JPH10182094A - Forklift truck controlling method based on physical distribution management data - Google Patents

Abstract

PROBLEM TO BE SOLVED: To prevent a fork claw and the like from colliding against a shelf step and the like when a vehicle body is moved backward after finishing cargo placing/picking. SOLUTION: A physical distribution management computer 1 storing physical distribution management data indicating work contents or a work attitude position for cargo placing/picking work is provided, and on the basis of the physical distribution management data from the physical distribution management computer 1, the work of a forklift truck is controlled. In this way, the physical distribution management data in the physical distribution management computer 1 contains data for an overall length of a working machine such as a fork claw, a length of a cargo, and a length of a pallet. When a vehicle body is moved backward after finishing cargo placing/picking work, an action limit of the working machine is controlled so that a lifting/lowering action and the like at a lift height is not carried out unless a backward movement distance becomes the safety backward movement distance computed on the basis of the physical distribution management data.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control method for controlling the operation of a forklift truck based on distribution management data from a distribution management computer.

[0002]

2. Description of the Related Art Conventionally, in the forklift truck loading and unloading work, there has been known a method of controlling the forklift truck work based on distribution management data.
A logistics management computer that stores logistics management data is provided, and the logistics management data includes operations for loading and unloading operations such as loading and unloading from where on the shelf in the shelf. The contents and the lifting position of the lift and the working posture position of the tilt angle during the work corresponding to each shelf. The forklift truck receives the logistics management data from the logistics management computer, displays the data and informs the operator of the contents of the work, and also lifts and tilts the lift so that the work posture is based on the logistics management data. An in-vehicle controller for controlling the inclination is provided.

[0003] When the operator sees the work contents and starts the operation, lift lift and tilt inclination are performed based on the work posture position of the logistics management data, and a desired lift lift position or tilt position is performed. With the inclination angle, it is possible to carry out a loading / unloading work such as taking a load from a desired shelf or putting a load on a desired shelf.

[0004] In the loading / unloading operation as described above, when the loading or the loading is completed, the operator moves the vehicle backward, and at the time of loading, the operator moves on the fork claw or the fork claw. The loaded pallet and luggage are pulled out from the shelf shelf, or when loading, the fork claws are pulled out from the pallet and shelf shelves on which the luggage is placed,
After the fork claw or the like is pulled out of the shelf or the like, the lift lever is operated to perform a lowering operation at the lift height (fork claw is lowered), and the tilt lever is operated to move the tilt inclining backward to travel. I was trying to take a posture.
Then, after the vehicle is in the traveling posture, the vehicle body travels forward or backward to transport the cargo to a desired place or head to the next work place.

[0005]

In the conventional loading / unloading work, when the loading or the loading is completed, the operator determines whether or not the vehicle has traveled backward by a predetermined distance, that is, fork pawls. After confirming whether or not the product comes out of the shelf, etc. of the shelf, the descending operation at the lift height or the backward tilt operation is performed.

However, the beginner does not travel backward by a predetermined distance but performs a descending operation at the lift height or a tilting operation after the tilt incline, thereby causing the fork claws to collide with the shelf steps or the like of the shelf. Problems such as breakage of luggage due to collapse, breakage of fork claws or shelf steps of shelves, or deterioration of work efficiency due to traveling backwards more than necessary due to fear of fork claws colliding with shelves of shelves etc. There were problems.

[0007] In addition, even in order to improve the working efficiency, the skilled worker is also required to perform the lowering operation in the lift height and the backward tilting operation of the tilt incline depending on whether the reverse travel distance has reached a predetermined distance. In some cases, the fork claws may collide with the shelves of the shelf or the like, which has the above-described problem. In addition, even when a skilled worker works at a high place or works in a dark place, there is a problem that it is difficult to make this determination and the working efficiency is deteriorated. An object of the present invention is to solve these problems.

[0008]

According to the present invention, there is provided a logistics management computer for storing logistics management data indicating work contents and work postures for unloading / loading work. In a control method for controlling the operation of a forklift truck based on data, the logistics management data in the logistics management computer may include data on the total length of a working machine such as a fork claw, the length of a load, and the length of a pallet. When the vehicle travels backward when loading / unloading is completed, as long as the reverse distance does not exceed the safe reverse distance calculated based on the logistics management data, the ascent / descent operation at the lift height or the tilt / inclination is performed. Limit the operation of the work machine so as not to perform it.

[0009]

[Operation] When the vehicle moves backward when loading / unloading is completed, ascending and descending operations and tilting of the lift height are not performed unless the vehicle travels backward beyond the safe reverse distance. Collision with a shelf or the like can be eliminated. In addition, it is possible to prevent the vehicle from traveling backward more than necessary by eliminating the collision of the fork claws and the like.

[0010]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS As an embodiment of a method for controlling a forklift truck based on distribution management data according to the present invention, for example, shelves having a plurality of shelves which are divided and store cargo in a vertical direction and a longitudinal direction are provided. A description will be given of a case in which a forklift truck is used to perform a loading / unloading work such as taking a load from a desired position on each shelf of a shelf or placing a load at a desired position.

As shown in FIG. 1, a logistics management computer 1 for storing logistics management data for managing the loading and unloading work by the forklift truck is provided. The details of the work and the position of the work posture include the lift position and tilt angle, as well as the total length of the fork claws, the length of the load, and the length of the pallet.

The forklift truck receives distribution management data from the distribution management computer 1 in a wireless manner, displays the received data and informs the operator of the work contents, and operates the forklift truck based on the distribution management data. And the vehicle-mounted controller 2 that controls the lift height and tilt inclination.
A travel distance sensor 3 for detecting a travel distance of the vehicle body, a lift lever sensor 4 for detecting an operation amount of a lift lever, a tilt lever sensor 5 for detecting an operation amount of a tilt lever, a lift sensor 6 for detecting a lift lift position, An inclination sensor 7 for detecting a tilt inclination angle, a load sensor 8 for detecting a load applied to a lift device, an automatic manual changeover switch 9 for switching between loading and loading work automatically and manually, a forward / reverse changeover switch for switching forward / backward movement of a vehicle body 10 and a loading / unloading completion switch 11 for confirming that loading / unloading has been completed.

Next, the logistics management computer 1 will be described in detail. The logistics management computer 1 comprises a computer main body 12 having a built-in memory, an input / output terminal, an interface, and a communication device 13 provided outside the computer. In this example, work contents such as where to pick up or where to load in each of the shelves of the shelf are stored as distribution management data. Further, the lift position and the tilt angle, which are the working posture positions, are stored as logistics management data, which are assigned numbers to each shelf of the shelf, for example, A-1, A-2, A-3, B-1, B-2 ...
The height and inclination of the shelf are stored for each number, and the lift elevation position and the tilt inclination angle of the work place obtained from the stored height and inclination of each shelf are stored. Further, the total length of the fork claws of the working machine of the forklift truck to be used, the length of the load for carrying out the cargo work, and the length of the pallet on which the load is placed are stored as the distribution management data. Then, the logistics management computer 1 calculates the work content and the work posture position, ie, the lift elevation position and the tilt angle, which are the stored logistics management data, the total length of the fork claws, the length of the load, and the length of the pallet. Is transmitted via the communication device 13.

Further, as shown in FIG. 2, the on-vehicle controller 2 includes a communication device 14 for externally receiving distribution management data transmitted from the distribution management computer 1. A pulse input circuit 17 that receives a signal from the mileage sensor 3 and outputs the signal to the CPU 15, a lift lever sensor 4, and a CPU 15 that executes a program and a memory 16 that stores distribution management data and the like.
A / D converter 18 which receives analog signals from the tilt lever sensor 5, the elevation sensor 6, the inclination sensor 7 and the load sensor 8, converts the signals into digital signals, and outputs the digital signals to the CPU 15, the automatic manual changeover switch 9 and the forward / reverse changeover It has a switch input circuit 19 for inputting a signal from the switch 10 and the loading / unloading completion switch 11 and outputting the signal to the CPU 15. Further, a signal output from the CPU 15 is converted from a digital signal to an analog signal, and the converted signal is converted into an analog signal. It has a D / A converter 23 that outputs the signals to the rearward tilt side, respectively. Further, the CPU 15 outputs logistics management data such as work contents directly to a work display section 24 provided in front of the driver's seat of the vehicle body.

On the other hand, as shown in FIG. 3, an engine 25
Alternatively, a hydraulic pump 26 serving as a hydraulic oil source driven by a work machine motor is provided, and the hydraulic pump 26 is connected to a lift electromagnetic proportional valve 21, and the lift electromagnetic proportional valve 21 is mounted on the ascending or descending side of the vehicle. A signal is input from the controller 2 to control the oil amount based on the signal. One of the lift electromagnetic proportional valves 21 is connected to a lift cylinder 27, and the other is connected to a tilt electromagnetic proportional valve 22, and the tilt electromagnetic proportional valve 22 sends a signal from the in-vehicle controller 2 to its forward or backward tilt side. Is input and the oil amount is controlled based on the input, and the tilt electromagnetic proportional valve 22 is connected to the tilt cylinder 28. Therefore, the lift cylinder 27 and the tilt cylinder 28
As a result, lift lift and tilt inclination are performed.

In such a case, in the physical distribution management computer 1, as the stored physical distribution management data, for example, as shown in FIG.
The type of work (unloading, loading) is unloading, the work place is A-3,
Type of load is 123-12-123, load is 1200k
g, lift height is 2400mm, tilt angle is 0
Degree, the total length of the fork claw is 1000mm, the length of the luggage is 8
00 mm and the length of the pallet is 1000 mm. Then, the distribution management data is transmitted via the communication device 13.

On the other hand, the in-vehicle controller 2 receives the distribution management data transmitted from the distribution management computer 1 via the communication device 14 and
4, the logistics management data such as the work content is transmitted to the operator. When the lift height position and the tilt inclination angle are input from the distribution management data transmitted from the physical distribution management computer 1, the lift height and the tilt inclination are controlled based on these. Furthermore, based on the data of the total length of the fork claws, the length of the package, and the length of the pallet in the logistics management data,
Calculate the safe reverse distance when the vehicle is traveling backwards when loading is completed.If the reverse distance does not exceed the calculated safe reverse distance, do not perform the lowering operation or the tilt in the lift height so that the lift height etc. A limit control of the operation of the work machine is performed.

As shown in FIG. 5, the restriction control of the operation of the work machine calculates each front end position from the total length of the fork claws 31, the length of the package 32, and the length of the pallet 33 in the received distribution management data. By comparing these, the foremost position located at the forefront end is determined as the foremost end position, and the fork claw 31, baggage 32, or pallet 33 at the time of lift lifting is placed on the shelf 34 of the shelf. by adding the safety gap size required is the minimum clearance for not contacting the equal β calculating the safety reverse distance L _a. Then, based on the safety reverse distance L _A calculated in this manner, Ni置&
During reverse running of the vehicle at the time of nits completion, in which the reverse distance so as not to perform the lowering operation and the tilt slope in the lift fork height unless the above said safety backward distance L _A.

[0019] Then, the control of the lift fork height and tilt inclined not to perform a safe backward distance downward movement unless L _A not more than during the Ni置-nits completed, the operator at the time Ni置or nits complete by but putting completion switch 11 preparative load置荷, resets the count of the travel distance sensor 3, when the vehicle reverse travel, wherein from the count of the travel distance sensor 3 (running distance) is more than safe backward distance L _a Unless it is necessary to do so, the descending operation and the tilting at the lift height are not performed, and a warning display, for example, lighting of a red lamp or the like is performed. When the count of the travel distance sensor 3 (travel distance) is equal to or greater than the safety reverse distance L _A, as well as to allow the lowering operation and the tilt slope in the lift fork height, now stop warning display, thereby, the automatic The lowering operation or tilting at the lift height is performed to the predetermined running posture, or the lowering operation or the tilting at the lift height is performed manually to the predetermined running posture to perform the desired operation or the next operation. Drive the vehicle to the location.

The control for restricting the operation of the working machine, which is the control for restricting the lift and tilt of the lift in the vehicle-mounted controller 2, will be specifically described with reference to the flowchart shown in FIG. First, distribution management data is received from the distribution management computer 1. The gap size alpha ₁ is a gap between the backrest 31a and luggage 32 of the fork claw 31 to the length L _L of the load 32 of the distribution management data received
The adds calculates the front end position L ₁ of the luggage 32. on the other hand,
The length L _P of the pallet 33 of the received physical distribution management data
Backrest 31a of fork claw 31 and pallet 33
The front end position L ₂ of the pallet 33 is calculated by adding the gap dimension α ₂ which is the gap between the pallet 33.

Then, the calculated front end position L _{1 of} the package 32 is calculated.
And compared with the front end position L ₂ of the pallet 33, to the longer of the foremost end position L _X luggage side. Furthermore, compared with the most forward position L _X of the total length L _F of the fork claw 31 of the distribution management data the cargo side, the longer the the foremost end position L _M.
Then, tray 34 fork pawl 31 and luggage 32, or pallet 33 during the lift fork height in the foremost end position L _M is shelf
By adding the safety gap size required is the minimum clearance for not contacting the equal β calculating the safety reverse distance L _A. Then, it is determined whether the loading / unloading completion switch 11 is turned on,
In the case of entering, the count of the traveling distance sensor 3 is reset.

Next, the travel distance of the vehicle from the travel distance sensor 3 and enter the (reverse distance), the travel distance to determine whether equal to or greater than the safety reverse distance L _A calculated in the above. The safety reverse distance if L does not _A or more, a warning displayed with the restriction control of the lift fork height so as not to perform the lowering operation and the tilt slope in the lift fork height. Also, when it becomes more secure reverse distance L _A, stop the warning display as well as to allow the lowering operation and the tilt slope in the lift fork height. Then, the lowering operation or the tilting in the lift height is performed automatically or manually, and the vehicle comes to a predetermined running posture.

With this arrangement, when the vehicle travels backward when loading / unloading is completed, the lowering operation and the tilting of the lift are not performed unless the vehicle travels backward more than the safe reverse distance. It is possible to eliminate a situation in which 31 or the like collides with the shelf 34 of the shelf. In addition, it is possible to prevent the vehicle from traveling backward more than necessary by eliminating the collision of the fork claws 31 and the like.

[0024] In the examples described above, when the reverse travel at Ni置-nits completed, the lowering operation and the tilt slope in the lift fork height when the reverse distance becomes more secure reverse distance L _A is the reverse distance be automatically operation is started at the same time as it becomes more secure reverse distance L _a, or an operator may be either be started by operating the lift lever and the tilt lever.

Further, in the above-described embodiment, the loading / unloading completion switch 11 is provided, and the count of the traveling distance sensor 3 is reset by a signal from this switch. The count of the traveling distance sensor 3 may be reset by switching from forward to reverse, or from neutral to reverse at.

Also, in the above-described embodiment, the gap dimension α ₁ , which is the gap between the backrest 31 a of the fork pawl 31 and the baggage 32, and the gap dimension α, which is the gap between the backrest 31 a of the fork pawl 31 and the pallet 33. ₂ and 3, the pallet 33 is always placed at a predetermined position with respect to the fork claw 31, and the load 32 is always placed at a predetermined position with respect to the pallet 33, so that the gap dimension α ₁ and the gap size α ₂ may be set to a predetermined size, or the gap size α ₁
And it includes a sensor for detecting the gap size alpha _2, thereby may be obtained gap size alpha ₁ and gap size alpha _2.

Further, in the above-described embodiment, the case where the descending operation and the tilt inclination at the lift height are controlled to be limited is described. However, the present invention is not limited to this.
In the case of another work machine, for example, a roll clamping device, the total length of the clamping device may be included as the distribution management data, so that the rotational motion, the lift height, and the tilt inclination may be limitedly controlled.

In the above-described embodiment, the control for restricting the operation of the work machine is the lowering operation at the lift height, but is not limited to the lowering operation only. You may do it.

[0029]

According to the present invention, when the vehicle travels backward when loading / unloading is completed, the operation of the working machine such as the lifting / lowering operation at the lift height and the tilt inclination is not performed unless the vehicle travels backward more than the safe reverse distance. It is possible to prevent the fork claws etc. from colliding with the shelves on the shelf, etc., and to prevent the damage of the luggage due to the collapse of the load or the fork claws or the shelves on the shelves etc. It can be greatly improved. In addition, it is possible to prevent the vehicle from traveling backward more than necessary by eliminating collision of fork claws and the like,
By minimizing the reverse traveling, the working time can be reduced and the working efficiency can be improved. In this manner, safety and work efficiency can be improved for all operators, from beginners to skilled operators.

[Brief description of the drawings]

FIG. 1 is a configuration diagram of a method for controlling a forklift truck based on distribution management data.

FIG. 2 is a configuration diagram of an in-vehicle controller in a method for controlling a forklift truck based on distribution management data.

FIG. 3 is an explanatory diagram of a hydraulic circuit in a method for controlling a forklift truck based on distribution management data.

FIG. 4 is a chart of distribution management data in a method of controlling a forklift truck based on distribution management data.

FIG. 5 is an explanatory diagram in a method of controlling a forklift truck based on distribution management data.

FIG. 6 is a flowchart of a method for controlling a forklift truck based on distribution management data.

[Explanation of symbols]

1 ... logistics management computer, 2 ... on-board controller, 3
... travel distance sensor, 4 ... lift lever sensor, 5 ... tilt lever sensor, 6 ... lift sensor, 7 ... inclination sensor, 8
... load sensor, 9 ... automatic manual changeover switch, 10 ... forward / reverse changeover switch, 11 ... loading / unloading completion switch, 12
... computer body, 13 ... communication device, 14 ... communication device, 15 ... CPU, 16 ... memory, 17 ... pulse input circuit, 18 ... A / D converter, 19 ... switch input circuit, 21 ... lift electromagnetic proportional valve, 22 ... Tilt electromagnetic proportional valve, 23: D / A converter, 24: work display unit, 25
... Engine, 26 ... Hydraulic pump, 27 ... Lift cylinder, 28 ... Tilt cylinder, 31 ... Fork claw, 31a
... backrest, 32 ... luggage, 33 ... pallet, 34 ...
Shelf.

Claims (1)

[Claims] 1. A logistics management computer 1 for storing logistics management data indicating work contents and work postures for loading / unloading work, and a forklift truck based on the logistics management data from the logistics management computer 1. The logistics management data in the logistics management computer 1 includes the data of the total length of the working machine such as fork claws, the length of the luggage, and the length of the pallet. When the vehicle travels backward when the take-off is completed, the operation of the work machine is performed so as not to perform the lifting / lowering operation at the lift height unless the reverse distance exceeds the safe reverse distance calculated based on the distribution management data. A method for controlling a forklift truck based on logistics management data, characterized in that the control is performed on the forklift truck.