JPS5992900A - Driverless forklift reduction stop device - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Detailed Description of the Invention] This invention relates to a deceleration and stop device for an unmanned forklift,
The purpose of this is, for example, when stopping an unmanned forklift on a stop line located on the travel path during loading work, and when stopping an unmanned A-lift at a predetermined position in front of the load during loading work. To provide a deceleration and stop device for an unmanned forklift capable of performing safe and efficient cargo handling work by decelerating each unmanned forklift at a preset deceleration position and then avoiding stopping at the predetermined position.

EMBODIMENT OF THE INVENTION An embodiment embodying this invention will now be described with reference to the drawings.

In FIG. 1, a body frame 2 of an unmanned forklift 1 has a body frame J5 on the front side, and supports outer masses 1 to 4 so as to be tiltable in the front-rear direction via a bearing tube (not shown) attached to the axle of a front wheel 3. There is. The tilt cylinder 5 has its base end exposed to the front upper surface of the vehicle body frame 2 and is connected to the tilt cylinder 5 so that it can rotate. It is rotatably connected to.

Therefore, when the outer mast 4 is in an upright position (not shown in FIG. 1), when the piston rod 5a of the tilt cylinder 5 is retracted, the outer mast 4 is tilted rearward, and conversely, the piston rod 5a is extended. Then, the outer masses 1 to 4 are tilted forward.

The lift cylinder 6 is fixedly installed inside the rear side of the outer mast 4, and the tip of its piston rod 6a is connected to the upper rear surface of the inner mast 7, which is mounted on the inside of the outer mast 4 in a Ft UM manner. On the inside of the inner mast 7, a Uni Riff I Brown 1-8 (not shown by the broken line in FIG. 1) is installed so that it can be raised and lowered by a pair of upper and lower rollers (not shown). The fork 11 is attached via the lower finger bar 9.10.

Further, a engine wheel 12 is rotatably supported inside the upper part of the inner masses 1 to 7, and a width of the engine wheel 12 is connected to the upper part of the cylinder body of the lift cylinder 6. A chain 13 whose other end is connected to the riffled plastic wood 8 is hung thereon. Therefore, when the piston rod 6a of the lift cylinder 6 is expanded and contracted in the vertical direction, the cylinder 6 and the chain wheel 12 are lowered to the lift 1, and the fork 1 is moved through the chain 13.
1 is moved up and down at twice the speed of inner mast 7.

As shown in FIG. 2, second and third forward distance sensors 14 and 15 are disposed on the front end surface of each of the leaves 11, and in this embodiment, a light emitting diode and a photo sensor are respectively provided. It is composed of i~1~run sister. Second
The front distance sensor 14 detects the distance 1i1 between the MWs in front.
In this embodiment, the distance to the load W is 0.1. '1. III (Hereinafter, this distance will be referred to as the second deceleration distance D2, and this point will be referred to as the second deceleration start position P2.
), a detection signal is output.

The third forward ratio mtt1J15 is a sensor that detects the distance between the loads W in front, and in this embodiment, the distance to the load W is 0.2 m (hereinafter, this distance is determined as ll!t D 3, and that point is called a stop position P3).

Note that the second and third forward ratios l1lII? 14゜1
In this embodiment, 5 is also used as a hole detection sensor for detecting holes in the pallet 1-.

A stop line detection coil 16 as a stop line detection device is installed at the lower part of the outer mast 4, and as shown in FIG. Line SL to the stop located at
In addition, at the center position of the front F part of the vehicle body frame 2, there is a light emitting diode and a frame 1, as shown by the broken line in FIG.
~1st forward distance sensor consisting of 1 helangister + Ji7
is provided to detect the load W and the distance from the tip of the fork 11 to the load W. In this embodiment, the first front distance sensor 17 has a distance to the load W of 1.2111 (hereinafter, this distance is referred to as the first deceleration distance 1tD).
1, and the other point is called the first deceleration pulse starting position FfP1)
When this happens, a detection signal is output.

A receiving coil 18 and a transmitting coil 19 are installed on the lower surface of the vehicle body frame 2, and the receiving coil 18 receives a signal from a suspension coil C1 disposed on the auxiliary travel path ST2, as shown in FIG. The transmission coil 19 catches the command signal of each UE, and the transmission coil 19 receives the command signal of each UE.
It sends out various instruction signals to J: It is becoming a sea urchin.

In this embodiment, the track L is placed at a predetermined position on the lower surface of the vehicle body frame 2. T! JL1. A pickup coil (not shown) is provided to detect L2, and based on the detection of these pickup coils, the unmanned forklift trucks 1 to 1 travel on the main travel path ST1 or the auxiliary travel path ST2. It is now possible to do so.

Next, the electric circuit of the stop device for the unmanned forklift 1- will be explained.

The ground station control device 23 is installed in a control room, and is connected to the track line L1. In L2, the unmanned forklift 1 is sent to a designated location (as well as outputting June).
A stop signal is output to the stop 1i18L. Further, the ground station control device 23 connects the unmanned forklift 1 via the station coil C1 and the receiving coil 18.
A command signal for cargo handling work is output to the on-vehicle station control circuit 24 installed in the on-vehicle station control circuit 24 via the transmitting coil 19 and the fusion coil C1.
An instruction signal is input from the

The vehicle-mounted station control circuit 24 is connected to the first. Detection signals from the second and third front distance sensors 17, 14, and 15 are input, and based on these values, A-crit 1 for driving (unmanned) is set to high speed (3rd speed). Drive control signals for medium speed (second speed), low speed (first speed), and stopping are output to the traveling motor drive circuit 27.

A distance detection counter 28 as a distance detection device is connected to the axle of the front wheel 3 of the unmanned forklift 1.
There is a detection device C that measures the distance traveled by the vehicle, and outputs the detection signal to the vehicle-mounted station control circuit 24. (The in-vehicle station control circuit 24 inputs the detection signal from the same distance detection counter 28 and the detection signal from the stop line detection coil 1G, and based on these signals, the traveling motor drive circuit 27 Outputs drive control No. 18 to J: Turns on.

The storage device 29 stores data on the distance (traveling distance ADO) from the position where the unmanned forklifts 1 to 1 are located on the station coil C1 to the stop line SL in the LII 5 shown in FIG.
From the station coil C1 to the stop line SL 1.2
Distance traveled up to m (Hereinafter, this distance is called 3 stray travel distance 1
1tAD3, and that point is called 2nd speed starting position rt1P4), from 2nd speed starting position P4 to 0 before stop line SL.
．． 4111 (under L, this distance is referred to as 2nd gear traveling distance ΔD2, (the point is referred to as 1st gear starting position P5) is stored,
4 is read out as appropriate. J5.3 stray mileage △D
The data for 3rd and 2nd gear distance fj distance Δ1]2 is travel distance fJ
1. Any method of deriving the value from the ADO data may also be used.

Next, the operation of the deceleration and stop device for an unmanned forklift constructed as described above will be explained.

First, the loading operation of stopping the unmanned forklift 1-1 at the stop line SLJ2 and placing the load W at the stop line will be described with reference to FIG.

Now, when the unmanned forklift truck 1-1 travels along the auxiliary travel path ST2 and is guided to the station coil C1, it receives a loading command signal from the ground station control device 23 via the station coil C1. Pull. The on-vehicle station control circuit 24 receives this signal and outputs a drive control signal for driving the unmanned forklift truck 1-1 at the third speed to the traveling motor drive circuit 27, as shown in FIG. 5 (Δ).

In addition, when the on-vehicle station control circuit 24 reads the data of the three stray travel distances l1lIiAD3 from the storage device 29, the distance detection counter 28 indicates the distance traveled by the unmanned station coil C1 from the station coil C1. All tasks are handled manually at all times. Then, the vehicle-mounted station control circuit 24 compares the data of the third stray mileage 11iAD3 with the mileage data from the distance detection counter 28, and when both data match, that is, when the second gear starting position P4 is reached, A drive control signal for decelerating the unmanned forklift to second speed is output to the traveling motor 27.

Note that while the unmanned forklift 1 is traveling to the second speed start position P4, the first forward distance sensor 1
7 is the in-vehicle station control circuit 2 based on the fact that there is no load W in front.
Since the control circuit 24 does not output a detection signal to the first
After the detection of the forward distance sensor 17 of
is not carried out.

At the same time as the unmanned A-talift 1 is decelerated to 2nd speed, the on-vehicle station control circuit 24 reads the data of 2 stray mileage AI) 2 from the IQ equipment 9.
The in-vehicle station i1i control circuit 2/'I compares the same data with the data of the distance detection power "Kunta 28", and when L, i, and both data match, J: 1 to 1st gear start position 1] 5 When reaching 11, a drive control signal is immediately output to the traveling motor drive circuit to decelerate the A-Clift 1 to 1st speed.

Unmanned A-Crit 1 starts running in 1st gear and soon reaches 19
When the stop line detection coil 1G detects the stop line SL -4, the in-vehicle station control circuit 24 responds to this detection signal and sends a drive control signal to the unmanned fork truck 71 to stop the stop line 1 to the traveling motor drive circuit. I will appear on the 27th. Then, the unmanned forklift 1 moves to the stop line S [
- stopped on top.

Therefore, unattended) A-crit 1 is station coil C
While traveling between the stop line 31 and the stop line 31, the vehicle is in J3, and based on the data stored in the storage device 29 and the data from the distance detection counter 28, the vehicle is at the 2nd gear starting position 1]4 and the 1st gear starting position P5. After the unmanned forklift 1 is decelerated, it is made to stop on the stop line SL, so it can safely move to the stop line S and move upwards. This enables safe and efficient loading and unloading operations.

Next, as shown in FIG. 6<A), a case of picking up a load W loaded in front will be explained.

Now, in the same way as above, the unmanned forklift 1 moves forward at the third speed from the position of the station C1, and soon the
), when the load reaches the first deceleration start position fiffP1, the first forward distance sensor 17 detects the load W and outputs a detection signal. In response to this detection signal, the on-vehicle station control circuit 24 sends a drive control signal for decelerating the unmanned forklift [1] to the traveling motor drive circuit 2.
Output to 7.

VΔ Therefore, unmanned) A-crit 1 is the first deceleration start position P
-1, -! Traveling in second gear is started from a position 1.2 m from J, that is, load W. Unmanned A-Cliff 1 reduced to 2nd gear
-1 eventually reaches the second deceleration start position P2,
Second anterior hole 1;! ft? The four-wheel node 14 detects the load W in front and outputs a detection signal to the vehicle-mounted station control circuit 24. In response to this detection signal, the vehicle-mounted station control circuit 24
A drive control signal for decelerating the unmanned forklift 1 to the first speed is output to the distance detection counter 28.

'Unmanned forklifts 1 to 1 decelerated to I speed are shown in Figure 6 (
When the vehicle reaches the stop position 1ffi P3 as shown in C), the front hole l111 sensor 15 of R3 detects the load W in front and outputs a detection signal to the vehicle side immediately to the circuit 24.
Ru.

In response to this signal, the traveling motor drive circuit 24 stops the unmanned forklift truck 1-1.
A control signal for stopping the unmanned forklift 1 is output to 7. Therefore, the unmanned forklift 1-1 is the sixth
As shown in Figure (C), it is stopped at a stop position P34'', which is 0.2 m (stop button ml D 3 ) away from the straw load W.

In the case of this unloading work, unlike the case of the above-mentioned loading work, there is a difference in the first. Second and third front distance sensor 1
7, 14. After decelerating at the first and second deceleration start positions Pi and P2 based on the detection signals of It is possible to stop at the predetermined stop position P3 safely and in a short time without colliding with W, and the operation for the next cargo handling operation can be performed efficiently.

It should be noted that the present invention is not limited to the above-mentioned embodiment, and for example, the first and second deceleration start positions P1.1)2, 2nd speed and 13! Starting position 1) 4. Change P5 appropriately!
, :su, 1st. 2nd and ': 53 forward range Kasumi 1 Senri 1
The mounting positions of 7, 14, and 15 may be changed as appropriate.

Both distance sensors 4J14.15 may be implemented to have both sensor functions.

As explained above, in the case where there is a load in front, the unmanned forklift I- is decelerated at a predetermined position based on the first and second front distance sensors, and then the unmanned forklift I- is It is locked based on the front distance sensor, and if there is a doorway in front, the distance detection device is set to a predetermined position of 1.
After decelerating with N, the unmanned forklift is stopped based on the stop line detection device.This allows the A-Clear 1~ to be safely and smoothly stopped at the predetermined position. ,?・It is possible to improve the efficiency of work in
It's Noretashino.

[Brief explanation of drawings]

FIG. 1 is a side view of a person A-Cliff [-] embodying this invention, and FIG.
V1. (J position not shown) Figure 3 is a perspective view of the track line and stop line, Figure 4 is the electric brake of the deceleration and stop device of the unmanned forklift 1- Figures 5 (△), (B), and (C) are explanatory diagrams showing the operation of an unmanned forklift that moves forward. front distance m
U sensor 17.14.15, stop line detection = 1il 16,
On-vehicle station control circuit 24, travel motor drive circuit 27, distance detection counter 28° Special training Applicant: Toyota Industries Corporation, Meidensha Co., Ltd.

Claims (1)

[Claims] 1. A first front distance sensor that detects the presence or absence of a load in front and detects the first deceleration position of the forklift; J5, the second front part 1ll111 that detects the load and detects the deceleration position of the forklift 912? a third front distance sensor that is located at a position closer to the second deceleration position and detects the load and detects the stop position r of the forklift; and a stop line provided on the travel path of the forklift. A stop line detection device detects and measures the distance traveled by a forklift! When the first front distance sensor detects the load, the front ntl! First, for the motor drive circuit. After decelerating the forklift in stages at the first and second deceleration positions based on the detection signals from the second and third front distance sensors, outputting a drive control signal to stop the forklift at the stop position; , when the first front distance sensor does not detect the load, the forklift l~ is decelerated to at least two preset positions based on the distance detection device, and then the A deceleration and stop device for an unmanned forklift, comprising: a control circuit that outputs a drive signal for stopping on a stop line based on detection a3@ of a stop line detection device;