JP5791164B1 - Cargo handling vehicle - Google Patents

Abstract

An object of the present invention is to improve the detection accuracy of an operator on a cab, to accurately detect that the operator has dropped from the cab, and to detect when the operator is unlikely to drop from the cab. A picking lift 1, which is a cargo handling vehicle, includes a vehicle main body 11, a cab 31 on which an operator W rides, and a lift that raises and lowers the cab 31. Device 20. In addition, the picking lift 1 is an operator that detects an operator W boarding the cab 31 from a camera 35 that shoots a subject existing above the cab 31 and image data relating to an image captured by the camera 35. Based on the fact that the operator W is not detected by the operator detection unit, the operator fall detection unit that detects that the operator W has dropped from the cab 31 and the photographing by the camera 35 are stopped when a predetermined condition is satisfied. And a control unit. [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.

2. Description of the Related Art As a cargo handling vehicle that raises and lowers an operator together with a driver's cab, a cargo handling vehicle including a sensor that detects an operator on the driver's cab is known (for example, see Patent Document 1).
In Patent Document 1, an alarm unit that issues an alarm toward the periphery of a vehicle, a worker presence / absence detection unit that detects the presence / absence of a worker on the workbench, and a worker presence / absence detection unit are provided on the workbench. An alarm device for a work vehicle is provided that includes alarm control means for activating the alarm means based on the duration time that is not present. Further, cited document 1 describes that the worker presence / absence detecting means is constituted by an infrared sensor provided as a passenger sensor or an occupant sensor.

  However, since the pyroelectric infrared sensor detects the operator by detecting the temperature change of the pyroelectric element due to the infrared light, the operator can be detected when the infrared light emitted from the operator cannot be received by the pyroelectric element. Can not. Further, there is a possibility that the infrared sensor cannot detect the operator and the object other than the operator separately by receiving infrared rays emitted from the object other than the operator. For this reason, the operator on the cab cannot be accurately detected, and it may not be possible to accurately detect that the operator has dropped from the cab.

JP 2006-160408 A

  The present invention has been made in view of the above circumstances, can improve the detection accuracy of an operator on the cab, can accurately detect that the operator has dropped from the cab, It is an object of the present invention to provide a cargo handling vehicle that can prevent detection of an operator when an operator is unlikely to fall from the cab.

In order to solve the above-described problem, a cargo handling vehicle according to the first aspect of the present invention includes a vehicle main body, a driver's cab on which an operator boards, and a lifting device that lifts and lowers the driver's cab relative to the vehicle main body. In a vehicle, a camera that captures a subject existing above the cab, an operator detection unit that detects an operator on the cab from image data related to an image captured by the camera, and the operator Based on the fact that the operator is not detected by the detection unit, an operator fall detection unit that detects that the operator has dropped from the cab, and a control unit that stops shooting by the camera when at least one predetermined condition is satisfied If the provided cab, and a brake pedal for releasing the braking of the running, the brake pedal is operated Characterized by one of said predetermined condition that is depressed by over data.
According to a second aspect of the present invention, there is provided a cargo handling vehicle according to the present invention, comprising: a vehicle main body; a driver's cab on which an operator is boarded; A camera that captures a subject existing above the platform, an operator detection unit that detects an operator on the driver's cab from image data relating to an image captured by the camera, and an operator that detects an operator on the cab An operator fall detection unit that detects that the operator has dropped from the cab based on the fact that it is not detected; a control unit that stops shooting by the camera when at least one predetermined condition is satisfied; and the cab A closed position surrounding the upper space and a guard arranged to be switchable to an open position that opens the space on the cab, Serial guard, characterized in that one of said predetermined condition that it is located in the closed position.

The cargo handling vehicle according to claim 3 is the cargo handling vehicle according to claim 1 or 2 , further comprising an image recording memory for recording the image, wherein the control unit satisfies at least one of the predetermined conditions. The image recording by the image recording memory is stopped by stopping the photographing by the camera.

  ADVANTAGE OF THE INVENTION According to this invention, the detection accuracy of the operator who is boarding the cab can be improved, it can detect with high precision that the said operator fell from the cab, and also the probability that an operator will fall from a cab is low. It is possible to provide a cargo handling vehicle that can sometimes be prevented from being detected by an operator.

It is a perspective view which shows the cargo handling vehicle which concerns on one Embodiment of this invention. It is a schematic diagram which shows an example of the image image | photographed with the camera which concerns on this embodiment. 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.

  An embodiment of a cargo handling vehicle according to the present invention will be described with reference to the drawings. In the drawings, a front-rear direction X indicated by an arrow X, a left-right direction Y indicated by an arrow Y, and a vertical direction Z indicated by an arrow Z are directions orthogonal to each other.

  As shown in FIG. 1, a picking lift 1 that is a cargo handling vehicle includes a vehicle body 11, a traveling device 12, a lifting device 20, a cab 31, an operation unit 32, a head guard 33, a pair of forks 34, a camera 35, and safety The apparatus 40 etc. are provided.

  The vehicle main body 11 houses the traveling device 12, a battery (not shown), and the like. The battery is a power source for driving the traveling device 12 and the lifting device 20, and power is supplied from the same battery to each of the traveling device 12 and the lifting device 20 in order to simplify the configuration of the picking lift 1. Is done.

  The traveling device 12 includes a wheel, a traveling motor that rotates the wheel, a steering device that changes the direction of the wheel, and a brake device that brakes the rotation of the wheel. When the traveling device 12 operates, the picking lift 1 travels on the traveling road surface.

  The elevating device 20 includes a pair of masts 21 provided at intervals in the left-right direction Y. The mast 21 extending in parallel with the vertical direction Z includes an outer mast 21A and an inner mast 21B, and is configured to be extendable and contractible. The elevating device 20 moves the inner mast 21B in the vertical direction Z with respect to the outer mast 21A (that is, expands and contracts the mast 21), and moves the cab 31 in the vertical direction Z with respect to the inner mast 21B. Thus, the cab 31 is moved up and down with respect to the vehicle body 11.

  The cab 31 is a scaffold for driving the picking lift 1 and a scaffold for cargo handling at a high place. That is, the operator W of the picking lift 1 is an operator of cargo handling, and gets on the cab 31 for operation of the picking lift 1 and cargo handling at a high place. The cab 31 is configured to be able to move up and down based on an instruction from the operator W.

  The operation unit 32 is configured by various man-machine interfaces to which an instruction from the operator W is input, and is configured to be able to move up and down together with the cab 31. The operation unit 32 includes a steering handle 32A, an accelerator grip 32B, an up button 32C, a down button 32D, a brake pedal 32E, and the like. An instruction to change the traveling direction of the picking lift 1 is input to the steering handle 32A. An instruction for accelerating the traveling of the picking lift 1 is input to the accelerator grip 32B. An instruction to raise the cab 31 is input to the up button 32C. An instruction to lower the cab 31 is input to the lower button 32D. The brake pedal 32E is a deadman brake provided on the cab 31. When the brake pedal 32E is stepped on, an instruction to release braking of the picking lift 1 is input to the brake pedal 32E.

  The head guard 33 is provided above the cab 31 and is configured by a lattice-like structure that moves up and down together with the cab 31. The head guard 33 prevents a large fallen object from hitting the operator W riding on the cab 31.

  The pair of forks 34 are arranged at intervals in the left-right direction Y, and extend in parallel from the cab 31 toward the rear. By inserting the fork 34 into the pallet P, the pallet P is supported by the fork 34. The pallet P supported by the fork 34 is located at the same height as the cab 31, and the operator W performs cargo handling using the pallet P as a place for loading the cargo.

  The camera 35 is attached to the head guard 33, and images the subject existing above the cab 31 in color by shooting the space below the camera 35 from above the cab 31. The camera 35 is configured by an omnidirectional camera that captures a 360 ° range as viewed from the vertical direction.

The safety device 40 includes a guard 41 and a safety belt 42.
The guard 41 is arranged to be switchable between a closed position that covers the space on the cab 31 and an open position that opens the space on the cab 31. A guard 41 indicated by a solid line in FIG. 1 is in a state disposed at the closed position, and a guard 41 indicated by a broken line in FIG. 1 is in a state disposed at the open position. The guard 41 arranged at the closed position prevents the operator W from falling from the cab 31. Further, the guard 41 arranged at the open position allows the operator W to perform cargo handling. The guard 41 includes a right guard 41R and a left guard 41L. Switching the right guard 41R to the closed position or the open position and switching the left guard 41L to the closed position or the open position can be performed independently of each other.

  The safety belt 42 includes a torso belt 42A attached to the waist of the operator W, a strap 42B that functions as a belt-shaped lifeline, and a winder 42C that winds a part of the strap 42B. The winder 42C of the safety belt 42 is attached to the head guard 33, and the safety belt 42 suspends the operator W to prevent the operator W from falling to the ground when the operator W falls from the cab 31. . Further, the winder 42C adjusts the length of the strap 42B from the winder 42C to the body belt 42A, thereby limiting the movable range of the operator W, and the operator W falls from the cab 31. Suppress.

The camera 35 will be described in detail with reference to FIG.
As shown in FIG. 2, the camera 35 captures an image of a traveling road surface on which the picking lift 1 travels together with an operator W that is a subject existing above the cab 31 from above the cab 31. For this reason, it becomes possible to detect whether or not an obstacle that hinders traveling exists on the traveling road surface using the camera 35. Further, since the image taken by the operator W shows the helmet and work clothes worn by the operator W, the operator can detect the helmet or work clothes from the image data related to the image taken by the camera 35. It is possible to detect W. The helmet or work clothes included in the image data can be detected using color information included in the image data.

Next, a configuration for monitoring the operator W boarding the cab 31 will be described with reference to FIG.
As shown in FIG. 3, the picking lift 1 includes an image recording memory 51, an operator detection unit 52, an operator drop detection unit 53, a notification unit 54, a pedal operation detection unit 61, a guard position detection unit 62, and a cab lift detection unit. 63, and a control unit 64.

  The image recording memory 51 is a memory that stores image data relating to an image obtained from the camera 35. That is, the image recording memory 51 records an image photographed by the camera 35 so that the operator W can review the operation status of the picking lift 1 and the work status of cargo handling later.

  The operator detection unit 52 includes an image processing circuit that performs predetermined image processing on an image captured by the camera 35. The operator detection unit 52 detects the operator W on the cab 31 from the image data related to the image taken by the camera 35. Specifically, for example, the operator detection unit 52 uses a predetermined mark, color, or these provided on a wearing object such as a helmet and work clothes worn by the operator W from an image captured by the camera 35. The operator W is detected by detecting the combination.

  The operator drop detection unit 53 is configured by an integrated circuit that detects that the operator W has dropped from the cab 31 (hereinafter, “drop of the operator W”). Based on the detection result of the operator W by the operator detection unit 52 and the like, the operator drop detection unit 53 detects the drop of the operator W when a predetermined operator drop condition is satisfied. Specifically, for example, when the operator W is not detected by the operator detection unit 52 and the lift height of the cab 31 is higher than a predetermined level, the operator fall detection unit 53 detects the fall of the operator W. The

  The notification unit 54 includes a speaker, a warning light, and a wireless communication antenna. The notification unit 54 emits sound and light and transmits radio waves as an operation for notifying that the operator W has dropped from the cab 31. The notification unit 54 notifies the person existing around the picking lift 1 of the fall of the operator W by emitting a warning sound with a speaker and emitting light with a warning light. Further, the notification unit 54 notifies the manager of the picking lift 1 that can receive the radio wave that the operator W has been dropped by transmitting the radio wave using the wireless communication antenna.

  The pedal operation detection unit 61 is configured by a sensor that detects that the brake pedal 32E is operated, and the sensor is configured by a limit switch, for example. The pedal operation detection unit 61 detects an operation of the brake pedal 32E (hereinafter, “pedal operation”) by detecting a displacement of the brake pedal 32E that occurs when the brake pedal 32E is depressed.

  The guard position detection unit 62 is configured by a sensor that detects the position of the guard 41 (hereinafter, “guard position”), and the sensor is configured by, for example, a limit switch. The guard position detection unit 62 detects that the guard position is the closed position by detecting that both the right guard 41R and the left guard 41L are disposed at the closed position. On the other hand, the guard position detector 62 detects that the guard position is the open position by detecting that at least one of the right guard 41R and the left guard 41L is not disposed at the closed position.

  The cab lift detection unit 63 is configured by a sensor that detects the lift of the cab 31 (hereinafter, “driver's platform lift”), and the sensor is configured by an encoder, for example. The cab lift height detection unit 63 detects the cab lift height by detecting the position of the inner mast 21B with respect to the outer mast 21A and the position of the cab 31 with respect to the inner mast 21B.

The control unit 64 is configured by an integrated circuit that controls the camera 35 and the like. Based on the detection result of the pedal operation by the pedal operation detection unit 61, the detection result of the guard position by the guard position detection unit 62, and the detection result of the driving platform lift by the driving platform lift detection unit 63, the control unit 64 35 is controlled. Specifically, the control unit 64 considers that the operator W boarding the cab 31 has a low probability of falling from the cab 31 when at least one of the following conditions A1 to A3 is satisfied. Therefore, the photographing of the operator W by the camera 35 is stopped.
(Condition A1) Pedal operation is detected by the pedal operation detection unit 61 (Condition A2) The guard position detected by the guard position detection unit 62 is a closed position (Condition A3) In the cab lift detection unit 63 The detected cab lift is less than a predetermined height. Further, the controller 64 operates when none of the conditions A1 to A3 is satisfied (that is, when all of the following conditions B1 to B3 are satisfied). Since it is considered that there is a high probability that the operator W boarding the platform 31 will drop from the cab 31, the camera 35 is activated and the camera 35 starts photographing the operator W.
(Condition B1) No pedal operation is detected by the pedal operation detector 61 (Condition B2) The guard position detected by the guard position detector 62 is the open position (Condition B3) Detected by the cab lifting height detector 63 The height of the driver's cab is higher than a predetermined height

  The picking lift 1 includes an obstacle detection unit (not shown). The obstacle detection unit is configured by an integrated circuit that detects an obstacle that hinders the traveling of the picking lift 1 from image data relating to an image taken by the camera 35.

With reference to FIG. 4, the flow of the drop monitoring process performed by the picking lift 1 will be described. The fall monitoring process is started together with the operation of the picking lift 1.
In the drop monitoring process, immediately after the picking lift 1 starts operation, it is considered that the operator W is on the cab 31 without dropping from the cab 31. The shooting of W is stopped (step S1).

  Next, the control unit 64 is based on the detection result of the pedal operation by the pedal operation detection unit 61, the detection result of the guard position by the guard position detection unit 62, and the detection result of the driving platform lift by the driving platform lift detection unit 63. Then, it is determined whether or not at least one of the conditions A1 to A3 is established (step S2). When it is determined in step S2 that at least one of the conditions A1 to A3 is satisfied, the control unit 64 maintains the stop of the photographing of the operator W by the camera 35, and performs the processes after step S1 again. That is, when all of the conditions B1 to B3 are not satisfied, the process does not proceed to the following step S3.

  On the other hand, when it is not determined in step S1 that at least one of the conditions A1 to A3 is satisfied (that is, when it is determined that all of the conditions B1 to B3 are satisfied), the control unit 64 The photographing of the operator W by 35 is started (step S3). When the control unit 64 starts photographing of the operator W with the camera 35, image recording by the image recording memory 51 is started, and detection of the operator W by the operator detection unit 52 is started. Detection of the fall of the operator W by 53 is started.

  Next, the operator drop detection unit 53 determines whether or not a drop of the operator W has been detected based on the detection result of the operator W by the operator detection unit 52 (step S4). The determination as to whether or not the operator W has been dropped can be made based on whether or not the operator drop condition is satisfied. When it is determined in step S4 that the operator W has been dropped, the notification unit 54 notifies the operator W of dropping (step S5).

  On the other hand, if it is not determined in step S4 that the operator W has been dropped, the control unit 64 maintains the imaging of the operator W by the camera 35 and repeats the processes in and after step S2. Note that after step S4, if it is determined in step S2 that at least one of the conditions A1 to A3 is satisfied, the control unit 64 stops photographing of the operator W by the camera 35 in step S1. As a result, the recording of the image by the image recording memory 51 is stopped, the detection of the operator W by the operator detection unit 52 is stopped, and the detection of the drop of the operator W by the operator drop detection unit 53 is stopped.

In the picking lift 1 of the present embodiment, the following effects are obtained.
(1) The picking lift 1 includes a camera 35, an operator detection unit 52, an operator drop detection unit 53, and a control unit that stops photographing by the camera 35 when at least one predetermined condition (conditions A1 to A3) is satisfied. 64. According to this configuration, the operator detection unit 52 gets on the cab 31 by capturing the operator W with the camera 35 in order to detect the operator W from the image data related to the image captured by the camera 35. The operator W who is present can be detected. Further, since it is possible to detect the operator W and an object other than the operator separately, the detection accuracy of the operator W on the cab 31 can be detected as compared with the configuration in which the operator W is detected using an infrared sensor. Can be increased. As a result, it is possible to accurately detect that the operator W has dropped from the cab 31 based on the fact that the operator detection unit 52 does not detect the operator W. When the predetermined condition is satisfied, the photographing of the operator W by the camera 35 is stopped. Therefore, as a predetermined condition, by setting a low probability that the operator W will fall from the cab 31, the operator W is not detected when the probability that the operator W will fall from the cab 31 is low. Is possible. As a result, the power consumption by the camera 35 is suppressed, the image sensor constituting the camera 35 is prevented from being deteriorated, the privacy of the operator W is protected, and the operator detection unit 52 and the operator drop detection unit 53 operate. By doing so, it is possible to reduce the load generated.

  (2) The picking lift 1 includes the image recording memory 51, and the control unit 64 uses the image recording memory 51 by stopping shooting by the camera 35 when at least one predetermined condition (conditions A1 to A3) is satisfied. Stop recording images. According to this configuration, waste of the image recording memory 51 can be suppressed.

  (3) The picking lift 1 includes a brake pedal 32E for releasing the braking of travel, and the fact that the brake pedal 32E is stepped on by the operator W is one of the predetermined conditions described above (condition A1). According to this configuration, when the brake pedal 32E is depressed by the operator W, the image recording by the image recording memory 51 is stopped. For this reason, when the operator W is performing the driving | operation which concerns on driving | running | working of the picking lift 1 on the cab 31, the waste of the image recording memory 51 can be suppressed.

  (4) The picking lift 1 includes the guard 41, and that the guard 41 is located at the closed position is one of the above-described predetermined conditions (condition A2). According to this configuration, when the guard 41 is located at the closed position, image recording by the image recording memory 51 is stopped. For this reason, when the guard 41 arranged at the closed position prevents the operator W from dropping from the cab 31, waste of the image recording memory 51 can be suppressed.

  (5) One of the predetermined conditions described above (condition A3) is that the lift height of the cab 31 is less than a predetermined height. According to this configuration, when the lift of the cab 31 is less than a predetermined height, image recording by the image recording memory 51 is stopped. For this reason, when there is no possibility that the operator W falls from a high place, waste of the image recording memory 51 can be suppressed.

  (6) The control unit 64 stops photographing by the camera 35 when any one of the two or more predetermined conditions (conditions A1 to A3) is satisfied. According to this configuration, it is possible to cope with a variety of situations in which the operator W is unlikely to drop from the cab 31 compared to a configuration in which shooting by the camera 35 is stopped when all of two or more predetermined conditions are satisfied. can do.

  (7) The operator detection unit 52 detects, from the image data, a wearing item worn by the operator W (for example, a predetermined mark, color, or a combination thereof provided on a helmet or work clothes), The operator W is detected. For this reason, even when the camera 35 cannot capture the face of the operator W, the operator W can be detected.

  (8) The camera 35 is attached to a head guard 33 provided above the cab 31, and images the traveling road surface from above the cab 31 together with a subject existing above the cab 31. For this reason, it becomes possible to detect whether or not an obstacle that hinders traveling exists on the traveling road surface using the camera 35.

  (9) The camera 35 is configured by an omnidirectional camera that captures a 360 ° range as viewed from the vertical direction. For this reason, since the surroundings of the picking lift 1 can be imaged with one camera 35, the configuration is compared with a configuration in which a plurality of cameras are used to detect whether or not an obstacle that prevents traveling exists on the traveling road surface. Simplification and cost reduction can be achieved.

  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.

  -When the predetermined condition mentioned above is satisfied, the control part 64 can also stop the image recording by the buffer image recording memory (not shown) by stopping the photographing by the camera 35. The buffer image recording memory functions as an image recording memory that temporarily stores image data transmitted from the camera 35 to the operator detection unit 52.

  -The operator detection part 52 can also detect the said operator W by detecting at least one part (for example, eyes or a mouth) of the face of the operator W from image data. According to this configuration, it is possible to directly detect the operator W as compared with a configuration in which the operator W is detected by detecting a worn article.

  A configuration in which the operator W is not detected by the operator detection unit 52 and the fall of the operator W is detected when the guard position is the open position may be employed. A configuration in which the operator W is not detected by the operator detection unit 52 and the fall of the operator W is detected when the operation unit 32 is not operated by the operator W may be employed. Further, it is possible to adopt a configuration that detects that the operator W has dropped from the cab 31 based only on the detection result by the operator detection unit 52.

  -The operation | movement which the alerting | reporting part 54 performs can also be changed suitably. For example, the notification unit 54 may notify the fall of the operator W by any one or two methods of voice output, light emission, and radio wave transmission.

  -The structure which concerns on the camera 35 can also be changed suitably. For example, the arrangement and number of cameras 35 can be changed. Moreover, the camera 35 can also be comprised by cameras other than an omnidirectional camera.

1 Picking lift (loading vehicle)
DESCRIPTION OF SYMBOLS 11 Vehicle main body 12 Traveling device 20 Lifting device 21 Mast 21A Outer mast 21B Inner mast 31 Driver's cab 32 Operation part 32A Steering handle 32B Accelerator grip 32C Raise button 32D Lower button 32E Brake pedal 33 Head guard 34 Fork 35 Camera 40 Safety device 41 Guard 42 Safety belt 42A Trunk belt 42B Strap 42C Winder 51 Image recording memory 52 Operator detection unit 53 Operator drop detection unit 54 Notification unit 61 Pedal operation detection unit 62 Guard position detection unit 63 Driving platform height detection unit 64 Control unit P Pallet W Operator X Front-rear direction Y Left-right direction Z Up-down direction

Claims (3)

In a cargo handling vehicle comprising a vehicle body, a driver's cab on which an operator is boarded, and a lifting device that lifts and lowers the driver's cab relative to the vehicle body
A camera for photographing a subject existing above the cab;
An operator detection unit that detects an operator on the cab from image data related to an image captured by the camera;
Based on the fact that the operator is not detected by the operator detection unit, an operator fall detection unit that detects that the operator has dropped from the cab,
A control unit that stops shooting by the camera when at least one predetermined condition is satisfied ;
A brake pedal provided on the driver's cab for releasing the braking of traveling,
One of the predetermined conditions is that the brake pedal is depressed by an operator .   In a cargo handling vehicle comprising a vehicle body, a driver's cab on which an operator is boarded, and a lifting device that lifts and lowers the driver's cab relative to the vehicle body
  A camera for photographing a subject existing above the cab;
  An operator detection unit that detects an operator on the cab from image data related to an image captured by the camera;
  Based on the fact that the operator is not detected by the operator detection unit, an operator fall detection unit that detects that the operator has dropped from the cab,
  A control unit that stops shooting by the camera when at least one predetermined condition is satisfied;
  A closed position that surrounds the space on the cab and a guard that is switchable to an open position that opens the space on the cab; and
  One of the predetermined conditions is that the guard is located at the closed position.
  A cargo handling vehicle characterized by that. An image recording memory for recording the image;
Wherein, when at least one of the predetermined condition is satisfied, to claim 1 or claim 2, characterized in that stops recording of the image by the image recording memory by stopping the shooting by the camera The listed cargo handling vehicle.

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