed by a human. it can.

The traveling position (distance L) of the traveling main body 1 is calculated based on the scan angle α when the reflected light reflected by the corner cube array 28 of the sensor arm 25 is detected by the phototransistor 46. ,
By storing the inventory data, the storage position of the randomly stored container 30 can be specified, and inventory management can be performed. In addition, the container 30 can be quickly found at the time of departure, so that work efficiency can be improved.

Further, by detecting an abnormality of the laser scanner 31 and issuing an alarm signal to stop the traveling main body 1, it is possible to prevent the traveling main body 1 from largely deviating from the traveling route.
In the present embodiment, the distance L is not output to the cab 12; however, if the distance L is output to the cab 12, the operator can use the distance L as a guide for operation during traveling. .

In this embodiment, a laser beam is used. However, the present invention is not limited to a laser beam, and light of a normal lighting fixture can be collected and used. Further, in the present embodiment, the laser scanner 31 scans and irradiates a light beam at a predetermined angle 、, but when only forming the laser trajectory F, it irradiates the course with a surface beam without scanning. You may make it.

[0053]

As described above, according to the first aspect of the present invention, the vehicle travels so that both of the front and rear light receiving positions detected by the light receiving position detecting means are at a constant position, thereby providing a predetermined traveling route. Automatic guidance, which eliminates the need for the operator to perform steering operations,
The burden on the operator can be reduced. At this time,
By detecting the laser beam emitted from below,
The light beam can be captured without being affected by sunlight. Further, the traveling position of the cargo handling device can be obtained from the scan angle of the angle detection unit when the light reflected by the light reflecting means of the cargo handling device is reflected by the optical sensor.

According to the second aspect of the present invention, when the loading of the cargo by the cargo handling device is completed, the running position of the cargo handling device is stored as the coordinates of the loading position, whereby the stock position of the randomly stored cargo is specified. Yes, inventory management can be performed.

Further, according to the third aspect of the invention, it is possible to prevent a light beam emitted from the light beam generating means from being obstructed by a human. According to the fourth aspect of the present invention, a plurality of cargo handling devices can be guided by one light beam generating means.

Further, according to the fifth aspect of the present invention, when no light beam is input to the end of the predetermined traveling route, it is possible to determine that the light beam is not irradiated along the traveling route and to issue an alarm.

According to the sixth aspect of the present invention, the cargo handling apparatus is stopped by the alarm signal, so that it is possible to prevent a large deviation from the traveling route.

[Brief description of the drawings]

FIG. 1 is a perspective view of a main part of a cargo handling facility according to an embodiment of the present invention.

FIG. 2 is an explanatory diagram of the cargo handling equipment.

FIG. 3 is a configuration diagram of a laser scanner of the cargo handling equipment.

FIG. 4 is an explanatory diagram of a sensor arm of the cargo handling equipment.

FIG. 5 is a control configuration diagram of the cargo handling equipment.

FIG. 6 is a flowchart illustrating an operation of a main control device of the cargo handling equipment.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 Running main body (running means) 2 Sill beam 3 Column 4 Girder 10 Electric control room 11 Club 12 Operating room 14 Truck 15 Hanging device 20 Spreader device 25, 26 Sensor arm 27 Sensor array (light receiving position detecting means) 28 Corner cube array (light (Reflecting means) 29 signal processing device 30 container (load) 31 laser scanner (light beam generating means) 32 laser trajectory monitor (second optical sensor) 35, 37 encoder 36, 38 signal processing device 41 laser light source 42 collimator lens 43 rotating mirror 44 Motor 45 Half mirror 46 Phototransistor 47 Encoder 48 Angle detector 49 Box 51 Main controller (loading position detector, inventory controller) 52 Host computer 53, 54 Communication device 55 RTG controller 56 Steering drive A Right Travel B Left travel C Forward D Reverse E Travel route F Laser track K Road surface

──────────────────────────────────────────────────の Continued on the front page (51) Int.Cl. ⁷ Identification symbol FI G05D 1/02 G05D 1/02 T (72) Inventor Toshihiro Tsumura 3-21-21 Abiko, Sumiyoshi-ku, Osaka-shi, Osaka (72) Inventor Hisatoshi Narazaki 1-15-10, Kyomachibori, Nishi-ku, Osaka-shi, Osaka, Japan Inside Toyo Transport Machinery Co., Ltd. (72) Inventor Kazushi Hiraoka 5-28, Nishikujo, Konohana-ku, Osaka-shi, Osaka Inside Hitachi Zosen Corporation ( 72) Inventor Hirotoshi Shimoda 5-3-28 Nishikujo, Konohana-ku, Osaka-shi, Hitachi Zosen Corporation (72) Inventor Yoshihiro Inoki 5-3-28, Nishikujo, Konohana-ku, Osaka, Osaka Hitachi Zosen (56) References JP-A-7-198326 (JP, A) JP-A-59-104259 (JP, A) JP-A-7-206378 (JP, A) JP-A-57-189906 (JP, A) A) JP-A-60-134914 ( P, A) JP Akira 61-279913 (JP, A) JitsuHiraku Akira 58-155007 (JP, U) (58 ) investigated the field (Int.Cl. ^7, DB name) B66C 13/22 B66C 19/00 B65G 63/00 G05D 1/02

Claims (6)

(57) [Claims] 1. A cargo handling equipment using a self-propelled cargo handling device, comprising: an irradiating unit that irradiates a light beam upward while scanning along a traveling path of the cargo handling device; and a scan angle of the light beam of the irradiating unit. Providing light beam generating means having an angle detection unit for detecting the, in the cargo handling device, at a position higher than the light beam generating means, and arranged in a direction in which the light beams intersect before and after the cargo handling device, receives the light beam, Light receiving position detecting means for detecting front and rear light receiving positions, traveling means for traveling so that the front and rear light receiving positions detected by the light receiving position detecting means are both constant, and light reflecting means for retroreflecting the light beam; A light sensor for detecting the reflected light from the light reflecting means is provided in the light beam generating means, and a scan angle of the angle detecting unit when the reflected light is detected by the light sensor is inputted. Handling equipment, and by this scan angle, characterized in that a handling position detecting means for calculating a traveling position of the handling device. 2. An inventory management means for storing a traveling position of the cargo handling device detected by the cargo handling position detecting means as a loading position coordinate when the loading of the cargo by the cargo handling device is completed. Cargo handling equipment as described. 3. The cargo handling equipment according to claim 1, wherein the light beam generating means is arranged at a position higher than the height of a human. 4. The cargo handling equipment according to claim 1, wherein the light beam generating means irradiates the plurality of cargo handling devices with a light beam. 5. A second light sensor for detecting a light beam of the light beam generating means is provided at an end point of a traveling route of the cargo handling device, and when the light beam cannot be detected by the second light sensor,
The cargo handling equipment according to claim 1 or 2, further comprising an alarm means for issuing an alarm signal. 6. The cargo handling equipment according to claim 5, wherein a function of stopping traveling by an alarm signal of an alarm means is added to the traveling means of the cargo handling device.