JP5510983B1 - Cargo handling vehicle - Google Patents

Abstract

An object of the present invention is 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.
A picking lift (1) includes a driver's cab (31), a lifting / lowering device (20) for raising and lowering the driver's cab (31), a safety device for suspending an operator, and a traveling device (12). A drop detecting unit 51 for detecting this, a lifting device control unit for lowering the cab 31 by the lifting device 20 based on the detection of the fall of the operator, an operator position detecting unit for detecting the position of the operator, and the cab An obstacle position detection unit for detecting the position of an obstacle existing below 31 and whether or not the operator touches the obstacle when lowering the cab 31 based on the detected position of the operator and the position of the obstacle. And a traveling device control unit that moves the operator to a position where the traveling device 12 does not contact the obstacle.
[Selection] Figure 1

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 driver's 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 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 comprising a safety device that suspends an operator and a traveling device that travels to move the cab together with the lifting device, a drop detection unit that detects that the operator has dropped from the cab, An elevating device controller that lowers the cab by controlling the elevating device based on the detection of the fall of the operator by the fall detecting unit, and an operator that detects the position of the operator dropped from the cab A position detector, an obstacle position detector for detecting the position of an obstacle present below the cab, and the operator position detector Whether the operator contacts the obstacle when the elevator controller lowers the cab based on the position of the operator and the position of the obstacle detected by the obstacle and the obstacle position detector. A contact determination unit that determines whether the operator touches the obstacle, and when the contact determination unit determines that the operator touches the obstacle, the operator controls the traveling device to a position where the operator does not contact the obstacle. And a traveling device control unit that moves the vehicle.

  The cargo handling vehicle according to claim 2, wherein when the operator determines that the operator touches the obstacle, the lifting device control unit controls the lifting device to lower the cab. It is characterized by making it wait.

  The cargo handling vehicle according to claim 3 is characterized in that the operator position detection unit also serves as the fall detection unit.

  The cargo handling vehicle according to claim 4, wherein the operator position detection unit and the obstacle position detection unit are configured by a single camera capable of photographing the operator and the obstacle at the same time, and the contact determination unit includes: It is characterized in that it is determined whether or not the operator touches the obstacle based on an operator and an image showing the obstacle.

  The cargo handling vehicle according to claim 5 is characterized in that the single camera is an omnidirectional camera.

  The cargo handling vehicle according to claim 6, wherein the operator position detection unit is configured by a first camera that images the operator, and the obstacle position detection unit is configured by a second camera that images the obstacle. The contact determination unit determines whether the operator touches the obstacle based on an image showing the operator and another image showing the obstacle. .

  The cargo handling vehicle according to claim 7, wherein the operator position detection unit includes a plurality of first sensors that detect the position of the operator by detecting electromagnetic wave or ultrasonic wave shielding or reflection by the operator, and the obstacle The object position detection unit includes a plurality of second sensors that detect the position of the obstacle by detecting the shielding or reflection of electromagnetic waves or ultrasonic waves by the obstacle.

  According to the present invention, an operator who has dropped from the cab can easily get out of the suspended state without waiting for a rescuer, and the operator's landing is located below the cab. A cargo handling vehicle that can be prevented from being obstructed by an object can be provided.

1 is a perspective view showing a cargo handling vehicle according to a first embodiment of the present invention. It is a block diagram which shows the structure of the cargo handling vehicle which concerns on this embodiment. It is a schematic diagram for demonstrating the camera with which the cargo handling vehicle which concerns on this embodiment is provided, Comprising: (A) is the figure which looked at the cargo handling vehicle from the right side, (B) is the figure which looked at the cargo handling vehicle from the upper part. The schematic diagram which shows an example of the image | video which the camera which concerns on this embodiment image | photographs. It is a flowchart which shows the flow of the fall monitoring process which concerns on this embodiment. It is the model for demonstrating the camera with which the cargo handling vehicle which concerns on 2nd Embodiment of this invention is equipped, Comprising: (A) is the figure which looked at the cargo handling vehicle from the right side, (B) looked at the cargo handling vehicle from the upper direction. Figure. It is a schematic diagram for demonstrating the sensor with which the cargo handling vehicle which concerns on 3rd Embodiment of this invention is provided, Comprising: (A) is the figure which looked at the cargo handling vehicle from the right side, (B) and (C) are cargo handling from upper direction. The figure which looked at the vehicle.

  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.

(First embodiment)
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 pair of straddle legs 13, an elevating device 20, a cab 31, a pair of forks 32, an operation unit 14, a head guard 15, 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 that rolls on the traveling surface S, 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 traveling surface S perpendicular to the vertical direction Z by the traveling device 12.

  A pair of straddle legs 13 provided at an interval in the left-right direction Y extends in the horizontal direction from the vehicle body 11 and protrudes rearward from the vehicle body 11. The straddle leg 13 that enhances the stability of the vehicle body 11 is provided with wheels 13A that roll on the running surface S.

  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 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 14 is provided on the cab 31 and moves up and down together with the cab 31. The operation unit 14 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 14.

  The head guard 15 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 15.

  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 15, 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, an operator position detection unit 52, an obstacle position detection unit 53, a contact determination unit 54, a lifting device control unit 55, and a traveling device control unit 56. Yes. The drop detection unit 51, the operator position detection unit 52, and the obstacle position detection unit 53 are configured by various sensors such as an infrared sensor and an image sensor. The contact determination unit 54, the lifting device control unit 55, and the traveling device control unit 56 are configured by an integrated circuit. The integrated circuits constituting each of the units 54 to 56 can be constituted by independent integrated circuits.

  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 operator P falls from the cab 31, the operator position detection unit 52 detects the position of the operator P that is suspended by the safety device 40, that is, the position of the operator P dropped from the cab 31. Further, the obstacle position detection unit 53 detects the position of the obstacle B (see FIG. 1) existing below the cab 31.

  The contact determination unit 54, when the cab 31 is lowered based on the position of the operator P detected by the operator position detection unit 52 and the position of the obstacle B detected by the obstacle position detection unit 53, It is determined whether or not the operator P contacts the obstacle B existing below the cab 31. Specifically, for example, the contact determination unit 54 determines whether or not the operator P detected by the operator position detection unit 52 and the obstacle B detected by the obstacle position detection unit 53 overlap each other when viewed from above. Determine whether. Then, the contact determination unit 54 determines that the operator P contacts the obstacle B when it is determined that the operator P and the obstacle B overlap with each other when viewed from above.

  The elevating device control unit 55 controls the elevating device 20 to lower the cab 31 based on the fact that the drop detecting unit 51 detects the drop of the operator P. Further, when the contact determination unit 54 determines that the operator P contacts the obstacle B, the lifting device control unit 55 controls the lifting device 20 to wait for the descent of the cab 31.

  When the contact determination unit 54 determines that the operator P contacts the obstacle B, the traveling device control unit 56 controls the traveling device 12 so as to be opposite to the direction in which the fork 32 protrudes from the cab 31. The picking lift 1 is made to travel a predetermined amount in the forward direction. In this way, the traveling device control unit 56 travels the picking lift 1 provided with the safety device 40 that suspends the operator P, and moves the operator P to a position where the landing operator P does not contact the obstacle B.

With reference to FIG. 3, each position detection part 52 and 53 of this embodiment is demonstrated. In FIG. 3, the details of the picking lift 1 are simplified.
The operator position detection unit 52 and the obstacle position detection unit 53 of the present embodiment are configured by the same single camera 61. Accordingly, in the present embodiment, the operator position detection unit 52 also serves as the obstacle position detection unit 53.

  The camera 61 is provided in the lower part of the cab 31 and photographs the lower part of the cab 31. The camera 61 simultaneously photographs the operator P that has fallen from the cab 31 and the obstacle B that exists below the cab 31. The single camera 61 that can simultaneously photograph the operator P and the obstacle B is composed of an omnidirectional camera that captures a range indicated by an arrow R in the drawing. Specifically, when viewed from the left-right direction Y, the camera 61 shoots the lower side at an angle of view of 180 ° as shown in FIG. 3A, and when viewed from the up-down direction Z, FIG. Take a 360 ° range as shown in B). Such an omnidirectional camera is composed of one image sensor and a super-wide angle fisheye lens.

With reference to FIG. 4, an example of the image | video image | photographed with the camera 61 is demonstrated. In the video shown in FIG. 4, the picking lift 1 and the like shown in the video are simplified.
When the operator P falls from the cab 31, the operator P appears on the peripheral edge of the image taken by the camera 61. Therefore, based on the video imaged by the camera 61, the position of the operator P dropped from the cab 31 and suspended from the safety device 40 can be detected. Further, when the obstacle B exists in the vicinity of the straddle leg 13, the obstacle B appears in the video imaged by the camera 61. The obstacle B is, for example, a load dropped by the operator P on the traveling surface S when the operator P falls from the cab 31. The image captured by the camera 61 using a super-wide angle fisheye lens is greatly distorted compared to the image captured using a lens with a small angle of view, but can capture a wide range and By performing predetermined image analysis, it is possible to grasp the positional relationship between the operator P and the obstacle B when viewed from above.

  The contact determination unit 54 of the present embodiment is configured by an integrated circuit that performs image analysis, and whether or not the operator P contacts the obstacle B based on the positions of the operator P and the obstacle B detected by the camera 61. Judging. That is, the contact determination unit 54 determines whether or not the operator P contacts the obstacle B based on the image taken by the camera 61 and showing the operator P and the obstacle B.

  In addition, the contact determination unit 54 increases the accuracy of the determination as to whether or not the operator P contacts the obstacle B, and the image showing the operator P and the obstacle B and the cab 31 in the vertical direction Z. Based on the height, it is determined whether or not the operator P contacts the obstacle B. The height of the cab 31 can be obtained from a lift detection sensor (not shown) and the lifting device 20 that moves the cab 31 up and down.

  With reference to FIG. 5, 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 subsequent time between each process in following step S1-S4 is as short as possible.

  In the drop monitoring process, first, the lifting device controller 55 determines whether or not the drop detector 51 has detected the drop of the operator P from the cab 31 (step S1). When it is determined in step S1 that the operator P has not detected a drop of the operator P, the lifting device control unit 55 performs the process of step S1 again at a predetermined monitoring time interval. That is, when the fall of the operator P is not detected by the fall detection part 51, the process of step S1 is repeated, and it does not transfer to the process after the following step S2. The monitoring time is preferably as short as possible so that the lifting device controller 55 can quickly detect the fall of the operator P.

  When it is determined in step S1 that the operator P has fallen, when the contact determination unit 54 lowers the cab 31 by the lifting device control unit 55, the operator P suspended by the safety device 40 is obstructed. It is determined whether or not to contact B (step S2).

  If it is determined in step S2 that the operator P suspended from the safety device 40 comes into contact with the obstacle B when the cab 31 is lowered, the traveling device control unit 56 operates the traveling device 12 to The picking lift 1 is moved so that P moves (step S3).

  The contact determination unit 54 performs the process of step S2 again after the picking lift 1 is moved in step S3. That is, when it is determined that the operator P is in contact with the obstacle B, the process of step S3 is repeated, so that the operator P is moved to a position where the landing of the operator P is not hindered by the obstacle B. That is, the picking lift 1 moves to a position where the operator P does not overlap the obstacle B as viewed from above by the processing in step S3.

  On the other hand, if it is determined in step S2 that the operator P suspended from the safety device 40 does not come into contact with the obstacle B when the cab 31 is lowered, the lifting device controller 55 lowers the cab 31. Then, the operator P is landed (step S4). Then, the drop monitoring process including the descent operation control process is completed.

The operation of the picking lift 1 of this embodiment will be described.
When the drop detection unit 51 detects the fall of the operator P, and when the contact determination unit 54 determines that the operator P does not contact the obstacle B, the lifting device control unit 55 lowers the cab 31 for safety. The operator P suspended by the device 40 lands while avoiding the obstacle B.

  Further, when the drop detection unit 51 detects the drop of the operator P and when the contact determination unit 54 determines that the operator P contacts the obstacle B, the lifting device control unit 55 prohibits the lowering of the cab 31. Then, the picking lift 1 moves so that the operator P can land while avoiding the obstacle B.

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 lifting device control unit 55 operates by controlling the lifting device 20 based on the fact that the fall detection unit 51 detects the fall of the operator P. The base 31 is lowered. For this reason, when the operator P falls from the cab 31 and is suspended by the safety device 40, the lifting device controller 55 automatically lowers the cab 31 to land the operator P. be able to. Therefore, the operator P who has fallen from the cab 31 can easily escape from the suspended state without waiting for the rescuer. Further, when the elevating device control unit 55 lowers the cab 31 and when the contact determining unit 54 determines that the operator P contacts the obstacle B, the traveling device control unit 56 controls the traveling device 12. Thus, the operator is moved to a position where the operator P does not contact the obstacle B. For this reason, it is possible to prevent the landing of the operator P suspended by the safety device 40 from being obstructed by the obstacle B existing below the cab 31.

  (2) When the contact determination unit 54 determines that the operator P contacts the obstacle B, the lifting device control unit 55 controls the lifting device 20 to wait for the descent of the cab 31. For this reason, the landing of the operator P is prevented from being obstructed by the obstacle B as compared with the case where the lifting device control unit 55 lowers the cab 31 and the traveling device control unit 56 moves the picking lift 1. Can do.

  (3) An image for determining whether or not the operator P contacts the obstacle B is taken by a single camera 61 that can photograph the operator P and the obstacle B at the same time. For this reason, compared with the case where the operator position detection part 52 and the obstacle position detection part 53 are comprised by a respectively different camera (image sensor), the structure of the picking lift 1 can be simplified.

  (4) Since the single camera 61 constituting the operator position detection unit 52 and the obstacle position detection unit 53 is configured by an omnidirectional camera, the position of the operator P and the position of the obstacle B are detected in a wide range. be able to.

(Second Embodiment)
Next, a second embodiment of the present invention will be described with reference to FIG. Note that the configuration different from the first embodiment will be described, and the description of the same configuration as the first embodiment will be omitted. In FIG. 6, details of the picking lift 1 are shown in a simplified manner.

  In this embodiment, the operator position detection unit 52 (see FIG. 2) is configured by an operator detection camera 62 that photographs the operator P, and the obstacle position detection unit 53 (see FIG. 2) photographs the obstacle B. The obstacle detection camera 63 is configured.

  An operator detection camera 62 capable of photographing the operator P dropped from the cab 31 is provided at the lower part of the cab 31 and is arranged so as to shoot a range indicated by an arrow R1 in the drawing. That is, the operator detection camera 62 images the vicinity of the left end and the right end of the cab 31 and the pallet 33 below the cab 31.

  The obstacle detection camera 63 capable of photographing the obstacle B existing below the cab 31 is provided at the rear end of the vehicle body 11 and is arranged so as to photograph a range indicated by an arrow R2 in the drawing. . That is, the obstacle detection camera 63 images the traveling surface S in the vicinity of the straddle leg 13.

  The contact determination unit 54 according to the present embodiment is configured so that the operator P detects the obstacle based on the position of the operator P detected by the operator detection camera 62 and the position of the obstacle B detected by the obstacle detection camera 63. It is determined whether or not B is touched. That is, the contact determination unit 54 divides the video image of the operator P, which is a video imaged by the operator detection camera 62, and the video image of the obstacle B, which is a video imaged by the obstacle detection camera 63. Based on this, it is determined whether or not the operator P contacts the obstacle B.

In the picking lift 1 of the present embodiment, the following effect is obtained instead of the effect (3).
(5) The video for determining whether or not the operator P is in contact with the obstacle B includes an operator detection camera 62 that is a first camera for photographing the operator P and a second image for photographing the obstacle B. Photographed by an obstacle detection camera 63 that is a camera. Accordingly, since it is not necessary to photograph the operator P and the obstacle B simultaneously with a single camera, it is possible to increase the degree of freedom of installation of the cameras constituting the operator position detection unit 52 and the obstacle position detection unit 53.

(Third embodiment)
Next, a third embodiment of the present invention will be described with reference to FIG. Note that the configuration different from the above-described first embodiment will be described, and the description of the same configuration as the first embodiment will be omitted. In FIG. 7, details of the picking lift 1 are shown in a simplified manner.

  In the present embodiment, the operator position detector 52 (see FIG. 2) includes a plurality of operator detection sensors 71 to 74 (see FIG. 7B) that detect the position of the operator P by detecting the reflection of infrared rays by the operator P. ). Also, the obstacle position detection unit 53 (see FIG. 2) has a plurality of obstacle detection sensors 81 to 84 that detect the position of the obstacle B by detecting the reflection of infrared rays by the obstacle B (see FIG. 7C). ).

  The first sensor group 70 including the operator detection sensors 71 to 74 is provided below the cab 31 and is arranged to emit infrared rays in the direction indicated by the arrow D (see FIG. 7A). . That is, the operator detection sensors 71 to 74 emit infrared rays near the left end and the right end of the cab 31 and the pallet 33 below the cab 31.

  As shown in FIG. 7B, the operator detection sensor 71 emits infrared rays in the direction indicated by the arrow D1 in the figure, and the operator detection sensor 72 emits infrared rays in the direction indicated by the arrow D2 in the figure. To do. That is, the operator detection sensors 71 and 72 emit infrared rays toward different positions in the vicinity of the left end portions of the cab 31 and the pallet 33, respectively. The operator detection sensor 73 emits infrared light in the direction indicated by the arrow D3 in the figure, and the operator detection sensor 74 emits infrared light in the direction indicated by the arrow D4 in the figure. That is, the operator detection sensors 73 and 74 emit infrared rays toward different positions in the vicinity of the right end portions of the cab 31 and the pallet 33, respectively.

  The infrared rays emitted from the operator detection sensors 71 to 74 are reflected by the operator P that has fallen from the cab 31 so that the sensor corresponding to the position of the operator P among the operator detection sensors 71 to 74 is reflected. Receives infrared light. In this way, the operator detection sensors 71 to 74 that receive infrared rays output a reflection detection signal. Therefore, it is possible to grasp the position of the operator P by specifying the sensor that outputs the reflection detection signal among the sensors 71 to 74 for operator detection.

  The second sensor group 80 including the obstacle detection sensors 81 to 84 is provided at the rear end portion of the vehicle body 11 and arranged to emit infrared rays in the direction indicated by the arrow E (see FIG. 7A). ing. That is, the obstacle detection sensors 81 to 84 emit infrared rays on the traveling surface S in the vicinity of the straddle leg 13.

  As shown in FIG. 7C, the obstacle detection sensor 81 emits infrared rays in the direction indicated by the arrow E1 in the figure, and the obstacle detection sensor 82 emits infrared rays in the direction indicated by the arrow E2 in the figure. Emits light. That is, the obstacle detection sensors 81 and 82 emit infrared rays toward different positions immediately below the left end portions of the cab 31 and the pallet 33, respectively. Further, the obstacle detection sensor 83 emits infrared rays in the direction indicated by an arrow E3 in the drawing, and the obstacle detection sensor 84 emits infrared rays in a direction indicated by an arrow E4 in the drawing. That is, the obstacle detection sensors 83 and 84 emit infrared rays toward different positions directly below the right end portions of the cab 31 and the pallet 33, respectively.

  A sensor corresponding to the position of the obstacle B among the obstacle detection sensors 81 to 84 by the infrared rays emitted from the obstacle detection sensors 81 to 84 being reflected by the obstacle B existing on the traveling surface S. Receives the reflected infrared light. In this way, the obstacle detection sensors 81 to 84 that have received the infrared rays output a reflection detection signal. Therefore, it is possible to grasp the position of the obstacle B by identifying the sensor that outputs the reflection detection signal among the obstacle detection sensors 81 to 84.

  The contact determination unit 54 of the present embodiment is based on the position of the operator P detected by the operator detection sensors 71 to 74 and the position of the obstacle B detected by the obstacle detection sensors 81 to 84. It is determined whether or not P contacts the obstacle B. That is, the contact determination unit 54 includes reflection detection signals output from the operator detection sensors 71 to 74 as the first sensors and reflection detection output from the obstacle detection sensors 81 to 84 as the second sensors. Based on the signal, it is determined whether or not the operator P contacts the obstacle B. Specifically, for example, when the reflection detection signal is output from the operator detection sensor 71 and the reflection detection signal is output from the obstacle detection sensor 81, the contact determination unit 54 determines that the operator P It is determined that B is touched.

In the picking lift 1 of the present embodiment, the following effects can be obtained instead of the effects (3) and (5).
(6) The position of the operator P who has dropped from the cab 31 and the position of the obstacle B existing below the cab 31 can be detected by detecting the reflection of infrared rays, which are electromagnetic waves. For this reason, it is possible to determine whether or not the operator P contacts the obstacle B without performing image analysis of a video in which the operator P and the obstacle B are reflected.

  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.

  In the first embodiment, the camera 61 may be configured by a camera other than the omnidirectional camera. That is, the configuration of the camera 61 may be changed as appropriate. Further, the arrangement of the camera 61 may be changed as appropriate.

  In the second embodiment, the arrangement of the cameras 62 and 63 may be changed as appropriate. The number of cameras constituting the operator position detection unit 52 and the obstacle position detection unit 53 may be changed as appropriate.

  -In 3rd Embodiment, you may change suitably arrangement | positioning of the sensors 71-74 for operator detection, and the sensors 81-84 for obstacle detection. In addition, the number of sensors constituting the operator position detection unit 52 and the obstacle position detection unit 53 may be changed as appropriate.

  -In 3rd Embodiment, the sensors 71-74 for operator detection may be a sensor which detects the position of the operator P by the detection of the reflection of the electromagnetic wave which is electromagnetic waves, or the reflection of an ultrasonic wave. Further, the operators detection sensors 71 to 74 may be sensors that detect the position of the operator P by detecting the shielding of electromagnetic waves or ultrasonic waves by the operator P. That is, as long as it is possible to detect the position of the operator P, the configuration of the sensor that constitutes the operator position detection unit 52 may be changed as appropriate.

  In the third embodiment, the obstacle detection sensors 81 to 84 may be sensors that detect the position of the obstacle B by detecting reflection of radio waves that are electromagnetic waves or reflection of ultrasonic waves. The obstacle detection sensors 81 to 84 may be sensors that detect the position of the obstacle B by detecting the shielding of electromagnetic waves or ultrasonic waves by the obstacle B. That is, as long as it is possible to detect the position of the obstacle B, the configuration of the sensor constituting the obstacle position detection unit 53 may be changed as appropriate.

  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.

  A configuration in which the operator position detection unit 52 also serves as the drop detection unit 51 may be employed. The operator position detection unit 52 that also serves as the drop detection unit 51 is configured by, for example, a camera, and detects that the operator P has dropped from the cab 31 by photographing the operator P that has dropped from the cab 31, and The position of the operator P dropped from 31 is detected. According to such a configuration, the configuration of the picking lift 1 can be simplified as compared with the case where the operator position detection unit 52 and the fall detection unit 51 are configured by different sensors.

  The traveling device control unit 56 may not travel the picking lift 1 straight forward and may travel the picking lift 1 diagonally forward. That is, as long as the operator P to be landed can move the operator P to a position where it does not contact the obstacle B, the direction in which the picking lift 1 travels may be changed as appropriate.

  Two or more of the units 54 to 56 may be configured by one integrated circuit. For example, the contact determination unit 54, the lifting device control unit 55, and the traveling device control unit 56 are configured by the same integrated circuit. Also good. One integrated circuit may constitute two or more of the respective parts 51 to 56.

-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 apparatus 13 Straddle leg 14 Operation part 15 Head guard 20 Lifting apparatus 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 part 52 Operator position detection unit 53 Obstacle position detection unit 54 Contact determination unit 55 Lifting device control unit 56 Traveling device control unit 61 Camera (omnidirectional camera)
62 Camera for operator detection (first camera)
63 Obstacle detection camera (second camera)
70 First sensor group 71 to 74 Operator detection sensor (first sensor)
80 Second sensor group 81 to 84 Obstacle detection sensor (second sensor)
B Obstacle P Operator S Running surface X Front-rear direction Y Left-right direction Z Vertical direction

Claims (7)

To move the driver's cab together with the driver's cab, a lifting device that lifts and lowers the driver's cab, a safety device that suspends the operator when the operator falls from the driver's cab, and the elevator In a cargo handling vehicle provided with a traveling device for traveling,
A drop detector for detecting that the operator has fallen from the cab;
Based on the fact that the drop detection unit has detected the fall of the operator, a lifting device control unit that lowers the cab by controlling the lifting device;
An operator position detector that detects the position of the operator dropped from the cab;
An obstacle position detector for detecting the position of an obstacle existing below the cab;
Based on the position of the operator and the position of the obstacle detected by the operator position detection unit and the obstacle position detection unit, when the lifting device control unit lowers the cab, the operator becomes the obstacle. A contact determination unit for determining whether or not to contact;
A travel device control unit that moves the operator to a position where the operator does not contact the obstacle by controlling the travel device when the contact determination unit determines that the operator contacts the obstacle; A cargo handling vehicle characterized by comprising. 2. The lifting device control unit waits for the descent of the cab by controlling the lifting device when the contact determination unit determines that the operator contacts the obstacle. Cargo handling vehicle as described in. The cargo handling vehicle according to claim 1 or 2, wherein the operator position detection unit also serves as the fall detection unit. The operator position detection unit and the obstacle position detection unit are configured by a single camera capable of simultaneously photographing the operator and the obstacle,
The said contact judgment part judges whether the said operator contacts the said obstruction based on the image | video in which the said operator and the said obstruction were reflected. The any one of Claims 1-3 characterized by the above-mentioned. Cargo handling vehicle as described in. The cargo handling vehicle according to claim 4, wherein the single camera is an omnidirectional camera. The operator position detection unit is configured by a first camera that images the operator, and the obstacle position detection unit is configured by a second camera that images the obstacle,
The contact determination unit determines whether or not the operator touches the obstacle based on an image showing the operator and another image showing the obstacle. The cargo handling vehicle as described in any one of 1-3. The operator position detection unit is configured by a plurality of first sensors that detect the position of the operator by detecting electromagnetic wave or ultrasonic wave shielding or reflection by the operator,
The said obstacle position detection part is comprised by the some 2nd sensor which detects the position of the said obstacle by the detection of the shielding or reflection of electromagnetic waves or an ultrasonic wave by the said obstacle. The cargo handling vehicle according to claim 1.

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