JPH1053127A - Positioning device at time of loading - Google Patents

Abstract

PROBLEM TO BE SOLVED: To shorten a time in which a conveying means approaches a position below a conveying bed, to improve efficiency, to prevent the occurrence of a deviated load through control of a stop position below the conveyance bed, and to improve reliability. SOLUTION: A positioning device comprises a lateral position indicating means 11 placed on a conveying bed 10 on which a substance to be conveyed is placed; a longitudinal position indicating means 12 arranged on the conveying bed; right and left position detecting means 21 and 22 arranged on a conveying means 20; and a longitudinal position detecting means 23 arranged on the conveying means. Right and left positions are decided by the lateral position indicating means and the right and left position detecting means, front and rear positions are decided by the position indicating means and the longitudinal position detecting means, and positioning is performed between the conveying bed and the conveying means.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a positioning device for loading a load for transporting a carrier on which a load is placed, and more particularly, to a moving direction of a transport vehicle below the transport platform. And a positioning device at the time of loading a load capable of controlling a stop position.

[0002]

2. Description of the Related Art Conventionally, in the field of transporting large objects to be transported (hereinafter referred to as luggage), a pallet is used as a portable table (carrier) on which luggage can be loaded, and the pallet is lifted from below. 2. Description of the Related Art Pallet trucks capable of transporting luggage along with pallets by traveling are known.

FIG. 19 is a schematic view showing this type of pallet truck and pallet. The pallet transport vehicle 1 includes a flat bed 2 that can be moved up and down in a vertical direction, and front wheels 3 and rear wheels 4 that are provided below the bed 2 and that can be steered and driven. In addition, the vertical movement of the bed 2 and the front wheels 3 and the rear wheels 4
A driver's seat 5 for steering and drive control of the vehicle is provided at the front and rear of the lower part of the carrier 2 in the traveling direction, respectively.

On the other hand, the pallet 6 has a mounting table 7 for mounting luggage, the four corners of which are supported by four legs 8. Here, the pallet transport vehicle 1 travels with the carrier 2 lowered and enters below the pallet 6 by the operation of the operator, and temporarily stops. Thereafter, the pallet 6 is lifted by raising the loading platform 2, and the pallet 6 is conveyed by restarting traveling.

Next, the case of unmanned conveyance will be described. As shown in FIG. 20, a road surface guide line 9a is formed on the road surface so as to correspond to the above-described route of traveling of the pallet transport vehicle 1 and approaching below the pallet 6. A road surface stop guide line 9b is formed on the road surface near the center below the pallet 6 and beside the road surface guide line 9a.

On the other hand, the pallet truck 1, by two road inductive sensor 9 ₁ having the respective loading platform 2 the lower portion of the front wheel 3 and near the rear wheel 4 near detects each road guiding line 9a, the road guide wire 9a Follow along. Further, the pallet truck 1, the road stops inductive sensor 9 ₂ having in the vicinity of the central portion of bed 2 bottom stops and detects the road surface stop guide wire 9b.

As a result, the pallet transport vehicle 1 can travel and stop at an arbitrary position by unmanned operation, and can enter the lower part of the pallet 6 and transport pallets by unmanned operation.

[0008]

However, in the pallet transporter described above, the operator tends to collide with the pallet 6 because the operator often sees and feels the pallet 6 when driving down the pallet 6. In addition, there is a problem that it takes time to drive.

If the center of the loading table 7 of the pallet 6 does not coincide with the center of the loading platform 2 of the pallet carrier 1 when lifting the pallet 6, the center of gravity of the load shifts, which causes a so-called offset load. There is a problem of lowering the reliability of luggage transportation.

Further, in the case of unmanned conveyance, the stop accuracy is 0.
However, an error of about ± 20 mm actually occurs. Therefore, when the pallet truck 1 transports the pallet 6 for the first time, the relative displacement between the two is within ± 20 mm. However, when the transport of the pallets 6 is repeated, the relative displacement between the pallet transport vehicle 1 and the pallets 6 is gradually accumulated, and there is a possibility that both will eventually interfere with each other.

The present invention has been made in view of the above circumstances, and is provided with left / right position indicating means and front / rear position indicating means for guiding an approach direction and a stop position of a transporting means on a lower surface of a transported object or a carriage. , Avoiding collision with the carriage, shortening the entry time under the carriage, improving safety and work efficiency, and controlling the stop position under the carriage to prevent eccentric load, An object of the present invention is to provide a positioning device at the time of loading a load that can improve reliability. Another object of the present invention is to provide a positioning device for loading a load, which can guide the transportation means unattended and can avoid interference with a pallet when entering.

[0012]

[Means for Solving the Problems]

(Positioning device for loading cargo) The invention corresponding to claim 1 is provided with left / right position indicating means installed on the carried object, front / rear position indicating means installed on the carried object, and installed on the carrying means. Left and right position detecting means, comprising a front and rear position detecting means installed in the transport means, determine the left and right position by the left and right position indicating means and the left and right position detecting means, by the position indicating means and the front and rear position detecting means This is a positioning device at the time of loading a load that determines a front-rear position and performs positioning between the transported object and the transporting means.

[0013] In other words, when a load is mounted on the transporting means having the left and right position indicating means and the front and rear position indicating means, and is mounted on the transporting means to move between the transported means and the transporting means. A position detecting device for detecting the left and right position indicating means, a front and rear position detecting means for detecting the front and rear position indicating means, and the transported position based on a detection result by the left and right position detecting means. Left / right determining means for determining a left / right position between an object and the transport means; and front / rear determination for determining a forward / backward position between the transported object and the transport means based on a detection result by the forward / backward position detecting means. And a positioning device for loading cargo.

According to a second aspect of the present invention, there is provided a vehicle control system comprising: a left and right position indicating means installed on a carrier on which a load is placed; a front and rear position indicating means installed on the carrier; Left and right position detection means, consisting of front and rear position detection means installed in the transport means, determine the left and right position by the left and right position instruction means and the left and right position detection means,
This is a positioning device at the time of loading a load, which determines the front / rear position by the position indicating means and the front / back position detecting means, and performs positioning between the carrier and the carrier.

[0015] In other words, it is mounted on a transporting means which can be loaded with a transported object and has a left and right position indicating means and a front and rear position indicating means, and is mounted on a transporting means. A left and right position detecting means for detecting the left and right position indicating means, a front and rear position detecting means for detecting the front and rear position indicating means, and a detection result by the left and right position detecting means. Based on the left and right determination means for determining the left and right position between the carrier and the transportation means, based on the detection result by the front and rear position detection means, the front and rear position between the carriage and the transportation means This is a positioning device at the time of loading a load, which comprises a front-rear determination means for determining whether the load is loaded.

According to a third aspect of the present invention, a carrier is used as the carrier, and a plurality of the left / right position detectors are installed on the carrier, and only the foremost left / right position detector is a left / right position indicator. During detection, the rear wheels of the transport vehicle are fixed in a straight-ahead state and steering is performed only by the front wheels. 3. A positioning device according to claim 1, wherein the steering is performed by all of the front wheels and the rear wheels.

In other words, the transportation means is a transportation vehicle having a front wheel and a rear wheel, and a plurality of the left and right position detection means installed at a front part and a rear part of the transportation vehicle; When only the front left / right position detecting means detects the left / right position indicating means, the front wheels of the carrier are controlled to be steered based on the detection result of the front left / right position detecting means, and The rear wheels are held in a straight-ahead state, and when the front and rear left and right position detecting means detect the left and right position indicating means below the conveyed object or the carriage, the left and right position detecting means 3. A positioning device at the time of loading a load according to claim 1 or 2, wherein the front wheel and the rear wheel are subjected to steering control based on a detection result.

According to a fourth aspect of the present invention, there is provided a guide means and a stop position indicating means provided on a road surface, a guide detecting means provided on the transport means for detecting the guide means, and a guide means provided on the transport means. And a stop position detecting means for detecting the stop position indicating means, wherein the carrying means is guided unmannedly to a position near the load position, and the position at the time of loading the load according to any one of claims 1 to 3. Device.

Further, according to a fifth aspect of the present invention, a transport vehicle is used as the transport means, a plurality of left / right position detecting means are installed on the transport vehicle, and only the front left / right position detecting means serves as the left / right position indicating means. During the detection, the front wheels are guided by the left and right position indicating means and the left and right position detecting means, the rear wheels are guided by the guiding means and the guiding detecting means, and the rear left and right position detecting means detects the left and right position indicating means. 5. The positioning device according to claim 4, wherein the wheels are guided by left / right position indicating means and left / right position detecting means. (Carrier) Next, a carrier corresponding to the present invention will be described.

[0020] A transportable vehicle which can enter a lower part of the carrier with respect to the carrier on which the load can be loaded, and can lift and lift the carrier on the carrier. Means and a front / rear position indicating means are installed, and the carrier body is provided at an arbitrary position on the loading platform so as to face the left / right position indicating means, and a left / right position detecting means for detecting the left / right position indicating means And, provided at an arbitrary position on the carrier so as to face the front and rear position indicating means, a front and rear position detecting means for detecting the front and rear position indicating means, and based on a detection result by the left and right position detecting means,
A steering control unit for guiding the approach direction of the carrier body, and a drive for executing the approach based on a detection result by the left and right position detecting means and stopping the approach according to a detection result by the front / rear position detecting means. It is a transport vehicle provided with a control unit.

Next, in addition to the above configuration, the carrier body is provided so as to face the road surface, and guidance detecting means for detecting guidance means provided on the road surface, and so as to face the road surface. A stop position detecting means for detecting a road surface stop position indicating means, a steering control unit for guiding an approach direction of the carrier body based on a detection result by the guidance detecting means, A drive control unit that causes the traveling to be executed based on the detection result and stops the traveling according to the detection result by the stop position detection unit may be provided.

In this case, the steering control unit controls the steering of the front wheels based on the detection result by the left and right position detecting means while the left and right position detecting means at the front only detects the left and right position indicating means. A steering control based on the detection result by the guidance detecting means, and a steering control based on the detection result by the left and right position detecting means from when the left and right position detecting means at the rear detects the left and right position indicating means. It may be. (Control Method of Transport Vehicle) A control method of a transport vehicle according to the present invention will be described.

In the above-described method for controlling a transport vehicle according to the present invention, the left / right position detecting means includes a first left / right position detecting unit provided forward on the loading platform in a traveling direction; A second left / right position detection unit provided at the rear in the traveling direction, and when only the first left / right position detection unit detects the left / right position indication means below the carriage, the first left / right position detection unit Based on the detection result of the position detector,
Steering the front wheels of the carrier body and holding the rear wheels of the carrier body in a straight-ahead state; and wherein the first and second left / right position detectors are located below the carrier. Controlling the steering of the front wheel and the rear wheel based on the detection results of the left and right position detectors when detecting the instruction means.

The second control method of the transport vehicle is such that when only the front left / right position detecting means detects the left / right position indicating means, the front wheels of the main body of the transport vehicle are detected based on the detection result by the left / right position detecting means. Controlling the steering and the rear wheels of the carrier body based on the detection result by the guidance detecting means; and, when the left and right position detecting means at the rear detects the left and right position indicating means, Controlling the steering of the rear wheel based on the detection result by the left and right position detecting means.

In the second control method, the rear wheels of the carrier main body may be held in a straight running state when only the front left / right position detecting means detects the left / right position indicating means. (Operation) Therefore, the invention corresponding to claim 1 takes the above-described means, and thus, the left and right position indicating means installed on the conveyed object, the front and rear position indicating means installed on the conveyed object, A left and right position detecting means installed on the transport means and a front and rear position detecting means installed on the transport means, the left and right position indicating means and the left and right position detecting means determine the left and right position, the position indicating means and the front and rear position detecting means , The positioning between the transported object and the transporting means is performed. Therefore, left and right position indicating means and front and rear position indicating means for guiding the approach direction and the stop position of the transporting means are provided on the lower surface of the transported object. This can shorten the time required to enter the lower part of the conveyed object and improve the work efficiency, and can also control the stop position below the conveyed object to prevent an eccentric load and improve reliability. .

According to a second aspect of the present invention, a transportable table on which a transported object can be placed is used in place of the transported object according to the first aspect. In addition to the same effect, it is possible to avoid the possibility of collision with the carriage when the transportation means enters, and to improve safety.

According to a third aspect of the present invention, a carrier is used as a carrier, a plurality of left / right position detectors are installed on the carrier, and only the foremost left / right position detector detects the left / right position indicator. During this operation, the rear wheels of the transport vehicle are fixed in a straight-ahead state and steering is performed only with the front wheels, and the front and rear wheels are detected only when both the front and rear left and right position detecting means detect the left and right position indicating means. Therefore, the same operation as the operation corresponding to claim 1 or 2 can be easily and reliably performed.

According to a fourth aspect of the present invention, there is provided a guide means and a stop position indicating means provided on a road surface, a guide detecting means provided on the transport means for detecting the guide means, and a guide means provided on the transport means. And a stop position detecting means for detecting the stop position instructing means. Since the transport means is guided unmannedly to the vicinity of the load position, the operation is the same as that of any one of claims 1 to 3. In addition to the effect of the above, the vehicle can be guided unattended.

According to a fifth aspect of the present invention, a vehicle is used as the transportation means, and a plurality of left / right position detection means are installed on the transportation vehicle. During the detection, the front wheels are guided by the left and right position indicating means and the left and right position detecting means, the rear wheels are guided by the guiding means and the guiding detecting means, and the rear left and right position detecting means detects the left and right position indicating means. In addition to the same operation as that of claim 4 in which the wheels are guided by the left / right position indicating means and the left / right position detecting means, interference with the pallet at the time of approach can be avoided.

[0030]

Embodiments of the present invention will be described below with reference to the drawings. (First Embodiment) FIG. 1 is a schematic diagram showing the configuration of a pallet truck and a pallet applied to a positioning device for loading a load according to a first embodiment of the present invention. 3 is a plan view and a side view of the pallet, and FIGS. 4 to 6 are a front view, a plan view, and a side view of the pallet truck. The same parts as those in FIG. Detailed description is omitted, and different portions are mainly described here.

That is, the positioning device for loading cargo according to the present embodiment guides the approach direction and the stop position of the pallet truck below the pallet for positioning. Specifically, as shown in FIG. The pallet 10 has a straight guide line 11 and a stop guide line 12, and the pallet carrier 20 has a drive / steering control system using two straight guide sensors 21 and 22 and a stop guide sensor 23.

Here, as shown in FIGS. 2 and 3, the pallet 10 has a straight guiding wire 11 installed along the longitudinal direction at the center of the lower surface of the mounting table 7 and the lower surface of the lower surface of the mounting table 7. Stop guide line 1 along the lateral direction in a part near the center side
2 are installed. The straight guide line 11 and the stop guide line 12 are separated from each other.

The straight guide line 11 is a left and right position indicating means for guiding the pallet truck 20 to the center in the left and right direction. For example, a magnet or a white line can be used. The stop guide line 12 is front and rear position indicating means for guiding the pallet truck 20 to the center in the front and rear direction, and for example, a magnet or a black and white line can be used. .

On the other hand, as shown in FIGS. 4 to 6, the pallet transport vehicle 20 has a forward straight-ahead guidance sensor 21 installed at the front center of the upper surface of the carrier 2 and similarly at the rear center of the upper surface of the carrier 2. A rectilinear guidance sensor 22 at the rear is provided.
Further, a stop guidance sensor 23 is provided at a part of the upper surface of the loading platform 2 near the central side surface.

Forward and backward rectilinear guidance sensors 21 and 22
Is a left / right position detecting means for guiding the pallet truck 20 to the center in the left / right direction, and has a function of detecting the straight guide line 11 and transmitting a detection signal to a control device described later. As the straight guiding sensors 21 and 22, for example, a magnetic sensor can be used for the straight guiding line 11 formed of a magnet, and a guiding camera can be used for the straight guiding line 11 formed of a white line.

The stop guidance sensor 23 is provided for the pallet truck 2
This is a front / rear position detecting means for guiding 0 to the center in the front / rear direction, and has a function of detecting the stop guide line 12 and transmitting a detection signal to a control device described later. As the stop guide sensor 23, for example, a magnetic sensor can be used for the stop guide line 12 formed of a magnet, and a guide camera can be used for the stop guide line 12 formed of a black and white line.

It is to be noted that each of these rectilinear guidance sensors 21 and 22
And the straight guide line 11 are connected to the pallet truck 20 and the pallet 1
0 is provided at each of the centers so that the centers coincide with each other in the left-right direction. Further, the rectilinear guide sensors 21 and 22 and the rectilinear guide line 11 do not necessarily need to be installed at the center portion of the pallet transport vehicle 20 and the pallet 10, and even if the installation position is laterally offset from the central portion, the pallet transport vehicle Any arrangement may be used as long as the center is relatively coincident with the pallet 20. The same applies to the relationship between the stop guidance sensor 23 and the stop guidance wire 12.

Next, a drive system and a steering system of the pallet carrier 20 will be described. The pallet truck 20 has the front wheels 3
Each of the axles of the rear wheel 4 and the rear wheel 4 is fixed to be rotatable with respect to the vehicle body, is turned by a motor, and is steerable.

Specifically, as shown in FIG. 7, each axle has an external tooth slewing bearing 24 rotatably attached to a lower portion of a pallet truck 20 and a boom fixed to the external tooth slewing bearing 24. 25, and an arm 26 having one end rotatably attached to the boom tip 25a.
A drive motor 27 and an axle 28 are fixed to the other end 26 a of the arm 26. The drive motor 27 allows the tire 29 to rotate through the axle 28, and allows the pallet truck 20 to travel. The rotation speed or running speed of the tire 29 can be detected using a rotary encoder 30 attached to the drive motor 27.

An extendable elevating cylinder 31 is provided between the other end 26a of the arm 26 and the base end 25b of the boom 25. The height of the vehicle can be adjusted by adjusting the distance of the vehicle.

Further, a support 32 is provided in the lower part of the vehicle body near the external gear slewing bearing 24.
A gear 33 is rotatably supported by the gear 2a so as to mesh with the external gear turning bearing 24, and a steering motor 34 for rotating the gear 33 is attached. The steering angle of the axle can be detected using a rotary encoder 35 attached to a steering motor 34.

FIG. 8 is a control system diagram of such a pallet transport vehicle 20. The control device 40 of this control system calculates the deviation between the left and right positions of the vehicle body based on the detection signals received from the forward and rearward straight ahead guidance sensors 21 and 22, and issues a rotation instruction of the steering motor 34 to the steering driver 41 based on the calculation result. It has a function of calculating the deviation of the front-rear position of the vehicle body based on a detection signal received from the stop guidance sensor 23, and providing a rotation instruction of the drive motor 27 to the drive driver 42 based on the calculation result.

The steering driver 41 rotates the steering motor 34 based on the rotation instruction received from the control device 40, and changes the rotation speed of the steering motor 34 based on the rotation speed received from the rotary encoder 35 to the rotation instruction from the control device 40. Feedback control is performed so as to make them coincide with each other.

Similarly, the driving driver 42 controls the control device 4
While the drive motor 27 is rotated based on the rotation instruction received from 0, feedback control is performed so that the rotation speed of the drive motor 27 matches the rotation instruction from the control device 40 with the rotation speed received from the rotary encoder 30. . The rotation speed may be used as the rotation speed in the control system of the steering driver 41 and the drive driver 42.

Next, the operation of the pallet truck constructed as described above will be described. Now, it is assumed that the pallet truck 20 and the pallet 10 are separated from each other as shown in FIG. Although not shown, it is assumed that luggage is loaded on the pallet 10.

Here, when the pallet transport vehicle 20 enters below the pallet 10, the vehicle height can be lowered as shown in FIGS. 4 and 6 by a manual operation of the operator. In addition, the pallet transport vehicle 20 allows the pallet 1 to be manually operated by an operator.
Drive down 0. The pallet truck 20
Is driven by a manual operation of the operator until the straight ahead guidance sensor 21 detects the straight ahead guide line 11.

Next, as shown in FIG. 9, when the straight ahead guidance sensor 21 detects the straight ahead guide line 11, the operation is switched to the automatic approach mode. In the pallet transport vehicle 20, a straight ahead guidance sensor 2 is provided below the pallet 10 in the front.
When only 1 detects the straight guide line 11, the control device 40
Calculates the deviation between the left and right positions of the vehicle body from the detection result of the forward straight ahead guidance sensor 21, and based on the calculation result, adjusts the front wheels 3 so that the forward straight ahead guide sensor 21 is located at the center of the straight ahead guide line 11. In addition to steering control, control is performed so that the rear wheels 4 are kept straight.

Thus, the pallet transport vehicle 20 moves the pallet 1 so that the center line of the vehicle body coincides with the center line of the pallet.
Enter below 0. A steering method such as a so-called forward car garage is used.

Next, it is assumed that the rearward straight ahead sensor 22 detects the straight ahead guide line 11 in addition to the forward straight ahead guide sensor 21. In the pallet carrier 20, the forward and rearward straight ahead guidance sensors 21 and 2 are provided below the pallet 10.
When 2 detects the straight guide line 11, the control device 40
The steering control of the front wheels 3 is performed based on the detection result of the front straight-ahead guidance sensor 21, and the steering control of the rear wheels 4 is controlled based on the detection result of the rear straight-ahead guidance sensor 22.

That is, in the pallet carrier 20, the steering control of the rear wheels 4 is started from the time when the rectilinear guiding sensor 22 at the rear detects the rectilinear guiding line 11. Further, when the center of the straight ahead guidance sensor 22 deviates from the straight ahead guidance line 11, the rear wheels 4 are automatically steered according to the deviation, and the deviation is controlled to be zero.

Subsequently, in the pallet transport vehicle 20, when the stop guide sensor 23 detects that it is located at the center with respect to the stop guide line 12, the control device 40 controls the drive motor 27 to stop, as shown in FIG. , Stop approaching.
As a result, the pallet transport vehicle 20 stops so that the front-rear position and the left-right position are located below the pallet 10 at the center of the pallet 10.

Hereinafter, the pallet transporter 20 raises the vehicle height and lifts the pallet 10 by a manual operation of the operator, as shown in FIGS. 11 and 12, and transports the pallet 10 to a desired place.
According to the first embodiment as described above, the pallet 1
When only the straight ahead guidance sensor 21 detects the straight ahead guidance line 11 below 0, the forward straight ahead guidance sensor 21
Based on the detection result, the front wheels 3 are steered and controlled,
When the pallet transport vehicle 20 enters while holding the rear wheel 4 in a straight-ahead state, and thereafter, when the front and rear straight-ahead guide sensors 21 and 22 detect the straight-ahead guide line 11 below the pallet 10, these two straight-ahead guides Based on the detection results of the guidance sensors 21 and 22, the front wheel 3 and the rear wheel 4 are steered and the pallet carrier 20 enters, so that the collision time with the pallet 10 can be avoided and the entry time to the lower part of the pallet 10 can be reduced. do it,
Safety and work efficiency can be achieved, and a stop position below the pallet 10 can be controlled to prevent an eccentric load, thereby improving reliability.

For example, since the pallet truck 20 is accurately centered in the left-right direction with respect to the pallet 10, collision with the pallet 10 due to an operation error is eliminated, and the pallet 1
The unbalanced load of the load when 0 is shifted to the left and right is also eliminated.

Further, since the pallet truck 20 is accurately centered in the front-rear direction with respect to the pallet 10, there is no uneven load of the load when the pallet 10 is shifted back and forth due to an operation error.

Further, since these operations can be performed automatically, driving becomes easier, operation errors are eliminated, and pallet entry time can be reduced. (Second Embodiment) Next, a description will be given of a positioning device for loading a load according to a second embodiment of the present invention. FIG. 13 is a schematic view showing a configuration of a pallet truck and a pallet applied to this positioning device, and FIGS.
6 is a rear view, a plan view, and a side view of the pallet truck. In the following description, the same portions as those in FIGS. 1 to 12 are denoted by the same reference numerals, detailed description thereof will be omitted, and only different portions will be described.

That is, the present embodiment aims at unmanned guidance of the pallet truck in addition to the functions of the first embodiment. Specifically, as shown in FIGS.
The road surface has a road surface guiding line 51 and a road surface stopping guiding line 52, and the pallet carrier 20 has two road surface guiding sensors 61,
A drive / control system using the road stop sensor 63 and the road surface stop sensor 63 is provided.

The road surface guiding line 51 is a guiding means for guiding the pallet truck 20 to the center in the left-right direction. The road surface stop guide line 52 is a stop position indicating means for guiding the pallet truck 20 to the center in the front-rear direction. these,
As the road surface guide line 51 and the road surface stop guide line 52, for example, a magnet or a white line can be used.

On the other hand, in the pallet truck 20, as shown in FIGS. 13 to 16, a front road surface guidance sensor 61 is installed at the front center of the lower surface of the carrier 2, and similarly, at the rear center of the lower surface of the carrier 2. A rear road surface guidance sensor 62 is provided. In addition, a road surface stop guidance sensor 62 is installed in a part of the lower surface of the loading platform 2 near the center side surface.

The front and rear road surface guidance sensors 61 and 62
Is a guidance detecting means for guiding the pallet truck 20 to the center in the left-right direction, and has a function of detecting the road surface guidance line 51 and transmitting the detection signal to a control device described later. As the road surface guidance sensors 61 and 62, for example, a magnetic sensor can be used for the road surface guidance line 51 made of a magnet, and a guidance camera can be used for the road surface guidance line 51 made of a white line.

The road surface stop guidance sensor 63 is a stop position detection means for guiding the pallet truck 20 to the center in the front-rear direction, detects the road surface stop guidance line 52, and sends a detection signal to a control device described later. Has the ability to As the road surface stop guidance sensor 63, for example, a magnetic sensor can be used for the road surface stop guidance line 52 made of a magnet, and a guidance camera can be used for the road surface stop guidance line 52 made of a black and white line. is there.

Each of these road surface guidance sensors 61, 62
And the road surface guiding line 51 need not always be installed at the center, and even if the installation position is laterally offset from the center, the pallet truck 20 and the pallet 10 may be arranged so that their centers relatively coincide with each other. I just need. Road stop guidance sensor 6
The same applies to the relationship between 3 and the stop guide line 52.

Next, a control device for receiving detection signals from the above-described front and rear road surface guidance sensors 61 and 62 and the road surface stop guidance sensor 63 will be described. As shown in FIG. 18, the control device 40a calculates the deviation between the left and right positions of the vehicle body based on the detection signals received from the front and rear road surface guidance sensors 61 and 62, and steers the rotation instruction of the steering motor 34 based on the calculation result. It has a function to give to the driver 41 and a function to calculate a deviation between the front and rear positions of the vehicle body based on a detection signal received from the road surface stop guidance sensor 63 and to give a rotation instruction of the drive motor 27 to the drive driver 42 based on the calculation result.

The control device 40a combines the function of using these road surface guidance sensors 61 and 62 with the function of using the above-described straight traveling guidance sensors 21 and 22 and the function of using the stop guidance sensor 23. And all the wheels 3 and 4 up to the vicinity of the pallet 10 are controlled by the detection signals of the road surface stop guidance sensors 61 and 62, and the pallet 1
When the vehicle goes below zero, the front wheel 3 is controlled by the detection signal of the straight ahead guidance sensor 21 and the rear wheel 4 is controlled by the road surface guidance sensor 62 while only the front straight ahead guidance sensor 21 is detecting the straight ahead guidance line 11. From the time when the rectilinear guide sensor 22 at the rear detects the rectilinear guide line 11, all the wheels 3 and 4 are controlled by the respective rectilinear guide sensors 21 and 2.
2 and a function of controlling the stop by the detection signal of the stop guidance sensor 23.

Further, when only the forward straight ahead sensor 21 detects the straight ahead guide line 11,
The rear wheel 4 may be controlled so as to be kept straight. Next, the operation of the pallet truck 20 configured as described above will be described. In the pallet carrier 20, when the front and rear road surface guidance sensors 61 and 62 detect the road surface guidance line 51, the control device 40a operates the respective road surface guidance sensors. The front wheels 3 and the rear wheels 4 are steering-controlled based on the detection signals of the roads 61 and 62 so that the road surface guidance sensors 61 and 62 are positioned at the center of the road surface guidance line 51.

As a result, the pallet transport vehicle 20 travels on the road surface such that the vehicle center line coincides with the road surface guide line 51 even when the vehicle is unmanned. Also, during this traveling, when the road surface stop guidance sensor 63 detects the road surface stop guidance line 52,
The control device 40a controls (drives) the front wheel 3 and the rear wheel 4 based on the detection signal of the road surface stop guidance sensor 63 so that the road surface stop guidance sensor 63 is positioned at the center of the road surface stop guidance line 52.

As a result, even if the pallet transport vehicle 20 is unmanned, the center line of the vehicle body coincides with the road surface guiding line 51,
In addition, the vehicle stops so that the center of the vehicle body is located at the position of the predetermined road stop guide line 52. (At the time of approaching below the pallet) In the pallet transport vehicle 20, up to the vicinity of the pallet 10 as described above, the control device 4
0a controls all the wheels 3 and 4 to each road surface stop guidance sensor 6
It is controlled by the detection signals 1, 62.

Here, when the pallet transport vehicle 20 enters under the pallet, while only the front straight guiding sensor 21 detects the straight guiding line 11, the control device 40a controls the front wheel 3 to move the front wheel 3 to the straight guiding sensor 11. And the rear wheel 4 is controlled by the detection signal of the road surface guidance sensor 62. The rear wheel 4 may be in a straight traveling state as described above while only the front straight traveling guidance sensor 21 is detecting the straight traveling guidance line 11.

In the pallet transport vehicle 20, the control device 40a controls all the wheels 3 and 4 to move the respective straight-ahead guiding sensors 21 from the time when the straight-ahead guiding sensor 22 at the rear detects the straight-ahead guiding line 11, as described above. , 22 and the stop control is performed by the detection signal of the stop guidance sensor 23.

As a result, the pallet transport vehicle 20 travels near the pallet 10 even if unmanned, and
The vehicle can smoothly enter below and stop at the center of the pallet 10.

Hereinafter, when carrying the pallet, although not described in detail, the height of the vehicle is raised by an unmanned person, the pallet 11 is lifted, and the vehicle travels on the road surface guide line 51 and the road surface stop guide line 5 as described above.
The vehicle is stopped at a predetermined position provided with 2.

As described above, according to the second embodiment, the pallet transport vehicle 20 can be guided even if unmanned.
Interference with the pallet 10 when entering can be avoided,
Pallet entry time can also be reduced.

Further, under the pallet 10, the pallet transport vehicle 20 enters according to the straight guide line 11 and the stop guide line 12 on the lower surface of the pallet 10. Therefore, even if the pallet 10 is repeatedly transported, the guiding error is different from the conventional one. Are not accumulated, and the relative position between the pallet 10 and the pallet transport vehicle 20 can be made small. (Other Embodiments) In the above embodiment, the case where the straight guide line 11 and the stop guide line 12 are installed on the pallet 10 has been described, but the present invention is not limited to this.
Is omitted, and the straight guide line 11 and the stop guide line 12 are provided below the luggage itself, the same effect can be obtained by implementing the present invention in the same manner. However, four columns for detachably supporting the four corners of the luggage are required. Also,
Each support may be replaced with another support as appropriate. In addition, the present invention can be implemented with various modifications without departing from the scope of the invention.

[0073]

As described above, according to the first aspect of the present invention, the left / right position indicating means installed on the object to be transported, the front / rear position indicating means installed on the object to be transported, and the right and left position indicating means installed on the object to be transported are provided. Left and right position detecting means, and front and rear position detecting means installed on the transport means, the left and right position is determined by the left and right position indicating means and the left and right position detecting means, and the front and rear position is determined by the position indicating means and the front and rear position detecting means. In addition, since the positioning between the transported object and the transporting means is performed, by providing left and right position indicating means and front / rear position indicating means for guiding the approach direction and the stop position of the transporting means on the lower surface of the transported object, Provided is a positioning device for loading cargo that can shorten the time required to enter below a load, improve work efficiency, and control a stop position below a load to prevent an eccentric load and improve reliability. it can.

Further, according to the invention of claim 2, claim 1
In place of the object to be transported, a carrier on which the object to be transported can be placed is used, so that in addition to the same effect as in claim 1, the possibility of collision with the carrier when the transport means enters is avoided. Thus, it is possible to provide a positioning device at the time of loading a load which can improve safety.

Further, according to the third aspect of the present invention, a transport vehicle is used as the transport means, and a plurality of left / right position detecting means are installed on the transport vehicle, and only the foremost left / right position detecting means detects the left / right position indicating means. During this operation, the rear wheels of the transport vehicle are fixed in a straight-ahead state and steering is performed only with the front wheels, and the front and rear wheels are detected only when both the front and rear left and right position detecting means detect the left and right position indicating means. , Steering can be performed by all of the above. Therefore, it is possible to provide a positioning device at the time of loading a load that can easily and surely achieve the effects of the first or second aspect.

According to the fourth aspect of the present invention, the guide means and the stop position indicating means provided on the road surface, the guide detecting means provided on the transportation means for detecting the guide means,
4. The vehicle according to claim 1, further comprising: a stop position detecting unit that is installed on the transportation unit and detects the stop position instruction unit. 4. In addition to the effects, it is possible to provide a positioning device at the time of loading a load, which can guide the transportation means unattended.

Further, according to the fifth aspect of the present invention, a transport vehicle is used as the transport means, a plurality of left / right position detecting means are installed on the transport vehicle, and only the front left / right position detecting means serves as the left / right position indicating means. During the detection, the front wheels are guided by the left and right position indicating means and the left and right position detecting means, the rear wheels are guided by the guiding means and the guiding detecting means, and the rear left and right position detecting means detects the left and right position indicating means. In addition to the effect of the invention in which the left and right wheels are guided by the left and right position indicating means and the left and right position detecting means, it is possible to provide a positioning device at the time of loading a load, which can avoid interference with the pallet when entering.

[Brief description of the drawings]

FIG. 1 is a schematic diagram showing a configuration of a pallet truck and a pallet applied to a positioning device for loading a load according to a first embodiment of the present invention.

FIG. 2 is a plan view of the pallet in the embodiment.

FIG. 3 is a side view of the pallet in the embodiment.

FIG. 4 is a front view of the pallet truck according to the embodiment.

FIG. 5 is a plan view of the pallet truck according to the embodiment.

FIG. 6 is a side view of the pallet truck according to the embodiment.

FIG. 7 is a side view showing the structure of each axle of the pallet truck in the embodiment.

FIG. 8 is a control system diagram of the pallet truck in the embodiment.

FIG. 9 is a plan view for explaining the operation of the pallet truck in the embodiment.

FIG. 10 is a side view for explaining the operation of the pallet truck in the embodiment.

FIG. 11 is an exemplary front view for explaining the operation of the pallet truck in the embodiment.

FIG. 12 is a side view for explaining the operation of the pallet truck in the embodiment.

FIG. 13 is a schematic diagram showing the configuration of a pallet truck and a pallet applied to a positioning device for loading a load according to the second embodiment of the present invention.

FIG. 14 is a plan view of the pallet in the embodiment.

FIG. 15 is a side view of the pallet in the embodiment.

FIG. 16 is a rear view of the pallet truck according to the embodiment.

FIG. 17 is a plan view of a road surface guide line and a road surface stop guide line in the embodiment.

FIG. 18 is a control system diagram of the pallet truck in the embodiment.

FIG. 19 is a schematic view showing a conventional pallet truck and a pallet.

FIG. 20 is a schematic view showing a conventional pallet truck capable of unmanned conveyance, a pallet, and the like.

[Explanation of symbols]

 2 Loading platform. 3 Front wheels. 4 Rear wheel. 5 Driver's seat. 7 Placement table. 8 legs. 10 pallets. 11 Straight guide line. 12 Stop guidance line. 20 Pallet truck. 21,22 Straight-line guidance sensor. 23 Stop induction sensor. 24 External tooth slewing bearing. 25 Boom. 26 arms. 27 Drive motor. 28 Axle. 29 tires. 30 Rotary encoder. 31 Lifting cylinder. 32 Supports. 33 gears. 34 Steering motor. 35 Rotary encoder. 40, 40a Control device. 41 Steering driver. 42 Drive driver. 51 Road surface guidance line. 52 Road stop guidance line. 61, 62 Road surface induction sensor. 63 Road surface stop sensor.

──────────────────────────────────────────────────続 き Continued on the front page (51) Int.Cl. ⁶ Identification code Agency reference number FI Technical display location G05D 1/02 G05D 1/02 TY B

Claims (5)

[Claims] 1. Left and right position indicating means installed on a conveyed object, front and rear position indicating means installed on the conveyed object, left and right position detecting means installed on a conveying means, and installed on the conveying means. The left and right position indicating means and the left and right position detecting means determine the left and right position, the position indicating means and the front and rear position detecting means determine the front and rear position, the transported object and the A positioning device at the time of loading a load, wherein the positioning device performs positioning with respect to a transportation means. 2. Right and left position indicating means installed on a carrier on which a load is placed, front and rear position indicating means installed on the carrier, left and right position detecting means installed on the carrier, and the transporting means It consists of front and rear position detection means installed in
Determining the left and right position by the left and right position indicating means and the left and right position detecting means, determining the front and rear position by the position indicating means and the front and rear position detecting means, and performing positioning between the carrier and the conveying means. A positioning device for loading cargo. 3. A transportation vehicle is used as the transportation means, and the plurality of left / right position detection means are installed on the transportation vehicle, and the transportation is performed while only the foremost left / right position detection means detects the left / right position indication means. The rear wheels of the car are fixed in a straight running state and steering is performed only by the front wheels, and only the front and rear left / right position detecting means detect the left / right position indicating means and steering is performed by all of the front wheels and the rear wheels. 3. The positioning device according to claim 1, wherein the position is set when a load is loaded. 4. 4. A guiding means and a stop position indicating means provided on a road surface, a guiding detecting means provided on the carrying means for detecting the guiding means, and a detecting means provided on the carrying means for detecting the stopping position indicating means. And stop position detecting means.
The positioning device for loading a load according to any one of claims 1 to 3, wherein the transport means is guided unmannedly to a position near the load position. 5. A transport vehicle is used as said transport means, a plurality of left / right position detecting means are installed on the transport vehicle, and while only the front left / right position detecting means detects the left / right position indicating means, the front wheels are left and right. By the position indicating means and the left and right position detecting means, the rear wheel is guided by the guiding means and the guiding detecting means, and when the rear left and right position detecting means detects the left and right position indicating means,
5. The positioning device according to claim 4, wherein all wheels are guided by left and right position indicating means and left and right position detecting means.