JP5999737B2 - Cargo handling vehicle - Google Patents

Description

  The present invention relates to a cargo handling vehicle that lifts and lowers an operator together with a driver's cab in order to enable cargo handling at a high place.

  When cargo handling is performed at a high place such as a rack in a warehouse, a cargo handling vehicle that raises and lowers an operator together with a driver's cab is used (for example, see Patent Document 1). The cargo handling vehicle includes a cab on which an operator is boarded, an elevating device for raising and lowering the cab, and a pair of forks that move up and down together with the cab. The pair of forks are extended toward the rear of the vehicle body. The operator operates the cargo handling vehicle, picks up and supports the pallet with a fork, and transports the load placed on the pallet.

  By the way, when the fork supports the pallet, the operator uses the pallet as a work table as necessary, and performs work on the pallet in addition to the cab. Since the fork extends toward the rear of the vehicle body, the pallet is supported behind the vehicle body. Since the operator usually operates facing forward, in order to check whether or not the pallet is supported by the fork, it is necessary to go back to the rear. For this reason, when the pallet is not supported by the fork, the operator may fall from the cab in an attempt to work on the pallet without checking the back.

JP 2006-160408 A

  Therefore, the problem to be solved by the present invention is to provide a cargo handling vehicle that allows an operator to recognize that the fork does not support the pallet even though the cab is higher than a predetermined height. It is to provide.

In order to solve the above-described problem, a cargo handling vehicle according to the present invention includes:
In a cargo handling vehicle provided with a cab on which an operator is boarded, an elevating device for raising and lowering the cab, and a pair of forks that move up and down together with the cab,
A camera for imaging a pair of forks;
A pallet presence / absence determining unit that determines whether the pair of forks support the pallet based on the captured image of the camera;
A height detector for detecting the elevation height of the cab;
An alarm unit for alarming the operator;
When the pallet presence / absence determination unit determines that the pair of forks do not support the pallet, and the height detection unit detects that the cab is higher than a predetermined height, the alarm unit operates. And a control unit that controls the alarm unit so that
The pallet presence / absence determining unit stores the colors of the pair of forks in advance,
When the pair of forks are not recognized at a predetermined position where the pair of forks in the captured image are to be imaged more than a predetermined number of pixels, it is determined that the pair of forks support the pallet,
When the color of the pair of forks is recognized by a predetermined number of pixels or more at a predetermined position in the captured image, it is determined that the pair of forks do not support the pallet.

Further, another cargo handling vehicle according to the present invention is:
In a cargo handling vehicle provided with a cab on which an operator is boarded, an elevating device for raising and lowering the cab, and a pair of forks that move up and down together with the cab,
A camera for imaging a pair of forks;
A pallet presence / absence determining unit that determines whether the pair of forks support the pallet based on the captured image of the camera;
A height detector for detecting the elevation height of the cab;
An alarm unit for alarming the operator;
When the pallet presence / absence determination unit determines that the pair of forks do not support the pallet, and the height detection unit detects that the cab is higher than a predetermined height, the alarm unit operates. And a control unit that controls the alarm unit so that
The pallet presence / absence determination unit includes a first reference image including an image in a state where the pair of forks support the pallet, a second reference image including an image in a state where the pair of forks do not support the pallet, And comparing the captured image with the first and second reference images,
When the degree of coincidence between the captured image and the first reference image is higher than the degree of coincidence between the captured image and the second reference image, it is determined that the pair of forks support the pallet,
When the degree of coincidence between the captured image and the second reference image is higher than the degree of coincidence between the captured image and the first reference image, it is determined that the pair of forks do not support the pallet.

Further, another cargo handling vehicle according to the present invention is:
In a cargo handling vehicle provided with a cab on which an operator is boarded, an elevating device for raising and lowering the cab, and a pair of forks that move up and down together with the cab,
A camera for imaging a pair of forks;
A pallet presence / absence determining unit that determines whether the pair of forks support the pallet based on the captured image of the camera;
A height detector for detecting the elevation height of the cab;
When the pallet presence / absence determination unit determines that the pair of forks do not support the pallet and the height detection unit detects that the cab is higher than a predetermined height, the cab rises. And a control unit that controls the lifting device so as to stop,
The pallet presence / absence determining unit stores the colors of the pair of forks in advance,
When the pair of forks are not recognized at a predetermined position where the pair of forks in the captured image are to be imaged more than a predetermined number of pixels, it is determined that the pair of forks support the pallet,
When the color of the pair of forks is recognized by a predetermined number of pixels or more at a predetermined position in the captured image, it is determined that the pair of forks do not support the pallet.

Further, another cargo handling vehicle according to the present invention is:
In a cargo handling vehicle provided with a cab on which an operator is boarded, an elevating device for raising and lowering the cab, and a pair of forks that move up and down together with the cab,
A camera for imaging a pair of forks;
A pallet presence / absence determining unit that determines whether the pair of forks support the pallet based on the captured image of the camera;
A height detector for detecting the elevation height of the cab;
When the pallet presence / absence determination unit determines that the pair of forks do not support the pallet and the height detection unit detects that the cab is higher than a predetermined height, the cab rises. And a control unit that controls the lifting device so as to stop,
The pallet presence / absence determination unit includes a first reference image including an image in a state where the pair of forks support the pallet, a second reference image including an image in a state where the pair of forks do not support the pallet, And comparing the captured image with the first and second reference images,
When the degree of coincidence between the captured image and the first reference image is higher than the degree of coincidence between the captured image and the second reference image, it is determined that the pair of forks support the pallet,
When the degree of coincidence between the captured image and the second reference image is higher than the degree of coincidence between the captured image and the first reference image, it is determined that the pair of forks do not support the pallet.

Preferably, the cargo handling vehicle is
Furthermore, a stop switch for stopping the operation of the alarm unit is provided,
The control unit controls the alarm unit so that the operation of the alarm unit stops when the stop switch is pressed.

Preferably, the cargo handling vehicle is
In addition, it has a release switch to release the stop of the cab raising and lowering,
The control unit controls the lifting device so that the cab can be raised when the release switch is pressed.

  As described above, in the invention according to the present invention, when the fork does not support the pallet and the cab rises above a predetermined height, the alarm unit operates or the cab rises. This stops the operator from recognizing that the fork does not support the pallet.

  As a result, the operator can be surely recognized that the fork does not support the pallet even though the cab is higher than a predetermined height. Thereby, it is possible to prevent the operator from falling from the cab above the predetermined height in an attempt to work on the pallet.

The perspective view which shows the picking lift which is a cargo handling vehicle. 2A is a side view of FIG. 1, and FIG. 2B is a plan view of FIG. The block diagram which shows main structures. The figure which shows the picked-up image of a camera when a fork does not support a pallet. The figure which shows the picked-up image of a camera when a fork is supporting the pallet. The flowchart for demonstrating a 1st control flow. The flowchart for demonstrating a 2nd control flow. The flowchart for demonstrating a 3rd control flow. The flowchart for demonstrating a 4th control flow.

  Hereinafter, a cargo handling vehicle according to the present invention will be described with reference to the drawings.

[overall structure]
First, the whole structure of the picking lift 1 which is a cargo handling vehicle is demonstrated.
As shown in FIGS. 1 and 2, the picking lift 1 includes a vehicle body 11, a traveling device 12, a pair of straddle legs 13, a lifting device 20, a cab 31, a pair of forks 32, an operation unit 14, a head guard 15, and a pair of guard bars. 16, an alarm unit 40, and a camera 41. The operator gets on the cab 31 for the operation of the picking lift 1 and the cargo handling at a high place. The front-rear direction X, the left-right direction Y, and the up-down direction Z are directions orthogonal to each other.

  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 includes, for example, an electric motor for driving a hydraulic pump. In order to simplify the configuration of the picking lift 1, electric power is supplied from the same battery to the electric motors of the traveling device 12 and the lifting device 20.

  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 the traveling surface S by the traveling device 12.

  The pair of straddle legs 13 are provided at intervals in the left-right direction Y, extend horizontally from the vehicle body 11, and protrude rearward from the vehicle body 11. The straddle leg 13 is provided with wheels 13A that improve the stability of the vehicle body 11 and roll on the running surface S.

  The elevating device 20 includes a pair of masts 21 extending in 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. As the prime mover of the lifting device 20 slides the inner mast 21B along 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 able to move up and down in the vertical direction Z together with the inner mast 21B. The cab 31 includes a pair of forks 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 in 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 inputs various instructions 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 is on the cab 31, the head guard 15 protects the operator's head and the like.

  The pair of guard bars 16 are provided on both sides of the cab 31 and are constituted by L-shaped bar members. The pair of guard bars 16 are rotatable in the vertical direction, and are opened and closed by manual rotation by the operator. In FIG. 1, the guard bar 16 is open, and in FIG. 2, the guard bar 16 is closed. As shown in FIG. 2, when the guard bar 16 is closed, the guard bars 16 are arranged in the horizontal direction. And a pair of guard bar 16 surrounds the operator who got on the cab 31 in the front-back direction X and the left-right direction Y, and prevents an operator's fall. As shown in FIG. 1, when the guard bar 16 is opened, the guard bar 16 is arranged in the vertical direction so that the operator can enter and exit from the cab 31.

  The alarm unit 40 includes a pair of rotating lights fixed to the cab 31. The alarm unit 40 may include a buzzer. The alarm unit 40 warns an operator who has boarded the cab 31.

  The camera 41 is fixed to the cab 31 so that its imaging surface faces rearward. As shown in FIG. 2, the camera 41 images the range 41 a so that the pair of forks 32 can be imaged. When the fork 32 supports the pallet 33, the camera 41 images the pallet 33, while when the fork 32 does not support the pallet 33, the camera 41 images the pair of forks 32. In another embodiment, the camera 41 is an omnidirectional camera, and may be fixed to the head guard 15 so that its imaging surface faces downward.

  As shown in FIG. 3, the picking lift 1 further includes a control unit 50, a pallet presence / absence determination unit 51, a height detection unit 52, and an open / close detection unit 53. The control unit 50 and the pallet presence / absence determination unit 51 are formed of integrated circuits. The height detection unit 52 and the open / close detection unit 53 include various sensors such as a position sensor and a displacement sensor, and various switches such as a position switch.

  The control unit 50 is connected to the pallet presence / absence determination unit 51, the height detection unit 52, the open / close detection unit 53, the lifting device 20, and the alarm unit 40. The control unit 50 receives input signals from the pallet presence / absence determination unit 51, the height detection unit 52, and the open / close detection unit 53, and controls the operations of the lifting device 20 and the alarm unit 40 based on the input signals.

  The pallet presence / absence determination unit 51 is connected to the camera 41. Accordingly, the captured image 410 (see FIGS. 4 and 5) from the camera 41 is input to the pallet presence / absence determination unit 51 continuously or intermittently. The pallet presence / absence determination unit 51 determines whether the fork 32 supports the pallet 33 based on the captured image 410 from the camera 41. There are various determination methods.

  For example, in the first determination method, the color (for example, red) of the fork 32 is stored in the pallet presence / absence determination unit 51 in advance. The color of the fork 32 is a color different from the pallet 33 (for example, blue) and the road surface S (for example, gray). Therefore, the pallet presence / absence determination unit 51 supports the pallet 33 when the color of the fork 32 is not recognized more than a predetermined number of pixels at a predetermined position of the captured image 410 (a position where the fork 32 is to be imaged). It is determined that The pallet presence / absence determination unit 51 determines that the fork 32 does not support the pallet 33 when the color of the fork 32 is recognized by a predetermined number of pixels or more at a predetermined position of the captured image 410.

  In the second determination method, the first and second reference images are stored in the pallet presence / absence determination unit 51 in advance. The first reference image P1 is an image in a state where the fork 32 supports the pallet 33. The second reference image P2 is an image in a state where the fork 32 does not support the pallet 33. Then, the palette presence / absence determining unit 51 compares the captured image 410 with the first and second reference images P1 and P2. When the degree of coincidence between the captured image 410 and the first reference image P1 is higher than the degree of coincidence between the captured image 410 and the second reference image P2, the pallet presence / absence determining unit 51 indicates that the fork 32 supports the pallet 33. It is determined that When the degree of coincidence between the captured image 410 and the second reference image P2 is higher than the degree of coincidence between the captured image 410 and the first reference image P1, the pallet presence / absence determining unit 51 supports the pallet 33 by the fork 32. Judge that it is not.

  The height detection unit 52 is provided in the mast 21 or the prime mover of the lifting device 20 and detects whether or not the cab 31 is located higher than a predetermined height H. The predetermined height H is lower than a height at which the operator may be seriously injured when the operator falls from the cab 31 and / or a plurality of pallets 33 stacked for storage. This is a position lower than the height at which the cab 31 rises when the fork 32 takes the uppermost pallet 33.

  The open / close detection unit 53 is provided in a rotating part of the guard bar 16 and detects whether the guard bar 16 is open according to the position of the guard bar 16.

  Next, the 1st-4th control flow in which the control part 50 controls operation | movement of the raising / lowering apparatus 20 and the alarm part 40 is demonstrated. Note that the first to fourth control flows may be executed independently or in combination.

[First control flow]
The first control flow will be described based on FIG.
The captured image 410 from the camera 41 is input to the pallet presence / absence determination unit 51 continuously or intermittently (step S1). Next, the pallet presence / absence determination unit 51 determines whether the fork 32 supports the pallet 33 based on the input captured image 410 (step S2). If the pallet presence / absence determination unit 51 determines in step S2 that the fork 32 supports the pallet 33, the process returns to step S1. If the pallet presence / absence determination unit 51 determines in step S2 that the fork 32 does not support the pallet 33, the process proceeds to the next step S3.

  Next, the height detection unit 52 detects whether or not the cab 31 is located higher than a predetermined height H (step S3). If the cab 31 is lower than the predetermined height H in step S3, the process returns to step S1. If the cab 31 is higher than the predetermined height H in step S3, the process proceeds to the next step S4.

  When the fork 32 does not support the pallet 33 (step S2) and the cab 31 is higher than the predetermined height H (step S3), the operation of the alarm unit 40 starts (step S4). The operation of the alarm unit 40 allows the operator to recognize that the fork 32 does not support the pallet 33 even though the cab 31 is equal to or higher than the predetermined height H. Thereby, it is possible to prevent the operator from falling from the cab 31 trying to work on the pallet 33.

  Thereafter, when the operator presses a stop switch 54 (see FIG. 3) provided in the operation unit 14 (step S5), the operation of the alarm unit 40 is stopped (step S6). Until the stop switch 54 is pressed in step S5, the process returns to step S4 and the alarm unit 40 operates.

[Second control flow]
The second control flow will be described based on FIG.
First, steps S1 to S3 are performed. Steps S1 to S3 are the same as those in the first control flow, and a description thereof will be omitted.

  When the fork 32 does not support the pallet 33 (step S2) and the cab 31 is higher than the predetermined height H (step S3), the raising of the cab 31 stops (step S10). By stopping the rising of the cab 31, the operator can recognize that the fork 32 does not support the pallet 33 even though the cab 31 is equal to or higher than the predetermined height H. Thereby, it is possible to prevent the operator from falling from the cab 31 trying to work on the pallet 33.

  Thereafter, when the operator presses a release switch 55 (see FIG. 3) provided on the operation unit 14 (step S11), the cab 31 can be raised (step S12). Until the release switch 55 is pressed in step S11, the process returns to step S10 and the raising of the cab 31 stops.

[Third control flow]
Based on FIG. 8, the third control flow will be described.
First, steps S1 to S3 are performed. Steps S1 to S3 are the same as those in the first control flow, and a description thereof will be omitted.

  When the fork 32 does not support the pallet 33 (step S2) and the cab 31 is higher than the predetermined height H (step S3), the open / close detection unit 53 determines whether the guard bar 16 is open. Is detected (step S20). If the guard bar 16 is closed in step S20, the process returns to step S1. If the guard bar 16 is open in step S20, the process proceeds to the next step S4.

  Next, step S4 to step S6 are performed. Steps S4 to S6 are the same as those in the first control flow, and a description thereof will be omitted.

[Fourth control flow]
The fourth control flow will be described based on FIG.
First, step S1 to step S3 and step S20 are performed. Steps S1 to S3 are the same as the first control flow, and step S20 is the same as the third control flow.

  Next, step S10 to step S12 are performed. Steps S10 to S12 are the same as those in the second control flow, and a description thereof will be omitted.

  For example, a case where the first control flow and the fourth control flow are combined will be described. First, the first control flow allows the operator to recognize that the pallet 33 is not supported by the fork 32 even though the cab 31 is equal to or higher than the predetermined height H. Then, after the alarm unit 40 is stopped by the stop switch 54 (after the first control flow is finished), when the operator opens the guard bar 16, the cab 31 is higher than the predetermined height H. Nevertheless, the operator can recognize again that the pallet 33 is not supported by the fork 32.

20 Lifting device 31 Driver's cab 32 Fork 33 Pallet 40 Alarm unit 41 Camera 410 Camera image 50 Control unit 51 Pallet presence / absence determination unit 52 Height detection unit 54 Stop switch 53 Opening / closing detection unit 55 Release switch

Claims (6)

In a cargo handling vehicle comprising a cab on which an operator is boarded, an elevating device for raising and lowering the cab, and a pair of forks that move up and down together with the cab.
A camera that images the pair of forks;
A pallet presence / absence determining unit that determines whether or not the pair of forks support a pallet based on a captured image of the camera;
A height detection unit for detecting the elevation height of the cab;
An alarm unit for alarming the operator;
When the pallet presence / absence determination unit determines that the pair of forks do not support the pallet, and the height detection unit detects that the cab is higher than a predetermined height. A control unit that controls the alarm unit so that the operation of the alarm unit starts,
The pallet presence / absence determining unit
The color of the pair of forks is stored in advance,
When the pair of forks are not recognized at a predetermined position where the pair of forks in the captured image are to be imaged more than a predetermined number of pixels, it is determined that the pair of forks support a pallet,
A cargo handling vehicle, wherein when the color of the pair of forks is recognized by a predetermined number of pixels or more at the predetermined position in the captured image, it is determined that the pair of forks do not support a pallet. In a cargo handling vehicle comprising a cab on which an operator is boarded, an elevating device for raising and lowering the cab, and a pair of forks that move up and down together with the cab.
A camera that images the pair of forks;
A pallet presence / absence determining unit that determines whether or not the pair of forks support a pallet based on a captured image of the camera;
A height detection unit for detecting the elevation height of the cab;
An alarm unit for alarming the operator;
When the pallet presence / absence determination unit determines that the pair of forks do not support the pallet, and the height detection unit detects that the cab is higher than a predetermined height. A control unit that controls the alarm unit so that the operation of the alarm unit starts,
The pallet presence / absence determining unit
First, a first reference image composed of an image with the pair of forks supporting the pallet and a second reference image composed of an image with the pair of forks not supporting the pallet are stored. , Comparing the captured image with the first and second reference images,
When the degree of coincidence between the captured image and the first reference image is higher than the degree of coincidence between the captured image and the second reference image, it is determined that the pair of forks support a pallet,
When the degree of coincidence between the captured image and the second reference image is higher than the degree of coincidence between the captured image and the first reference image, it is determined that the pair of forks do not support a pallet. Cargo handling vehicle. In a cargo handling vehicle comprising a cab on which an operator is boarded, an elevating device for raising and lowering the cab, and a pair of forks that move up and down together with the cab.
A camera that images the pair of forks;
A pallet presence / absence determining unit that determines whether or not the pair of forks support a pallet based on a captured image of the camera;
A height detection unit for detecting the elevation height of the cab;
When the pallet presence / absence determination unit determines that the pair of forks do not support the pallet, and the height detection unit detects that the cab is higher than a predetermined height. A control unit that controls the lifting device so that the cab rise is stopped,
The pallet presence / absence determining unit
The color of the pair of forks is stored in advance,
When the pair of forks are not recognized at a predetermined position where the pair of forks in the captured image are to be imaged more than a predetermined number of pixels, it is determined that the pair of forks support a pallet,
A cargo handling vehicle, wherein when the color of the pair of forks is recognized by a predetermined number of pixels or more at the predetermined position in the captured image, it is determined that the pair of forks do not support a pallet. In a cargo handling vehicle comprising a cab on which an operator is boarded, an elevating device for raising and lowering the cab, and a pair of forks that move up and down together with the cab.
A camera that images the pair of forks;
A pallet presence / absence determining unit that determines whether or not the pair of forks support a pallet based on a captured image of the camera;
A height detection unit for detecting the elevation height of the cab;
When the pallet presence / absence determination unit determines that the pair of forks do not support the pallet, and the height detection unit detects that the cab is higher than a predetermined height. A control unit that controls the lifting device so that the cab rise is stopped,
The pallet presence / absence determining unit
First, a first reference image composed of an image with the pair of forks supporting the pallet and a second reference image composed of an image with the pair of forks not supporting the pallet are stored. , Comparing the captured image with the first and second reference images,
When the degree of coincidence between the captured image and the first reference image is higher than the degree of coincidence between the captured image and the second reference image, it is determined that the pair of forks support a pallet,
When the degree of coincidence between the captured image and the second reference image is higher than the degree of coincidence between the captured image and the first reference image, it is determined that the pair of forks do not support a pallet. Cargo handling vehicle. Furthermore, a stop switch for stopping the operation of the alarm unit is provided,
3. The cargo handling vehicle according to claim 1, wherein the control unit controls the alarm unit such that the operation of the alarm unit is stopped when the stop switch is pressed. 4. Furthermore, a release switch for canceling the stop of raising and lowering the cab is provided,
5. The cargo handling vehicle according to claim 3, wherein the control unit controls the elevating device so that the cab can be raised when the release switch is pressed.

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