JP5669149B2 - Cargo handling vehicle and cargo handling vehicle control system - Google Patents

Description

  The present invention relates to a cargo handling vehicle and a cargo handling vehicle control system in which an operator is lifted and lowered together with a driver's cab to enable handling at a high place.

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

JP-A-8-324988

  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.

  The present invention has been made in view of the above circumstances, and a cargo handling vehicle and a cargo handling vehicle control system in which an operator dropped from a cab can easily escape from a suspended state without waiting for a rescuer. It is an issue to provide.

In order to solve the above-described problem, the cargo handling vehicle according to the first aspect of the present invention includes a cab on which an operator is boarded, an elevating device that moves the cab up and down, and the operator when the operator falls from the cab. In a cargo handling vehicle including a safety device for suspending an operator, a drop detection unit that detects that the operator has dropped from the cab, a voice input unit to which a voice uttered by a person is input, and a voice input unit A voice recognition unit for recognizing at least the voice uttered by the operator from the input voice; and a control unit for controlling the lifting device, wherein the voice recognition unit has been dropped by the drop detection unit. becomes sound reception state when it detects, the control unit, when the drop detection unit detects the drop of the operator, certified by the voice recognition unit By controlling the lifting device on the basis of a sound that is characterized by lowering the cab.
According to a second aspect of the present invention, there is provided a cargo handling vehicle according to the present invention. In a cargo handling vehicle provided with a device, a drop detection unit that detects that the operator has dropped from the cab, a voice input unit that receives a voice uttered by a person, and a voice that is input to the voice input unit A voice recognition unit that at least recognizes a voice uttered by the operator, a control unit that controls the lifting device, and a landing determination unit that determines whether the operator is landing below the cab. The control unit controls the lifting device based on the voice recognized by the voice recognition unit when the fall detection unit detects the fall of the operator. Ri is lowered the cab, the when the operator by landing determination unit is determined to be landed, and wherein the stopping the cab lowering.
Further, the cargo handling vehicle according to the third aspect of the present invention includes a cab on which an operator is boarded, an elevating device for raising and lowering the cab, and a safety for hanging the operator when the operator falls from the cab. In a cargo handling vehicle provided with a device, a drop detection unit that detects that the operator has dropped from the cab, a voice input unit that receives a voice uttered by a person, and a voice that is input to the voice input unit A voice recognition unit that at least recognizes a voice uttered by the operator, a control unit that controls the lifting device, and a landing determination unit that determines whether the operator is landing below the cab. The control unit controls the lifting device based on the voice recognized by the voice recognition unit when the fall detection unit detects the fall of the operator. Ri is lowered the cab, the when the operator by landing determination unit is determined to be landed, and wherein reducing the speed of the cab lowering.

Further, the cargo handling vehicle according to claim 4 is the cargo handling vehicle according to claim 2 or 3 , wherein the voice recognition unit receives a voice when the fall detection unit detects that the operator has fallen. It is characterized by becoming.

The cargo handling vehicle according to claim 5 is the cargo handling vehicle according to any one of claims 1 to 4 , further comprising a storage unit that stores individual identification data regarding the voice print of the operator, and the voice recognition unit. Recognizes the operator's voice from the voice input to the voice input unit based on the individual identification data stored in the storage unit.

Further, the cargo handling vehicle according to claim 6 is the cargo handling vehicle according to any one of claims 1 to 5 , further comprising: a voice output unit that outputs a voice prompting input of voice for lowering the cab. It is characterized by providing.

Further, the cargo handling vehicle according to claim 7 is the cargo handling vehicle according to claim 6 , wherein the voice output unit outputs a voice asking whether to lower the cab in an alternative question format. It is characterized by outputting.

Further, in the cargo handling vehicle according to claim 8 , in the cargo handling vehicle according to claim 6 or 7 , the voice output unit notifies that a person other than the operator can lower the cab. The voice recognition unit recognizes a voice uttered by a person other than the operator from the voice input to the voice input unit.

In addition, the cargo handling vehicle according to claim 9 is the cargo handling vehicle according to any one of claims 1 to 8 , further comprising a notification unit that performs a notification operation by at least output of sound, wherein the notification unit includes the drop When the detection unit detects the drop of the operator, the notification operation is performed after the voice recognition unit recognizes a voice for lowering the cab.

In addition, the cargo handling vehicle according to claim 10 is the cargo handling vehicle according to any one of claims 1 to 9 , wherein the voice input unit includes a unidirectional microphone.

The cargo handling vehicle according to claim 11 is the cargo handling vehicle according to any one of claims 1 to 10 , wherein a noise input unit that inputs ambient environmental sound as noise is input to the noise input unit. And a noise reduction unit for reducing the generated noise in order to improve voice recognition accuracy in the voice recognition unit.

In addition, the cargo handling vehicle according to claim 12 is the cargo handling vehicle according to any one of claims 1 to 11 , wherein the cab is driven by the lifting device in a height direction in which the cab is elevated. When the cab is lowered to the automatic stop height, the lowest height that can be lowered is the minimum height, and the height that is higher than the minimum height by a predetermined amount is the automatic stop height. The descent of the cab is stopped.

  In addition, the cargo handling vehicle according to claim 13 is the cargo handling vehicle according to any one of claims 1 to 12, wherein when the cab descends, an obstacle prevents the cab from descending. A descent obstacle judging unit for judging whether or not and a traveling device that travels to move the cab together with the elevating device, and the control unit lowers the cab by the obstacle by the descent obstacle judging unit. When it is determined that the cab is hindered, the cab is moved to a position where the descent of the cab is not hindered by the obstacle by controlling the traveling device.

  In addition, a cargo handling vehicle control system according to claim 14 includes the cargo handling vehicle according to any one of claims 1 to 13 and a communication terminal that communicates with the cargo handling vehicle wirelessly, and the control unit includes: When the fall detection unit detects the fall of the operator, the fall information of the operator is transmitted to the communication terminal, and the cab is lowered based on an instruction from the communication terminal.

  ADVANTAGE OF THE INVENTION According to this invention, the operator who dropped from the cab can provide the cargo handling vehicle and cargo handling vehicle control system which can get out easily from the suspended state, without waiting for a rescuer.

It is a perspective view which shows the cargo handling vehicle which concerns on one Embodiment of this invention. It is a block diagram which shows the structure of the cargo handling vehicle which concerns on this embodiment. It is a flowchart which shows the flow of the fall monitoring process which concerns on this embodiment. It is a flowchart which shows the flow of the descent | fall operation control which concerns on this embodiment. It is a block diagram which shows the cargo handling vehicle control system using the said cargo handling vehicle. The top view which shows an example of the screen displayed on a communication terminal in the said cargo handling vehicle control system. It is a flowchart which shows the flow of the descent | fall operation control which concerns on the modification of this invention.

(Handling 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.

  As shown in FIG. 1, a picking lift 10 that is a cargo handling vehicle includes a vehicle body 11, a traveling device 12, an elevating device 20, a cab 31, an operation unit 13, a head guard 14, and a safety device 40. The operator P who is a cargo handling operator gets on the cab 31 for 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 10. It is preferable that power is supplied.

  The traveling device 12 includes a wheel, a prime mover that rotates the wheel, and a steering device that changes the direction of the wheel. The traveling device 12 travels together with the lifting device 20 to move the cab 31. When the picking lift 10 travels in the plane direction intersecting the vertical direction V by the traveling device 12, the position of the cab 31 as viewed from the vertical direction V changes. The vertical direction V is a height direction in which the cab 31 moves up and down.

  The lifting device 20 includes a pair of masts 21 extending in parallel to the vertical direction V, and a prime mover that expands and contracts the mast 21. The mast 21 includes an outer mast 21 </ b> A and an inner mast 21 </ b> B, and 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 lifting device 20 lifts and lowers the cab 31 together with the operator P by expanding and contracting the mast 21.

  The cab 31 is fixed to the inner mast 21B, and is provided so as to be able to move up and down in the vertical direction V together with the inner mast 21B. The cab 31 is provided with a pair of forks 32 extending rearward from the cab 31. The pallet 33 is positioned at the same height as the cab 31 in the vertical direction V by being supported by the fork 32.

  The operation unit 13 includes a man-machine interface such as a lever and a button for operating the traveling device 12 and the lifting device 20. The operation unit 13 is provided in the cab 31. The operator P uses the operation unit 13 to input an instruction to drive the picking lift 10 and an instruction to raise and lower the cab 31 to the picking lift 10.

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

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

  Next, a circuit configuration for performing control to lower the cab 31 when the operator P falls from the cab 31 will be described with reference to FIG. In FIG. 2 and subsequent figures, the illustration of the operator P and the safety device 40 shown in FIG. 1 is omitted.

  As shown in FIG. 2, the picking lift 10 includes a voice input unit 71, a noise input unit 72, a voice output unit 73, a notification unit 74, a drop detection unit 75, a transmission / reception unit 76, and a circuit device 80. As components constituting the circuit device 80, the picking lift 10 includes a noise reduction unit 81, a voice recognition unit 82, a storage unit 83, a control unit 84, a landing determination unit 85, and a descent failure determination unit 86. Each part 71-76, 81-86 of the picking lift 10 shown in FIG. 2 may be provided in any of the vehicle body 11 and the cab 31 shown in FIG.

  The voice input unit 71 is configured by a unidirectional microphone, and a voice uttered by a person such as the voice of the operator P is input to the voice input unit 71. The microphone constituting the voice input unit 71 is arranged so as to be directed to the operator P suspended from the safety device 40 when the operator P falls from the cab 31. For example, as shown in FIG. 1, the unidirectional microphone of the voice input unit 71 is provided on the vehicle body 11 and is directed toward the space below the cab 31 by being directed in the direction indicated by the arrow M. The voice input to the voice input unit 71 is input to the voice recognition unit 82 via the noise reduction unit 81 in the present embodiment.

  The noise input unit 72 is configured by another microphone different from the microphones constituting the voice input unit 71, and ambient environmental sound is input to the noise input unit 72 as noise. The noise input to the noise input unit 72 is input to the noise reduction unit 81.

  The audio output unit 73 is configured by a speaker, and outputs audio that prompts input of audio for lowering the cab 31. For example, the voice output unit 73 can make a question as to whether or not to lower the cab 31 using an alternative question format, or can lower the cab 31 to a person other than the operator P. The voice to be notified is output.

  The notification unit 74 performs a notification operation by at least outputting sound. The notification unit 74 includes, for example, a speaker and a rotating lamp, and performs a notification operation that is an operation of outputting a notification sound from the speaker and emitting light from the rotating lamp. The notification operation is an operation for notifying that the operator P has dropped from the cab 31.

  The drop detection unit 75 detects that the operator P has dropped from the cab 31. For example, the drop detection unit 75 includes a tension sensor that detects a tension that is a force by which the safety belt 42 is pulled by the belt 43, and detects a large tension generated when the operator P falls from the cab 31. The operator P is detected to have dropped. When the fall detection unit 75 detects the fall of the operator P, a fall detection signal is input from the fall detection unit 75 to the control unit 84.

  The transmission / reception unit 76 is configured by a wireless communication module, and transmits / receives signals by radio waves. A signal transmitted from the transmission / reception unit 76 is received by an external device of the picking lift 10, and a signal received by the transmission / reception unit 76 is input to the control unit 84.

  The circuit device 80 is configured by a circuit board and electronic components provided on the circuit board, and each of the units 81 to 86 configuring the circuit device 80 is configured by a different integrated circuit. These parts 81 to 86 are provided on the same circuit board, and are incorporated in the vehicle body 11, for example.

  The noise reduction unit 81 reduces the noise input to the noise input unit 72 in order to improve the voice recognition accuracy in the voice recognition unit 82. That is, the noise reduction unit 81 performs voice processing for removing the noise input to the noise input unit 72 on the voice input to the voice input unit 71, so that the voice input to the voice input unit 71 is processed. Make human voice clearer.

  The voice recognition unit 82 recognizes at least the voice generated by the operator P from the voice input to the voice input unit 71. The voice recognition unit 82 can identify the person who uttered by recognizing the voice based on the individual identification data about the voiceprint, and can improve the accuracy of voice recognition. The voice recognition unit 82 recognizes the voice of the operator P from the voice input to the voice input unit 71 based on the individual identification data stored in the storage unit 83. In addition, the voice recognition unit 82 recognizes a voice uttered by a person other than the operator P from the voice input to the voice input unit 71 based on data about a general voice print. A signal indicating the result of speech recognition by the speech recognition unit 82 is input from the speech recognition unit 82 to the control unit 84.

  The storage unit 83 is configured by a semiconductor memory such as an EEPROM. The storage unit 83 stores in advance individual identification data regarding the voice print of the operator P in preparation for the case where the operator P falls from the cab 31. The individual identification data about the voiceprint includes characteristics such as the pitch and frequency of the voice uttered by the operator P.

  The control unit 84 controls the traveling device 12, the lifting device 20, the voice output unit 73, the notification unit 74, the transmission / reception unit 76, and the voice recognition unit 82. When the drop detection unit 75 detects the drop of the operator P, the control unit 84 sets the voice recognition unit 82 in a reception state in which voice recognition is possible, and controls the lifting device 20 based on the voice recognized by the voice recognition unit 82. As a result, the cab 31 is lowered.

  The landing determination unit 85 determines whether the operator P has landed below the cab 31 based on the aspect of the safety device 40. For example, the landing determination unit 85 includes a tension sensor that constitutes the drop detection unit 75 and an integrated circuit to which the detection result of the tension of the safety belt 42 by the tension sensor is input, and the safety device 40 suspends the operator P. It is determined that the operator P has landed based on the cancellation of the tension of the safety belt 42 that occurs when A signal indicating the determination result of whether or not the operator P has landed is input from the landing determination unit 85 to the control unit 84.

  The descent obstacle determination unit 86 determines whether or not the descent of the cab 31 is hindered by an obstacle when the cab 31 is lowered. For example, the descent obstacle determination unit 86 includes a camera that captures images below the cab 31 and the pallet 33, and an integrated circuit that analyzes an image captured by the camera. Based on the position immediately below the pallet 33, it is determined that the obstacle 31 prevents the cab 31 from being lowered. A signal indicating the determination result as to whether or not the descent of the cab 31 is hindered is input from the descent failure determination unit 86 to the control unit 84. The obstacle that hinders the descent of the cab 31 is, for example, a rack (not shown) on which the luggage handled by the operator P is placed. When the operator P falls from the cab 31, the safety belt 42 may move the pallet 33 with respect to the fork 32. Therefore, even when the pallet 33 and the rack do not interfere with each other when the cab 31 is raised, There is a possibility that the pallet 33 and the rack interfere when the table 31 is lowered. Therefore, when the cab 31 descends after the operator P falls from the cab 31, the rack that interferes with the pallet 33 may interfere with the descent of the cab 31 provided with the forks 32 that support the pallet 33. .

  With reference to FIG. 3, the flow of the drop monitoring process performed by the circuit device 80 will be described. The circuit device 80 performs the drop monitoring process from the start of the operation of the picking lift 10, and continues to perform the drop monitoring process until the operation of the picking lift 10 is stopped.

  In the fall monitoring process, first, the control unit 84 determines whether or not the fall detection unit 75 has detected the fall of the operator P from the cab 31 based on the fall detection signal input from the fall detection unit 75. (Step S1).

  When it is determined in step S1 that the operator P has not detected the drop of the operator P, the control unit 84 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 75, 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 controller 84 can quickly detect the fall of the operator P.

  On the other hand, when it is determined in step S1 that the operator P has detected the fall of the operator P, the control unit 84 activates the voice recognition unit 82 to enter a reception state, and a person utters from the voice input to the voice input unit 71. The voice is recognized by the voice recognition unit 82 (step S2).

  Next, the control unit 84 controls the voice output unit 73 to cause the voice output unit 73 to announce that the voice recognition function is valid (step S3). That is, in step S <b> 3, the sound output unit 73 outputs a sound that prompts input of sound for lowering the cab 31. For example, the voice output unit 73 outputs a voice such as “You can lower the cab to the ground by your voice. Do you want to lower the cab?”.

  Next, the control unit 84 determines whether or not the voice of the operator P has been recognized by the voice recognition unit 82 from the voice input to the voice input unit 71 (step S4). When it is determined in step S4 that the voice of the operator P has been recognized, the processes in steps S5 to S10 below are not performed, and the processes after step S11 described later are performed.

  When it is determined in step S4 that the voice of the operator P is not recognized, the control unit 84 controls the voice output unit 73 to confirm whether or not the operator P is willing to descend (step S5). ). That is, in step S5, the voice output unit 73 outputs a voice asking whether or not to lower the cab 31 according to an alternative question format. For example, the voice output unit 73 outputs a voice such as “Would you like to lower the cab?

  Next, the control unit 84 determines whether or not the voice of the operator P has been recognized by the voice recognition unit 82 from the voice input to the voice input unit 71 (step S6). When it is determined in step S6 that the voice of the operator P has been recognized, the processes in steps S7 to S10 described below are not performed, and the processes after step S11 described later are performed.

  If it is determined in step S6 that the voice of the operator P has not been recognized, the control unit 84 controls the voice output unit 73 to inquire about whether or not to lower the surrounding people (step S7). . That is, in step S <b> 7, the voice output unit 73 outputs a voice notifying that a person other than the operator P can lower the cab 31. For example, the voice output unit 73 says, “Please answer if you are around the vehicle. This vehicle can now lower the cab with voice. Do you want to lower the cab? Please output ".

  Next, the control unit 84 determines whether or not the voice of the surrounding people other than the operator P is recognized by the voice recognition unit 82 from the voice input to the voice input unit 71 (step S8). When it is determined in step S8 that the voices of surrounding people have been recognized, the processes in steps S9 and S10 described below are not performed, and the processes after step S11 described later are performed.

  When the control unit 84 determines in step S8 that it has not recognized the voices of the surrounding people, the control unit 84 controls the transmission / reception unit 76 to send the drop information of the operator P to the communication terminal 90 (see FIG. 5) described later. As a signal (step S9). That is, in step S <b> 9, the control unit 84 transmits the fall information of the operator P to the communication terminal 90 when the fall detection unit 75 detects the fall of the operator P.

  Next, the control unit 84 determines whether or not a lowering instruction is input from the communication terminal 90 based on the signal received by the transmission / reception unit 76 (step S10). If it is determined in step S10 that the lowering instruction is input at the communication terminal 90, the process of step S12 below is performed. If it is determined in step S10 that the lowering instruction is not input at the communication terminal 90, The processes after step S3 are repeated.

  When it is determined in steps S4, S6, and S8 that the control unit 84 has recognized the voice, the control unit 84 determines whether or not the voice instructing the lowering of the cab 31 has been recognized (step S11). That is, in step S <b> 11, the control unit 84 determines whether or not the voice recognized by the voice recognition unit 82 is a voice for instructing the lowering of the cab 31. The voice for instructing the descent of the cab 31 includes, for example, not only clear instructions such as “get down” and “take down”, but also a voice such as “help” and a dropped operator such as “Wow” Includes screams and screams that P may emit. Therefore, in the present embodiment, even when the operator P is shocked by the fall and cannot speak clear words, the operator P's scream or scream is recognized based on the individual identification data. Then, it is determined that the voice instructing the lowering of the cab 31 has been recognized.

  When it is determined in step S11 that the voice instructing the lowering of the cab 31 has been recognized, the circuit device 80 performs the lowering operation control (step S12), and the picking lift 10 is operated after the lowering operation control is performed. Stopped. On the other hand, when it is determined in step S11 that the voice not instructing the lowering of the cab 31 has been recognized, the operation of the picking lift 10 is stopped without performing the process of step S12.

With reference to FIG. 4, the flow of the descent operation control in step S12 will be described.
First, the descent obstacle determination unit 86 determines whether or not the descent of the cab 31 is hindered by an obstacle when the cab 31 is lowered as it is (step S21).

  When it is determined in step S21 that the cab 31 is prevented from being lowered by the obstacle, the control unit 84 calculates an avoidance amount for avoiding the obstacle (step S31), and based on the calculated avoidance amount. The traveling device 12 is operated (step S32). That is, in step S32, the control unit 30 controls the traveling device 12 to cause the picking lift 10 to travel and move the cab 31 to a position where the lowering is not hindered by the obstacle. Further, in this case, the control unit 84 controls the audio output unit 73 to cause the audio output unit 73 to announce that there is a failure in lowering the cab 31. That is, the voice output unit 73 outputs a voice notifying that there is a failure in lowering the cab 31. For example, the voice output unit 73 outputs a voice such as “There is a risk that the pallet may come into contact with the rack, so the cab is lowered after the vehicle is moved”.

  When it is determined in step S21 that the obstacle 31 does not hinder the lowering of the cab 31 or after the cab 31 is moved in the process of step S32, the control unit 30 controls the lifting device 20. Then, the descent of the cab 31 is started (step S22).

  Next, the control unit 30 starts the notification operation by controlling the notification unit 74 (step S23). Therefore, when the drop detection unit 75 detects the drop of the operator P, the notification unit 74 performs a notification operation after the voice recognition unit 82 recognizes the voice for lowering the cab 31 in step S23.

  Next, the landing determination unit 85 determines whether or not the operator P who has fallen from the cab 31 has landed (step S24). If it is determined in step S24 that the operator P has not landed, the following step S25 is not performed, but the following step S26 is performed.

  When it is determined in step S24 that the operator P has landed, the control unit 84 controls the lifting device 20 to lower the cab 31 at a low speed (step S25). That is, in step S25, the control unit 84 reduces the lowering speed of the cab 31 as compared with the case where it is determined that the operator P has not landed. At this time, the descending speed of the cab 31 can be reduced stepwise or continuously and gradually.

  Next, the control unit 84 that controls the lifting device 20 determines whether or not the cab 31 has been lowered to the automatic stop height (step S26). The automatic stop height is a height higher than the minimum height by a predetermined amount when the lowest height at which the cab 31 can be lowered by the elevating device 20 in the vertical direction V is defined as the minimum height. The automatic stop height is a height that secures a space where the operator P is not pressed under the cab 31 and is set to 80 cm, for example.

  When it is determined in step S26 that the cab 31 has been lowered to the automatic stop height, the controller 84 controls the elevating device 20 to stop the cab 31 from being lowered (step S27), and the descent operation control is performed. Completed. On the other hand, when it is determined in step S26 that the cab 31 has not been lowered to the automatic stop height, the processing after step S24 is repeated.

In the picking lift 10 of the present embodiment, the following effects are obtained.
(1) The picking lift 10 includes a drop detection unit 75, a voice input unit 71, a voice recognition unit 82, and a control unit 84. When the drop detection unit 75 detects the drop of the operator P, the control unit 84 The cab 31 is lowered by controlling the lifting device 20 based on the voice recognized by the recognition unit 82. For this reason, when the operator P falls from the cab 31 and is suspended by the safety device 40, the operator P lowers the cab 31 by instructing the picking lift 10 by voice. You can land. Therefore, the operator P who has fallen from the cab 31 can easily escape from the suspended state without waiting for the rescuer.

  (2) The voice recognition unit 83 is in a voice receiving state where voice recognition is possible when the drop detection unit 75 detects that the operator P has dropped. Therefore, when the operator P is not falling from the cab 31, the voice recognition unit 83 does not recognize the voice, so that the processing load related to the voice recognition by the voice recognition unit 83 can be reduced.

  (3) The picking lift 10 includes a storage unit 83, and the voice recognition unit 82 uses the voice input to the voice input unit 71 based on the individual identification data stored in the storage unit 83, and the voice of the operator P. Recognize For this reason, for example, the voice recognition unit 82 not only recognizes the voice of the operator P from a clear voice instructing to lower the cab 31 such as “lower”, but also stores the operator P stored in the storage unit 83. It is possible to recognize the voice of the operator P from voices such as a screaming voice and a screaming voice uttered by the operator P who has fallen, based on the individual identification data of the voiceprint. Accordingly, since the voice of the operator P is easily recognized, the cab 31 can be easily lowered with respect to the picking lift 10.

  (4) Since the picking lift 10 includes the voice output unit 73, when the operator P falls from the cab 31, the picking lift 10 can prompt the user to input a voice for lowering the cab 31. Accordingly, it is possible to inform the operator P that the cab 31 can be lowered by a voice instruction.

  (5) The voice output unit 73 outputs a voice for asking whether or not to lower the cab 31 according to an alternative question format. Accordingly, since the operator P who has dropped from the cab 31 is asked whether or not the cab 31 should be lowered by an alternative question format, the voice input unit 71 is used to lower the cab 31. The input voice can be simplified and the presence or absence of the intention to lower the cab 31 can be easily confirmed.

  (6) The voice output unit 73 outputs a voice notifying that it is possible to lower the cab 31 to a person other than the operator P, and the voice recognition unit 82 is a voice input to the voice input unit 71. From the above, a voice uttered by a person other than the operator P is recognized. For this reason, when the operator P who has fallen from the cab 31 cannot speak, or when the voice of the operator P who has fallen cannot be recognized, a person other than the operator P gives a voice instruction to the picking lift 10. Thus, the cab 31 can be lowered.

  (7) The picking lift 10 includes a notification unit 74, and the notification unit 74 recognizes a voice for lowering the cab 31 when the drop detection unit 75 detects the drop of the operator P. A notification operation is performed later. For this reason, the alerting | reporting part 74 can alert | report persons other than the operator P that the operator P fell from the cab 31 by performing alerting | reporting operation | movement. Moreover, since the notification operation is performed after the voice for lowering the cab 31 is recognized by the voice recognition unit 82, it is possible to prevent the voice recognition accuracy from being lowered by the notification operation accompanied by the output of the voice. .

  (8) Since the voice input unit 71 is configured by a unidirectional microphone, when the voice input unit 71 is configured by an omnidirectional or omnidirectional microphone when picking up voice from a predetermined direction with the microphone As compared with the above, it is possible to reduce the sensitivity of picking up sound from directions other than the predetermined direction. Accordingly, by directing the unidirectional microphone to a position where the operator P is suspended when the operator P falls from the cab 31, it is possible to suppress a decrease in voice recognition accuracy due to ambient noise or noise. Can do.

  (9) Since the picking lift 10 includes the noise input unit 72 and the noise reduction unit 81, the noise reduction unit 81 reduces the noise input to the noise input unit 72, so that the voice in the voice recognition unit 82 is Recognition accuracy is improved. Therefore, the voice of the person who gives an instruction to lower the cab 31 is easily recognized.

  (10) The control unit 84 stops the descent of the cab 31 when the cab 31 is lowered to the automatic stop height. Therefore, the cab 31 that descends when the operator P falls is stopped at a position higher by a predetermined amount than the lowest height at which the cab 31 can be lowered by the lifting device 20. For this reason, it can suppress that the driver's cab 31 presses the operator P who landed.

  (11) The picking lift 10 includes a landing determination unit 85, and the control unit 84 reduces the lowering speed of the cab 31 when the landing determination unit 85 determines that the operator P is landing. For this reason, it can suppress that the driver's cab 31 presses the operator P who landed. Further, compared with the case where the cab 31 is lowered at a constant speed, the cab 31 can be lowered quickly until it is determined that the operator P has landed.

  (12) The picking lift 10 includes the lowering obstacle determination unit 86 and the traveling device 12, and the control unit 84 travels when the lowering obstacle determination unit 86 determines that the lowering of the cab 31 is hindered by an obstacle. By controlling the device 12, the cab 31 is moved to a position where the lowering of the cab 31 is not hindered by an obstacle. For this reason, even if there is an obstacle that prevents the cab 31 from being lowered, the cab 31 can be lowered by the traveling device 12 moving the cab 31 together with the lifting device 20.

(Handling vehicle control system)
Next, an embodiment of the cargo handling vehicle control system of the present invention using the picking lift 10 will be described.

  As shown in FIG. 5, the cargo handling vehicle control system 1 includes a picking lift 10 and a communication terminal 90 that communicates with the picking lift 10 wirelessly. Communication between the picking lift 10 and the communication terminal 90 may be performed by either infrastructure communication via an access point or ad hoc communication not via an access point.

  The communication terminal 90 is configured by a portable information terminal such as a smartphone or a tablet terminal. The communication terminal 90 includes a display unit 91, an operation unit 92, a transmission / reception unit 93, and a control unit 94.

  The display unit 91 is configured by a display that displays various types of information to the operator Q, and the operation unit 92 is configured by a touch panel for lowering the cab 31 of the picking lift 10 from a remote location. That is, in the present embodiment, the display unit 91 also serves as the operation unit 92.

  The transmission / reception unit 93 is configured by a wireless communication module, and transmits / receives signals by radio waves. A signal transmitted from the transmission / reception unit 93 is received by the picking lift 10, and a signal received by the transmission / reception unit 93 is input to the control unit 94.

  The control unit 94 is configured by an integrated circuit and controls the display unit 91 and the transmission / reception unit 93. When the transmission / reception unit 93 receives a signal including the drop information of the operator P, the control unit 94 causes the display unit 91 to display a screen that prompts an operation for lowering the cab 31. In addition, when the operation unit 92 is operated to lower the cab 31, the control unit 94 controls the transmission / reception unit 93 so that a lowering instruction is input by an operator Q other than the operator P. The signal which shows that is transmitted. In this way, the communication terminal 90 instructs the picking lift 10 to lower the cab 31.

  FIG. 6 is a diagram illustrating an example of a screen that is displayed on the display unit 91 and that prompts an operation for lowering the cab 31. As shown in FIG. 6, the display unit 91 displays, for example, a figure indicating the state of the picking lift 10 and characters that prompt an operation for lowering the cab 31.

  In the cargo handling vehicle control system 1 of the present embodiment, the control unit controls the descending operation when it is determined in step S10 that the descending instruction is input from the communication terminal 90 in the fall monitoring process. 84 is configured to lower the cab 31 based on an instruction from the communication terminal 90.

In the cargo handling vehicle control system 1, in addition to the effects (1) to (12), the following effects can be obtained.
(13) The cargo handling vehicle control system 1 includes the picking lift 10 and the communication terminal 90, and the control unit 84 notifies the communication terminal 90 of the drop information of the operator P when the drop detection unit 75 detects the drop of the operator P. The cab 31 is lowered based on the instruction from the communication terminal 90. For this reason, when the operator P falls from the cab 31 and is suspended by the safety device 40, the operator Q of the communication terminal 90 instructs the picking lift 10 wirelessly from a remote location. Thus, the cab 31 can be lowered.

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

  The control unit 84 may stop the descent of the cab 31 when the landing determination unit 85 determines that the operator P is landing. According to such a configuration, the cab 31 that descends when the operator P falls is stopped when it is determined that the operator P has landed. For this reason, it can suppress that the driver's cab 31 presses the operator P who landed.

  With reference to FIG. 7, the descent operation control in which the control unit 84 stops the descent of the cab 31 when the landing determination unit 85 determines that the operator P has landed will be described. Note that the processing in steps S21 to S23 in FIG. 7 is the same as the processing in the above embodiment, and thus the description of steps S21 to S23 is omitted.

  After the control unit 30 starts to lower the cab 31, the landing determination unit 85 determines whether or not the operator P who has dropped from the cab 31 has landed (step S <b> 24). When it is determined in step S24 that the operator P has landed, the controller 84 controls the lifting device 20 to stop the descent of the cab 31 (step S27), and the descent operation control is completed. .

  On the other hand, when it is determined in step S24 that the operator P has not landed, the control unit 84 that controls the lifting device 20 determines whether or not the cab 31 has been lowered to the automatic stop height (step S26). . When it is determined in step S26 that the cab 31 has been lowered to the automatic stop height, the controller 84 controls the elevating device 20 to stop the cab 31 from being lowered (step S27), and the descent operation control is performed. Completed. If it is determined in step S26 that the cab 31 has not been lowered to the automatic stop height, the process of step S24 is repeated.

  As described above, in the descent operation control shown in FIG. 7, when it is determined that the operator P has landed, or when it is determined that the cab 31 has been lowered to the automatic stop height, the cab 31 is lowered. Stopped.

  The fall detection unit 75 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 75 may be changed as appropriate.

  The landing determination unit 85 may determine whether or not the operator P has landed using a camera that captures the lower side of the cab 31, and the operator P may land based on the height of the cab 31. It may be determined whether or not. That is, as long as it is possible to determine whether the operator P is landing below the cab 31, the configuration of the landing determination unit 85 may be changed as appropriate.

  -The descent | fall obstacle determination part 86 may detect an obstruction using an infrared sensor, a radar, etc., and may judge whether the descent | fall of the cab 31 is prevented by an obstruction. That is, if it is possible to determine whether or not the lowering of the cab 31 is hindered by an obstacle, the configuration of the lowering obstacle determination unit 86 may be changed as appropriate.

  The voice input unit 71 may be configured by an omnidirectional or omnidirectional microphone. That is, the configuration of the voice input unit 71 may be changed as appropriate as long as a voice uttered by a person can be input.

  -It can replace with the noise reduction part 81 which removes noise by performing an audio | voice process with respect to an audio | voice, and can also provide a noise reduction part with a mute speaker. In such a configuration, a voice uttered by a person among voices input to the voice input unit 71 is output by outputting a voice having a phase opposite to that of the noise input to the noise input unit 72 from the speaker of the noise reduction unit. Become clear. That is, as long as noise can be reduced in order to improve the voice recognition accuracy in the voice recognition unit 82, the configuration of the noise reduction unit may be changed as appropriate.

-Two or more of the respective parts 81 to 86 constituting the circuit device 80 may be constituted by a single integrated circuit.
-You may comprise so that all the parts 81-86 which comprise the circuit apparatus 80 may not be provided on one same circuit board.

-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 Cargo vehicle control system 10 Picking lift (cargo vehicle)
DESCRIPTION OF SYMBOLS 11 Car body 12 Traveling device 13 Operation part 14 Head guard 20 Lifting device 21 Mast 21A Outer mast 21B Inner mast 31 Driver's cab 32 Fork 33 Pallet 40 Safety device 41 Safety belt winder 42 Safety belt 43 Belt 71 Voice input part 72 Noise input Unit 73 voice output unit 74 notification unit 75 drop detection unit 76 transmission / reception unit 80 circuit device 81 noise reduction unit 82 voice recognition unit 83 storage unit 84 control unit 85 landing judgment unit 86 descent failure judgment unit 90 communication terminal 91 display unit 92 operation unit 93 Transmission / reception unit 94 Control unit P Operator Q Operator V Vertical direction (height direction)

Claims (14)

In a cargo handling vehicle provided with a cab on which an operator is boarded, an elevating device that raises and lowers the cab, and a safety device that suspends the operator when the operator falls from the cab,
A drop detector for detecting that the operator has fallen from the cab;
A voice input unit for inputting a voice uttered by a person;
A voice recognition unit for recognizing at least a voice uttered by the operator from the voice input to the voice input unit;
A control unit for controlling the lifting device,
When the voice recognition unit detects that the operator has dropped by the drop detection unit, the voice recognition unit is in a voice reception state,
The control unit lowers the cab by controlling the lifting device based on the voice recognized by the voice recognition unit when the fall detection unit detects the fall of the operator. Cargo handling vehicle.   In a cargo handling vehicle provided with a cab on which an operator is boarded, an elevating device that raises and lowers the cab, and a safety device that suspends the operator when the operator falls from the cab,
  A drop detector for detecting that the operator has fallen from the cab;
  A voice input unit for inputting a voice uttered by a person;
  A voice recognition unit for recognizing at least a voice uttered by the operator from the voice input to the voice input unit;
  A control unit for controlling the lifting device;
  A landing judgment unit for judging whether or not the operator is landing below the cab,
  The control unit lowers the cab by controlling the lifting device based on the voice recognized by the voice recognition unit when the fall detection unit detects the fall of the operator, and determines the landing When the operator determines that the operator is landing, the descent of the cab is stopped.
  A cargo handling vehicle characterized by that.   In a cargo handling vehicle provided with a cab on which an operator is boarded, an elevating device that raises and lowers the cab, and a safety device that suspends the operator when the operator falls from the cab,
  A drop detector for detecting that the operator has fallen from the cab;
  A voice input unit for inputting a voice uttered by a person;
  A voice recognition unit for recognizing at least a voice uttered by the operator from the voice input to the voice input unit;
  A control unit for controlling the lifting device;
  A landing judgment unit for judging whether or not the operator is landing below the cab,
  The control unit lowers the cab by controlling the lifting device based on the voice recognized by the voice recognition unit when the fall detection unit detects the fall of the operator, and determines the landing When the operator determines that the operator is landing, the speed at which the cab descends is reduced.
  A cargo handling vehicle characterized by that. The cargo handling vehicle according to claim 2 or 3 , wherein the voice recognition unit is in a voice reception state when the drop detection unit detects that the operator has fallen. A storage unit for storing individual identification data about the operator's voiceprint;
The said voice recognition part recognizes the said operator's voice from the voice input into the said voice input part based on the individual identification data memorize | stored in the said memory | storage part . The cargo handling vehicle according to any one of the above. The cargo handling vehicle according to any one of claims 1 to 5, further comprising a voice output unit that outputs a voice that prompts input of a voice for lowering the cab. The cargo handling vehicle according to claim 6 , wherein the voice output unit outputs a voice asking whether or not the cab is to be lowered according to an alternative question format. The voice output unit outputs a voice notifying that it is possible to lower the cab to a person other than the operator,
The cargo handling vehicle according to claim 6 or 7 , wherein the voice recognition unit recognizes a voice uttered by a person other than the operator from the voice input to the voice input unit. Including a notification unit that performs at least a notification operation by outputting sound;
The notification unit, when the drop detection unit detects the drop of the operator, according to claim 1, wherein the performing the notification operation sound for lowering the cab after recognizing that the voice recognition unit Cargo handling vehicle as described in any one of -8. The cargo handling vehicle according to any one of claims 1 to 9, wherein the voice input unit includes a unidirectional microphone. A noise input unit that inputs ambient environmental sounds as noise,
Noise inputted to the noise input unit, in any one of claims 1 to 10, characterized in that it comprises a noise reduction unit that reduces to improve the recognition accuracy of the speech by the speech recognition unit The listed cargo handling vehicle. In the height direction, which is the direction in which the cab rises and lowers, the lowest height at which the cab can be lowered by the elevating device is defined as the lowest height, and the height that is higher than the lowest height by a predetermined amount is automatically stopped Height and
The cargo handling vehicle according to any one of claims 1 to 11, wherein the control unit stops the descent of the cab when the cab descends to the automatic stop height. A descent obstacle determining unit that determines whether or not the descent of the cab is hindered by an obstacle when the cab descends;
A traveling device that travels to move the cab together with the lifting device,
When the controller determines that the lowering of the cab is prevented from being hindered by the obstacle by the lowering obstacle determining unit, the controller controls the traveling device to prevent the cab from being lowered by the obstacle. The cab is moved to a position where there is no load. The cargo handling vehicle according to any one of claims 1 to 12, characterized in that: A cargo handling vehicle according to any one of claims 1 to 13,
A communication terminal that communicates with the cargo handling vehicle wirelessly;
The control unit transmits the operator fall information to the communication terminal when the fall detection unit detects the fall of the operator, and lowers the cab based on an instruction from the communication terminal. Cargo handling vehicle control system.

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