JPH07138000A - Manned/unmanned load handling vehicle - Google Patents

Abstract

PURPOSE:To facilitate both manned and unmanned load haandling work by providing a manned/unmanned mode selector switch and manned and unmanned mode command devices. CONSTITUTION:A manned mode command device 103 is provided with a group of command switches S1 to Sn and, when a selector switch S0 is switched over to a manned side contact point 102A, various commands can be outputted. Also, an unmanned mode command device 104 is provided with a CPU, and prepares steering and traveling commands while processing detection signals from a mark sensor 12 to detect various markers laid down on a road surface and a guide sensor 13. Then a control device 200 takes in various commands P1 to Pn outputted from the manned mode command device 103, various commands D1 to D2 outputted from the unmanned mode command device 104, and detection signals from a travel condition monitoring sensor 15, a load handling condition monitoring sensor 16 for fork height, etc., to feedback-control the traveling and lifting and inclination of fork of a vehicle.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a manned / unmanned cargo handling vehicle capable of unmanned traveling while detecting a guide provided along a traveling route.

[0002]

2. Description of the Related Art FIG. 3 is a schematic diagram of an unmanned forklift vehicle, and its control system is shown in a block diagram in FIG. The unmanned forklift vehicle is equipped with a battery and automatically travels along the guide line 2 while the guide sensor 2 detects the guide line 2 laid on the road surface 1 as shown in FIG. 30 is a frame of a forklift vehicle, 31 is front wheels, 3
2 is a rear wheel, 33 is a fork, and 34 is a mast.

In FIG. 4, reference numeral 10 is a control device having a CPU. This control device 10 processes guide / mark information such as output of a mark sensor 12 or a guide sensor 13 that detects various markers such as a stop marker laid on the road surface, wireless information provided by wireless communication 14 from another device, and is built in. The steering mechanism 20 and the traveling mechanism 21 including the traveling motor are controlled according to the running program 11, and the traveling state monitoring sensor 15 including the speed sensor, the fork height sensor, and the cargo handling state monitoring sensor 16 including the fork tilt sensor. A traveling mechanism 21 including a traveling motor, a cargo handling mechanism 22 for supplying / discharging hydraulic pressure to / from a lifting cylinder and a tilt cylinder of a fork, and a hydraulic power source 23 including a hydraulic motor are processed in accordance with an internal program while processing a detection signal from Control.

[0004]

Recently, there has been an increasing demand for a cargo handling / conveying system in which unmanned operation is performed between cargo handling stations and a driver operates the cargo handling work at the cargo handling stations. In order to achieve this, there are two types of control systems for unmanned driving and manned driving.
One control system is required, and there is a problem that the control system is complicated and expensive. The present invention has been made to solve this problem, and an object of the present invention is to obtain a manned / unmanned cargo handling vehicle that is capable of manned / unmanned use with an inexpensive and simple control system.

[0005]

In order to achieve the above object, the present invention provides, in claim 1, a cargo handling vehicle capable of unmanned traveling while detecting a guide provided along a traveling route. Is a manned mode / unmanned mode switch, a manned mode commander, an unmanned mode finger commander, and a command output from the commander, and based on the command, a steering mechanism, a traveling mechanism, and a cargo handling mechanism. The unmanned mode command device has a contact group for command transmission that is energized and turned on when the unmanned mode is switched, and guide / sign information and / or a wireless signal from another device is provided. After processing the information, create a command according to the built-in program and then input it to the main control unit through the contact group.The manned mode commander outputs the command by the driver operation in the manned mode. It has a configuration that is possible.

In the second aspect of the invention, the unmanned mode commander does not generate a cargo handling command.

According to a third aspect of the present invention, the steering command by operating the steering wheel is directly supplied to the steering mechanism through the changeover switch which is interlocked with the manned mode / unmanned mode changeover switch, and the steering command generated by the unmanned mode commander is also concerned. It is characterized in that it is directly supplied to the steering mechanism via a changeover switch.

[0008]

According to the present invention, the command system is switched between the manned mode and the manned mode, but the traveling cargo handling control device is shared for manned use.

[0009]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings.

FIG. 1 shows a manned / unmanned forklift vehicle (running between cargo handling stations is unmanned,
FIG. 2 is a schematic configuration diagram of a vehicle in which a cargo handling work at a cargo handling station is performed by a driver. 35 is a driver's seat, 37 is a driver's cab, 38 is a button switch group and / or lever for giving a fork up / down command, a fork tilt command, etc. group,
Reference numeral 39 is a pedal such as a brake pedal.

FIG. 2 shows a control system of this manned / unmanned forklift vehicle. In FIG. 2, 1
00 is a power source (battery), 101 is a manned mode / unmanned mode switch S ₀ , 102A is a manned side contact, 102
B unattended side contact, 103 is a command device for attended mode, comprising a command switch group S ₁ to S _n, when the changeover switch S ₀ is switched to the manned side contact 102A, operating through the selector switch S ₀ Power is supplied and various commands can be output.

Reference numeral 104 denotes a commander for unmanned mode, which is C
1 from a mark sensor 12 or a guide sensor that has a PU and detects various markers such as stop markers laid on the road surface
While processing the detection signal (guide information) of No. 3, a steering / running command is created in accordance with the built-in program 11. Relay contact Ry ₁ ~Ry _n of the directive relay 105 that was created
Output through. The relay 105, the changeover switch S ₀ is energized when switched on unattended side contact 102A, the relay contact Ry ₁ to Ry _n is closed.

Reference numeral 200 denotes a control device which takes in various commands P _{1 to} P _n output from the manned mode command device 103 and various commands D _{1 to} D _n output from the unmanned mode command device 104. The main control device 200 also takes in detection signals from the sensor 15 for monitoring the traveling condition including a speed sensor, the height sensor of the fork, and the sensor 16 for monitoring the cargo handling condition including the tilt sensor of the fork, so that the vehicle travels and the fork moves up and down. -Feedback control for tilting.

These commands P _{1 to} P _n or D _{1 to} D _n
Is a traveling command including a speed command and a braking command, a cargo handling command including a fork up / down command, a tilt forward / backward tilt command, and the like.

Reference numeral 300 denotes a steering handle mechanism, and the steering command P _{Z to be} sent is directly supplied to the steering mechanism through the changeover switch 106. The unmanned mode command device 104 creates the steering command D _Z based on the detection signal of the guide sensor 13, and this steering command D _Z is also the changeover switch 106 (S ₆ ).
It is directly supplied to the steering mechanism through. Changeover switch 10
6 has a manned side contact 107A and an unmanned side contact 107A,
In this example, the unmanned mode command device 104 is provided and operates in conjunction with the manned mode / unmanned mode changeover switch S ₀ .

The control system of this embodiment comprises a manned mode command device 103, an unmanned mode command device 104, a control device 200,
Manned mode command device 103 and unmanned mode command device 104
Switch between manned mode / unmanned mode 10
1, the control device 200 is shared in both the manned mode and the unmanned mode.

When viewed from the control system (shown in FIG. 5) of the conventional manned forklift vehicle, the commander 10 for the unmanned mode is used.
A manned / unmanned forklift vehicle can be obtained by simply adding 4. Since the unmanned mode command device 104 only creates a command, the control device 10 described above is used.
The manned / unmanned forklift vehicle can be provided at a low cost based on the control system of the manned forklift vehicle.

In FIG. 5, PS ₁ and PS ₂ are lift-up command switches and lift-down command switches, VR ₁ is lift amount command means, PS ₃ and PS ₄ are tilt forward tilt command switches and tilt commands, respectively. Rear tilt command switch, VR ₂ means tilt amount command, PS ₅ front /
A reverse command switch, VR ₃ is an accelerator, SS ₁ is a fork lift height setting device, and SS ₂ is a tilt angle setting device.
Further, TR ₁ is a semiconductor switching element, M ₁ is a traveling motor, F ₁ is a field of the motor, MCF and MCR are excitation coils of a field switching device, MCFs and MCRs are switching contacts of the field switching device, and TR. ₂ is a semiconductor switching element, M ₂
Is a cargo handling motor, and F ₂ is a field of the motor. Further, CY ₁ and CY ₂ are lift-up solenoid proportional valves, lift-down solenoid proportional valves, and CY ₃ and CY ₄ are tilt forward tilting proportional tilt valves and tilt back tilting solenoid proportional valves, respectively.

In particular, as in the embodiment, in the case of a vehicle in which traveling between cargo handling stations is performed by unmanned operation and cargo handling work at the cargo handling station is performed by a driver, the unmanned mode command device 104 controls the steering and traveling commands. Since it is only necessary to create a command related to traveling such as "," it will be simpler.

Of course, the unmanned mode command device 104 may also be configured to generate a cargo handling command.

[0021]

As described above, according to the present invention, since the unmanned mode commander is simply connected to the control device of the vehicle for manned driving, a manned / unmanned vehicle can be easily obtained. Also, the unmanned mode commander only processes the outputs of the sensors and creates a command in accordance with a program, and since only a command according to the usage pattern of the vehicle needs to be created,
It can be easily obtained at low cost, and the above effects can be further enhanced.

[Brief description of drawings]

FIG. 1 is a diagram schematically showing a manned / unmanned forklift vehicle according to an embodiment of the present invention.

FIG. 2 is a block diagram of a control system in the above embodiment.

FIG. 3 is a diagram schematically showing an unmanned forklift vehicle.

FIG. 4 is a block diagram of a control system of the unmanned forklift vehicle.

FIG. 5 is a block diagram of a control system of a conventional manned forklift vehicle.

[Explanation of symbols]

12 mark sensor 14 guide sensor 15 speed sensor which is a traveling condition monitoring sensor 16 tilt sensor which is a cargo handling condition monitoring sensor, height sensor, etc. 20 steering mechanism 21 traveling mechanism 22 cargo handling mechanism 23 hydraulic power source 101 manned mode / unmanned mode changeover switch 103 Manned Mode Commander 104 Unmanned Mode Commander 105 Relay 106 Switch 200 Control Device 300 Steering Handle Mechanism

Claims (3)

[Claims] 1. A cargo handling vehicle capable of unmanned traveling while detecting a guide provided along a traveling route, wherein the cargo handling vehicle includes a manned mode / unmanned mode switching switch, and a manned mode commander. An unmanned mode command device and a control device for automatically controlling the steering mechanism, the traveling mechanism, and the cargo handling mechanism based on the command by inputting the command are provided, and the unmanned mode command device is energized when switching the unmanned mode. It has a contact point group for command transmission that turns on, creates a command according to a built-in program while processing guide / sign information and / or wireless information from other devices, and then inputs it to the control device through the contact point group. The manned mode command device is capable of outputting a command by a driver's operation in the manned mode. 2. The manned / unmanned cargo handling vehicle according to claim 1, wherein the unmanned mode commander does not generate a cargo handling command. 3. The steering command by operating the steering wheel is directly supplied to the steering mechanism through a changeover switch which is interlocked with a manned mode / unmanned mode changeover switch, and the steering command generated by the unmanned mode commander is also transmitted through the changeover switch. 3. The steering mechanism is directly supplied to the steering mechanism.
The listed manned / unmanned cargo handling vehicles.