Monitoring device

Abstract

To provide a monitoring device excellent in the capability of monitoring a conveyance vehicle.SOLUTION: A monitoring device 1 of the present invention monitors a conveyance vehicle 3. The conveyance vehicle 3 has a loading / unloading device 3b. The monitoring device 1 includes a state detection unit 11, a motion measurement unit 12, and a determination unit 15. The state detection unit 11 detects whether or not the conveyance vehicle 3 is in a stationary state. The motion measurement unit 12 measures a motion change of the loading / unloading device 3b. The determination unit 15 is connected to the state detection unit 11 and the motion measurement unit 12 so as to be able to transmit information. The determination unit 15 determines whether the motion change measured by the motion measurement unit 12 exceeds a threshold value or not. Then, when the determination unit 15 determines that the motion change measured by the motion measurement unit 12 exceeds the threshold value in a case where the state detection unit 11 detects the stationary state, the determination unit determines that the conveyance vehicle is in a warned state.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a monitoring device. [Background technology]

[0002] Patent Document 1 discloses a conventional monitoring device. This monitoring device is installed on a transport vehicle. The transport vehicle has a loading device. The loading device is capable of transporting objects in the height direction of the transport vehicle. In this document, the transport vehicle is specifically a forklift operated by a driver. The loading device is composed of a mast, forks, etc., and is located at the front of the transport vehicle.

[0003] The monitoring device includes a camera and a control unit. The camera is attached to the upper rear of the transport vehicle and captures images of the area behind the transport vehicle. The control unit is attached to the transport vehicle and connected to the camera.

[0004] In this monitoring device, the control unit extracts a human image from a captured image acquired by the camera. The control unit also estimates the skeleton of the human image as a virtual skeleton and associates the virtual skeleton with the extracted human image. The control unit then measures the length of a portion of the virtual skeleton. If the measured length of the portion of the virtual skeleton exceeds a threshold, the control unit determines that a human is approaching the rear of the transport vehicle. In this manner, the monitoring device monitors the transport vehicle. Furthermore, if the monitoring device determines that a human is approaching the rear of the transport vehicle, it notifies the driver of the transport vehicle that a human is approaching the rear of the transport vehicle. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Japanese Patent Publication No. 2022-96845 Summary of the Invention [Problem to be solved by the invention]

[0006] However, in the conventional monitoring device, the camera captures the rear of the transport vehicle, so the loading device located at the front of the transport vehicle and the area around the loading device are in the camera's blind spot during the image capture. As a result, even if a person is present on or near the loading device, the person is not included in the captured image. As a result, the control unit cannot determine that a person is present on or near the loading device. As a result, the monitoring device cannot adequately monitor the transport vehicle.

[0007] Therefore, for example, it is conceivable to attach a camera to the tip of the fork that constitutes the loading and unloading device to capture an image of the area in front of the transport vehicle. However, even in this case, if a person is present on the fork behind the camera, the person cannot be captured. As a result, in this case too, the monitoring device cannot adequately monitor the transport vehicle. Also, it is conceivable to attach a camera to the mast that constitutes the loading and unloading device, but in this case, the camera's field of view is easily obstructed by the objects being transported by the loading and unloading device, and the monitoring device again cannot adequately monitor the transport vehicle.

[0008] The present invention has been made in view of the above-mentioned conventional circumstances, and an object to be achieved is to provide a monitoring device that has excellent monitoring capabilities for transport vehicles. [Means for solving the problem]

[0009] The monitoring device of the present invention is a monitoring device that monitors a transport vehicle, the transport vehicle has a cargo handling device capable of transporting an object in a height direction of the transport vehicle, The monitoring device includes a state detection unit provided in the transport vehicle and detecting whether the transport vehicle is stationary; a motion measurement unit provided in the cargo handling device and configured to measure a change in motion of the cargo handling device; a determination unit that is connected to the state detection unit and the motion measurement unit so as to be able to communicate information with each other and that determines whether the motion change measured by the motion measurement unit exceeds a preset threshold value; The judgment unit is characterized in that when the state detection unit detects the stationary state, if it determines that the movement change measured by the movement measurement unit exceeds the threshold, it determines that a caution is required, that a human is present on the loading device or in the vicinity of the loading device.

[0010] In the monitoring device of the present invention, a state detection unit is provided in the transport vehicle, and this state detection unit detects whether the transport vehicle is stationary or not. Here, a transport vehicle that is moving is not included in the stationary state. On the other hand, the stationary state includes a state in which the transport vehicle is completely stopped due to engine shutdown or the like and the loading device cannot be operated, as well as a state in which the transport vehicle is not moving but the loading device can be operated, such as when the engine is idling.

[0011] In addition, in this monitoring device, a motion measurement unit is provided in the cargo handling device, and this motion measurement unit measures changes in the motion of the cargo handling device. Here, examples of changes in the motion of the cargo handling device include changes in acceleration and vibrations occurring in the cargo handling device.

[0012] Furthermore, in this monitoring device, the determination unit determines whether the change in motion of the motion mechanism unit measured by the motion measurement unit exceeds a preset threshold. If the state detection unit detects a stationary state and the change in motion measured by the motion measurement unit exceeds the threshold, the determination unit determines that a person is present on or near the loading device, indicating a state requiring attention.

[0013] That is, even if the transport vehicle is not moving, if the loading device is operated, the change in motion of the loading device will be large, and the threshold value will easily be exceeded. Also, if a person is working on the loading device or is present near the loading device, the change in motion of the loading device will be large due to the influence of such a person, and the threshold value will easily be exceeded.

[0014] In other words, in this monitoring device, when the state detection unit detects a stationary state, if the change in movement of the loading and unloading device measured by the movement measurement unit exceeds a threshold, the judgment unit judges that the change in movement is caused by human action and determines that the state requires attention. Also, if the state detection unit detects that the transport vehicle is not stationary in the first place, it is interpreted that normal transport work is being performed by the transport vehicle, so the judgment unit does not judge that the state requires attention even if the change in movement of the loading and unloading device measured by the movement measurement unit exceeds a threshold.

[0015] In this way, the monitoring device does not have the problem of blind spots that occurs when using a photographing means such as a camera, etc. Therefore, in this monitoring device, the determination unit can preferably determine whether or not a caution is required.

[0016] Therefore, the monitoring device of the present invention has excellent monitoring capabilities for transport vehicles.

[0017] In particular, by appropriately setting a threshold value, this monitoring device can, for example, have the motion measurement unit measure slight changes in the motion of the loading and unloading device when the transport vehicle is stationary, causing the judgment unit to determine that a condition requiring attention is present.

[0018] In the monitoring device of the present invention, the status detection unit may have a first detection unit that detects the movement of the transport vehicle and a second detection unit that detects the operation of the cargo handling device. Preferably, the status detection unit detects that the transport vehicle is stationary if the first detection unit has not detected the movement of the transport vehicle and the second detection unit has not detected the operation of the cargo handling device. In this case, the status detection unit can accurately detect whether the transport vehicle is stationary.

[0019] Furthermore, the monitoring device of the present invention preferably includes a warning unit that issues a warning to at least the cargo handling device or a person near the cargo handling device when the judgment unit judges that a caution is required. In this case, the warning can encourage people to move away from the cargo handling device, thereby preventing inappropriate use of the transport vehicle, such as using the cargo handling device for purposes other than transporting goods.

[0020] The monitoring device of the present invention may include a memory unit that stores a reference value for a movement change in a stationary state. The determination unit preferably determines whether the movement change detected by the movement measurement unit exceeds a threshold value based on a comparison between the reference value and the movement change. In this case, the determination unit can preferably determine whether the movement change measured by the movement measurement unit exceeds the threshold value.

[0021] In the monitoring device of the present invention, the transport vehicle may be a forklift. The cargo handling device preferably has a mast extending in the height direction of the forklift, forks on which the transported goods can be placed, and a mechanism for moving the forks in the height direction along the mast. In this case, by monitoring the forklift with the monitoring device, it is possible to prevent the occurrence of an incident such as contact between the forks, and ultimately the forklift, and a person, and it is also possible to effectively prevent the cargo handling device, including the forks, from being used for purposes other than transporting goods. [Effects of the Invention]

[0022] The monitoring device of the present invention has excellent monitoring capabilities for transport vehicles. [Brief explanation of the drawings]

[0023] [Figure 1] FIG. 1 is a schematic diagram of a monitoring device according to an embodiment and a forklift truck in which the monitoring device is used. [Figure 2] FIG. 2 is a plan view of a forklift truck in which the monitoring device of the embodiment is used. [Figure 3]FIG. 3 is a schematic diagram of a forklift when using forks to lift up and down a pallet together with a worker standing on the pallet. [Figure 4] FIG. 4 is a flow diagram showing a control flow in the monitoring device of the embodiment. [Figure 5] FIG. 5 is a flow diagram showing a control flow in the monitoring device of the embodiment. [Figure 6] FIG. 6 is a graph showing a reference value of a change in the movement of the cargo handling device in the monitoring device of the embodiment. [Figure 7] FIG. 7 is a graph showing the change in movement of the cargo handling device per unit time measured by the movement measuring unit in the monitoring device of the embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0024] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, specific embodiments of the present invention will be described with reference to the drawings.

[0025] As shown in FIG. 1, a monitoring device 1 of the embodiment is used in a forklift 3. The forklift 3 transports cargo 200 in a factory or a warehouse (not shown). The forklift 3 is an example of a "transport vehicle" in the present invention. The cargo 200 is an example of a "transported object" in the present invention.

[0026] In this embodiment, the up-down direction and the front-rear direction of the forklift 3 are defined by the solid arrows shown in Figures 1 and 3. The up-down direction corresponds to the "height direction" in the present invention. Also, Figure 2 defines the front-rear direction of the forklift 3 in accordance with Figure 1, as well as the left-right direction of the forklift 3. These up-down direction, front-rear direction, and left-right directions are perpendicular to one another.

[0027] 1 and 2, the forklift 3 has a vehicle body 3a and a loading device 3b. The forklift 3 is a manned forklift operated by an operator 7. The forklift 3 may also be configured so that the operator 7 remotely controls it.

[0028] As shown in Fig. 1, the vehicle body 3a is provided with a driver's cab 31 in which the operator 7 rides. The driver's cab 31 is equipped with a seat 32 in which the operator 7 can sit, pedals 33 for driving the forklift 3, and an instrument panel 34.

[0029] The instrument panel 34 is provided with a handle 35 for steering the forklift 3 and a lever device 36 for operating the cargo handling device 3b. The instrument panel 34 is also provided with a key switch 37. The key switch 37 can be switched between an ON state and an OFF state by operation of the operator 7. When the key switch 37 is in the ON state, the forklift 3 is enabled to travel and the cargo handling device 3b can be operated. On the other hand, when the key switch 37 is in the OFF state, the forklift 3 is disabled to travel and the cargo handling device 3b cannot be operated.

[0030] The vehicle body 3a is also provided with a power unit 38, a vehicle control unit 39, and a battery 40. The power unit 38 has an electric motor (not shown) that drives the forklift 3. In other words, the forklift 3 is an electric forklift that can be driven by an electric motor. The power unit 38 may have an internal combustion engine instead of an electric motor.

[0031] The vehicle control unit 39 is connected to the pedals 33, the handle 35, the lever device 36, the key switch 37, the power unit 38, the battery 40, and the cargo handling device 3b. The vehicle control unit 39 controls the travel of the forklift 3 by controlling the operation of the power unit 38. The vehicle control unit 39 also controls the operation of the cargo handling device 3b. In this way, the vehicle control unit 39 controls the operation of the entire forklift 3.

[0032] When the key switch 37 is turned ON, the battery 40 supplies power (power) to the cargo handling device 3b and the power unit 38 through the vehicle control unit 39. On the other hand, when the key switch 37 is turned OFF, the battery 40 stops supplying power (power) to the cargo handling device 3b and the power unit 38 through the vehicle control unit 39.

[0033] The battery 40 is also connected to the state detection unit 11, the inertial measurement unit 12, and the speaker 13, which will be described later. The battery 40 always supplies power to the state detection unit 11, the inertial measurement unit 12, and the speaker 13, regardless of whether the key switch 37 is in the ON or OFF state.

[0034] As shown in Fig. 2, the loading device 3b is disposed in front of the vehicle body 3a. The loading device 3b has a first mast 301, a second mast 302, a fork 303, and a mechanism unit 304. The first mast 301 and the second mast 302 are examples of the "mast" in the present invention.

[0035] The first mast 301, battery 40, and second mast 302 are disposed at a distance from each other in the left-right direction of the forklift 3, and are each fixed to the vehicle body 3a. The first mast 301 and second mast 302 extend in the up-down direction of the forklift 3. The forks 303 extend forward and are capable of carrying cargo 200. The cargo 200 is an example of a "transported object" in the present invention. The cargo 200 may be placed directly on the forks 303, or may be placed on a pallet 201 or the like shown in FIG. 3.

[0036] The mechanism unit 304 is attached to the first mast 301 and the second mast 302 while being connected to the fork 303. As a result, the mechanism unit 304 is located between the first mast 301 and the second mast 302 in the left-right direction. When the operator 7 operates the lever device 36, the mechanism unit 304 can move the fork 303 up and down along the first mast 301 and the second mast 302 between a lower position indicated by the solid lines in FIG. 1 and an upper position indicated by the imaginary lines in FIG. 1. Although not shown in the figure, the mechanism unit 304 can also tilt the fork 303 within a predetermined angle range.

[0037] In this way, in the cargo handling device 3b, the cargo 200 can be transported in the height direction of the forklift 3 by moving the fork 303 between the lower position and the upper position while the cargo 200 is placed on the fork 303.

[0038] The monitoring device 1 comprises a state detection unit 11, an inertial measurement unit 12, a speaker 13, and a device main body 15. The inertial measurement unit 12 is an example of a "motion measurement unit" in the present invention. The speaker 13 is an example of a "warning unit" in the present invention. The device main body 15 is an example of a "storage unit" and a "determination unit" in the present invention.

[0039] The state detection unit 11 is composed of a first detection sensor 21 and a second detection sensor 22. The first detection sensor 21 is provided inside the vehicle body 3a. The first detection sensor 21 is a known acceleration sensor, and detects the acceleration of the forklift 3 to determine whether the forklift 3 is traveling or not.

[0040] The second detection sensor 22 is provided inside the vehicle body 3a, more specifically, inside the instrument panel 34. The second detection sensor 22 detects whether or not the operator 7 is operating the lever device 36, thereby detecting whether or not the cargo handling device 3b is being operated. In other words, if the second detection sensor 22 detects an operation of the lever device 36, it detects that an operation of the cargo handling device 3b is being performed.

[0041] The state detection unit 11 detects whether the forklift 3 is stationary. Specifically, the state detection unit 11 detects that the forklift 3 is stationary if the first detection sensor 21 has not detected the traveling of the forklift 3 and the second detection sensor 22 has not detected the operation of the cargo handling device 3b.

[0042] In other words, the stationary state includes a state in which the key switch 37 is in the OFF state and the forklift 3 cannot travel or operate the loading and unloading device 3b, as well as a state in which the key switch 37 is in the ON state and the forklift 3 is not traveling but the loading and unloading device 3b can be operated (a state in which operation of the lever device 36 by the operator 7 can be accepted).

[0043] Furthermore, the state detection unit 11 transmits to the device main body 15 the detection result as to whether or not the forklift 3 is in a stationary state.

[0044] The inertial measurement unit 12 is provided on the fork 303, more specifically, on the lower side of the fork 303. Although not shown in detail, the inertial measurement unit 12 has an acceleration sensor and a gyro sensor. The inertial measurement unit 12 measures changes in motion of the cargo handling apparatus 3b, including the fork 303, and transmits the measured changes to the apparatus main body 15. Here, the inertial measurement unit 12 measures changes in motion of the cargo handling apparatus 3b and transmits the measured changes to the apparatus main body 15, regardless of whether the key switch 37 is in the ON or OFF state. The inertial measurement unit 12 may be provided in another location on the fork 303 as long as it does not interfere with the placement of the transported object 200 or pallet 201 on the fork 303.

[0045] The speaker 13 is provided in the vehicle body 3a on the ceiling 30 of the driver's cab 31. The speaker 13 may also be provided at a location separated from the forklift 3, such as on a wall surface in a factory or warehouse.

[0046] The device main body 15 is disposed outside the forklift 3 and separated from the forklift 3. The device main body 15 is wirelessly connected to the status detection unit 11, the inertial measurement unit 12, and the speaker 13, and is capable of communicating with the status detection unit 11, the inertial measurement unit 12, and the speaker 13. The device main body 15 also includes a storage medium 15a and a monitoring control unit 15b therein.

[0047] The storage medium 15a stores a monitoring and control application (not shown). The monitoring and control application includes a control program for controlling the operation of the state detection unit 11, the inertial measurement unit 12, the speaker 13, and the monitoring and control unit 15b. The storage medium 15a also stores a reference value related to the change in motion of the cargo handling device 3b when the forklift 3 is stationary (see FIG. 6).

[0048] Furthermore, the storage medium 15a stores a threshold value for the change in the movement of the cargo handling device 3b, which can be changed as appropriate depending on the conditions such as the location where the forklift 3 is used.

[0049] The monitoring control unit 15b performs various arithmetic processing based on the monitoring control application. As a result, in the device main body 15, the monitoring control unit 15b determines whether or not a change in movement occurring in the cargo handling device 3b exceeds a threshold value, and determines whether or not a caution is required. In addition, in the device main body 15, the monitoring control unit 15b controls the storage medium 15a, thereby storing a monitoring record in the storage medium 15a. Furthermore, the device main body 15 controls the speaker 13. Details of each determination and control in the device main body 15 will be described later.

[0050] The monitoring device 1 configured as described above remotely monitors the stationary forklift 3. To start remote monitoring by the monitoring device 1, a monitoring operator (not shown) performs a monitoring start operation on the device main body 15. This causes the device main body 15 to execute a monitoring control application.

[0051] When the monitoring control application is executed, the inertial measurement unit 12 in the monitoring device 1 starts measuring the motion change of the cargo handling device 3b and transmits the measured motion change of the cargo handling device 3b to the device main body 15 (step S101 in FIG. 4). The device main body 15 also starts determining the current state of the forklift 3 through the state detection unit 11 (step S102).

[0052] The state detection unit 11 detects through the first detection sensor 21 whether the forklift 3 is traveling or not, and detects through the second detection sensor 22 whether the cargo handling device 3b is being operated or not.

[0053] Here, if the first detection sensor 21 detects that the forklift 3 is traveling (step S102: NO), the state detection unit 11 detects that the forklift 3 is not stationary (step S201).

[0054] Also, even if the first detection sensor 21 does not detect the forklift 3 moving (step S102: YES) but the second detection sensor 22 detects operation of the loading and unloading device 3b (step S104: NO), the state detection unit 11 detects that the forklift 3 is not stationary (step S201).

[0055] In this way, when the state detection unit 11 detects that the forklift 3 is not stationary, the device main body 15, more specifically, the monitoring control unit 15b of the device main body 15, determines that the forklift 3 is not currently stationary (step S202). Although the motion changes of the cargo handling device 3b measured by the inertial measurement unit 12 are transmitted to the device main body 15, the device main body 15 does not process the motion changes of the cargo handling device 3b transmitted from the inertial measurement unit 12 when it has determined that the forklift 3 is not stationary.

[0056] Furthermore, if the device main body 15 determines that the forklift 3 is not stationary, it repeats the processing from step S103 onwards unless the monitoring operator performs an operation to end monitoring (step S113 in FIG. 5: NO).

[0057] On the other hand, if the first detection sensor 21 has not detected the forklift 3 traveling (step S102 in FIG. 4: YES) and the second detection sensor 22 has not detected any operation of the cargo handling device 3b (step S103: YES), the status detection unit 11 detects that the forklift 3 is stationary (step S105). As a result, the device main body 15 determines that the forklift 3 is currently stationary (step S106). Note that when the key switch 37 of the forklift 3 is in the OFF state, the first detection sensor 21 does not detect the forklift 3 traveling, and the second detection sensor 22 does not detect any operation of the cargo handling device 3b. Therefore, the status detection unit 11 detects that the forklift 3 is stationary.

[0058] Then, the device main body 15 determines that the forklift 3 is stationary and starts to determine whether the change in movement of the loading device 3b transmitted from the inertial measurement unit 12 exceeds a threshold value (step S107 in Figure 5).

[0059] In making this determination, first, the device main body 15 compares the motion change of the cargo handling device 3b transmitted from the inertial measurement unit 12 with a reference value (see FIG. 6) stored in the storage medium 15a (step S108 in FIG. 5). Then, based on the magnitude of the difference between the motion change of the cargo handling device 3b and the reference value, the device main body 15 determines whether the motion change of the cargo handling device 3b exceeds a threshold value (step S109).

[0060] Incidentally, when the state detection unit 11 detects that the forklift 3 is stationary, the forklift 3 is not traveling, and no operation is being performed on the cargo handling device 3b. Therefore, even if a change in motion occurs in the cargo handling device 3b, it is considered to be an unavoidable change in motion due to the environment of the factory, warehouse, or the like in which the forklift 3 is used. Therefore, when the forklift 3 is stationary, the difference between the motion change of the cargo handling device 3b transmitted from the inertial measurement unit 12 and the reference value stored in the storage medium 15a is not very large. Therefore, in such a case, the device main body 15 determines that the motion change of the cargo handling device 3b does not exceed the threshold value (step S109: NO).

[0061] As a result, the device main body 15 determines that the state does not require attention (step S300).Then, unless the monitoring operator performs an operation to end monitoring (step S113: NO), the device main body 15 performs the processes from step S103 onwards shown in Figure 4 again.In this way, remote monitoring of the forklift 3 by the monitoring device 1 continues.

[0062] On the other hand, when the following behavior is performed, the device main body 15 determines that the change in motion of the cargo handling device 3b transmitted from the inertial measurement unit 12 exceeds the threshold value. That is, as shown in Fig. 3, there may be cases where an inappropriate behavior is performed with the forklift 3, such as moving the forks 303 up and down with a person 5, such as a worker, on the pallet 201, even though this is essentially prohibited.

[0063] When such an action is performed, the operator 7 generally drives the forklift 3 to the vicinity of the destination. Then, upon arriving at the vicinity of the destination, the operator 7 stops the forklift 3 from traveling. As a result, the first detection sensor 21 no longer detects the traveling of the forklift 3. The operator 7 then raises the forks 303 with the pallet 201 and the person 5 on board to the desired position. Once the forks 303 reach the desired position, the operator 7 ends the operation of the cargo handling device 3b. As a result, the second detection sensor 22 no longer detects the operation of the cargo handling device 3b. Note that the operator 7 may leave the forklift 3 after finishing the operation of the cargo handling device 3b.

[0064] In this way, because the first detection sensor 21 does not detect the movement of the forklift 3 and the second detection sensor 22 does not detect any operation on the cargo handling device 3b, the state detection unit 11 detects that the forklift 3 is stationary. Then, if the person 5 moves or works on the pallet 201 in this state, the inertial measurement unit 12 measures the resulting change in motion of the cargo handling device 3b and transmits the result to the device main body 15.

[0065] In such a case, the motion change of cargo handling apparatus 3b transmitted from inertial measurement unit 12 to main body 15 will be as shown in the graph in Fig. 7. In other words, the motion change that occurs in cargo handling apparatus 3b when human 5 moves on pallet 201 or works on pallet 201 deviates from the motion change that inevitably occurs in the environment of a factory, warehouse, etc. Therefore, the difference between the motion change of cargo handling apparatus 3b transmitted from inertial measurement unit 12 and the reference value stored in storage medium 15a becomes large, and therefore main body 15 determines that the motion change of cargo handling apparatus 3b has exceeded the threshold value (step S109: YES).

[0066] 1 and the key switch 37 is in the OFF state (the forklift 3 is stationary), and a person 5 crawls under the fork 303 to perform work, the change in motion of the cargo handling device 3b transmitted from the inertial measurement unit 12 may exceed the threshold. Similarly, the change in motion of the cargo handling device 3b transmitted from the inertial measurement unit 12 may exceed the threshold if a person 5 hangs from the fork 303 in the upper position using a belt or rope while the key switch 37 is in the OFF state and the fork 303 is in the upper position, although this is not shown in the drawings.

[0067] Then, the device main body 15 determines that the change in movement of the loading device 3b exceeds a threshold value, and therefore determines that a caution is required, that is, that a person 5 is present on the fork 303 or in the vicinity of the loading device 3b, including the fork 303 (step S110).

[0068] Furthermore, by determining that a caution is required, the device main body 15 controls the operation of the speaker 13. As a result, the monitoring device 1 warns the person 5 through the speaker 13 to move away from the forks 303 and ultimately from the cargo handling device 3b (step S111). Note that, by determining that a caution is required, the device main body 15 may impose an operation restriction so as to prevent the cargo handling device 3b from operating, regardless of the operation of the lever device 36 by the operator 7. Specifically, even if the lever device 36 is operated by the operator 7 to raise the cargo handling device 3b, the device main body 15 stops the supply of power (power) to the cargo handling device 3b.

[0069] Furthermore, the device main body 15 records the date and time when it was determined that the state required attention, as a monitoring record, in its own storage medium 15a (step S112).

[0070] Then, the device main body 15 determines whether or not a monitoring end operation has been performed by the monitoring operator (step S113). If the monitoring end operation has not been performed (step S113: NO), the device main body 15 continues remote monitoring of the forklift 3 by the monitoring device 1 by performing the processes from step S103 onwards shown in Fig. 4 again. On the other hand, if the monitoring end operation has been performed (step S113: YES), the remote monitoring of the forklift 3 by the monitoring device 1 is ended.

[0071] In this way, the monitoring device 1 can monitor whether or not a person 5 is present on the forks 303 or in the vicinity of the cargo handling device 3b including the forks 303 by remotely monitoring the forklift 3 without using a photographing device such as a camera. In this way, the monitoring device 1 can monitor whether or not there is any inappropriate behavior on the forklift 3. And because the monitoring device 1 does not use a photographing device such as a camera, there is no problem with blind spots when photographing. Therefore, the monitoring device 1 can suitably determine whether or not the device main body 15 is in a state requiring attention, i.e., whether or not there is any inappropriate behavior on the forklift 3.

[0072] Therefore, the monitoring device 1 of the embodiment has excellent monitoring capabilities for the forklift 3.

[0073] In particular, in this monitoring device 1, when the state detection unit 11 detects that the forklift 3 is not stationary and the device main body 15 determines that the forklift 3 is not stationary, the device main body 15 does not determine whether the change in movement of the loading and unloading device 3b transmitted from the inertial measurement unit 12 exceeds a threshold value, and therefore does not determine whether a state requiring attention is present.

[0074] If the state detection unit 11 detects that the forklift 3 is not stationary, it is assumed that the forklift 3 is performing normal transport work. Therefore, in such a case, even if the change in motion of the cargo handling device 3b transmitted from the inertial measurement unit 12 exceeds the threshold, it does not pose a problem, and there is no need to determine whether or not a caution is required. In this way, the monitoring device 1 can reduce the processing load on the device main body 15.

[0075] Furthermore, in this monitoring device 1, the state detection unit 11 detects that the forklift 3 is stationary if the first detection sensor 21 has not detected the traveling of the forklift 3 and the second detection sensor 22 has not detected the operation of the cargo handling device 3b. This allows the state detection unit 11 to accurately detect whether the forklift 3 is stationary or not.

[0076] Furthermore, in this monitoring device 1, when determining whether or not the change in motion of the cargo handling device 3b measured by the inertial measurement unit 12 exceeds a threshold value, the device main body 15 compares the measured change with a reference value stored in the storage medium 15a. Therefore, in this monitoring device 1, the processing load on the device main body 15 when determining whether or not the threshold value has been exceeded can be reduced, and the device main body 15 can accurately determine whether or not the change in motion of the cargo handling device 3b measured by the inertial measurement unit 12 has exceeded the threshold value.

[0077] Furthermore, in this monitoring device 1, the device main body 15 records the date and time when it is determined that a condition requiring attention is present as a monitoring record. Therefore, based on this monitoring record, it is possible to provide guidance to the operator 7 and the like, as well as to educate them on the proper use of the forklift 3.

[0078] Although the present invention has been described above with reference to the examples, it goes without saying that the present invention is not limited to the above examples and can be modified and applied as appropriate within the scope of the invention.

[0079] For example, a microphone capable of detecting the voice of a person 5 may be provided on the vehicle body 3a or the cargo handling device 3b of the forklift 3. In this case, the state detection unit 11 detects that the forklift 3 is stationary, and when the change in movement of the cargo handling device 3b transmitted from the inertial measurement unit 12 exceeds a threshold and the voice of a person 5 is detected by the microphone, the device body 15 can be configured to determine that a caution is required.

[0080] In addition, in the monitoring device 1 of the embodiment, the inertial measurement unit 12 is provided on the fork 303. However, this is not limiting, and in the case of the cargo handling apparatus 3b, the inertial measurement unit 12 may be provided on the first mast 301 or the second mast 302, or may be provided on the mechanism unit 304. Furthermore, multiple inertial measurement units 12 may be provided on the cargo handling apparatus 3b.

[0081] Furthermore, in the monitoring device 1 of the embodiment, the device main body 15 is provided outside the forklift 3. However, this is not limiting, and the device main body 15 may be provided inside the vehicle main body 3a or inside the driver's cab 31.

[0082] In addition, in the monitoring device 1 of the embodiment, the inertial measurement unit 12 is the "motion measurement unit" of the present invention. However, the present invention is not limited to this, and a sensor or the like capable of detecting vibrations occurring in the cargo handling device 3b may also be the "motion measurement unit" of the present invention.

[0083] In the monitoring device 1 of the embodiment, the state detection unit 11 includes the first detection sensor 21 and the second detection sensor 22. However, the state detection unit 11 is not limited to this, and may detect whether the forklift 3 is stationary by detecting whether the key switch 37 is in the ON state or the OFF state.

[0084] Furthermore, in the monitoring device 1 of the embodiment, the device main body 15 may determine that a caution is required and send a restriction signal to the vehicle control unit 39 to cause the vehicle control unit 39 to restrict the lifting, lowering, and tilting of the fork 303. In this case, the restriction on the lifting, lowering, and tilting of the fork 303 may be released automatically after a predetermined time has elapsed, or may be released when a restriction release signal is sent from the device main body 15.

[0085] Furthermore, in the monitoring device 1 of the embodiment, when the device main body 15 determines that it is in a state requiring attention, it issues a warning through the speaker 13 and records a monitoring record. However, these steps may be omitted, and it may be possible to either issue a warning through the speaker 13 or record a monitoring record.

[0086] In addition, in the monitoring device 1 of the embodiment, the forklift 3 is defined as the "transport vehicle" in the present invention. However, the present invention is not limited to this, and a vehicle having a shovel that transports an object such as earth and sand in a vertical direction may also be defined as the "transport vehicle" in the present invention.

[0087] This specification also includes the following inventions. (Appendix 1) A monitoring device for monitoring a transport vehicle, the transport vehicle has a cargo handling device capable of transporting an object in a height direction of the transport vehicle, the monitoring device includes a state detection unit provided in the transport vehicle to detect whether the transport vehicle is stationary; a motion measurement unit provided in the cargo handling device and configured to measure a change in motion of the cargo handling device; a determination unit that is connected to the state detection unit and the motion measurement unit so as to be able to communicate information with each other and that determines whether the motion change measured by the motion measurement unit exceeds a preset threshold value; The monitoring device is characterized in that, when the state detection unit detects the stationary state, the judgment unit determines that the movement change measured by the movement measurement unit exceeds the threshold value, and determines that a human is present on or near the loading device, indicating a state requiring attention. (Appendix 2) The state detection unit includes a first detection unit that detects the travel of the transport vehicle; a second detection unit that detects an operation on the cargo handling device, The monitoring device described in Appendix 1, wherein the state detection unit detects that the transport vehicle is in the stationary state if the first detection unit has not detected the transport vehicle moving and the second detection unit has not detected the operation of the loading and unloading device. (Appendix 3) 3. The monitoring device according to claim 1 or 2, further comprising a warning unit that issues a warning to at least the cargo handling device or the person present in the vicinity of the cargo handling device when the judgment unit determines that the state requires attention. (Appendix 4) a storage unit that stores a reference value of the movement change in the stationary state; A monitoring device according to any one of appendices 1 to 3, wherein the judgment unit determines whether the movement change measured by the movement measurement unit exceeds the threshold value based on a comparison between the movement change and the reference value. (Appendix 5) the transport vehicle is a forklift; The loading and unloading device is a monitoring device described in any one of appendixes 1 to 4, which has a mast extending in the height direction of the forklift, forks on which the transported goods can be placed, and a mechanism for moving the forks in the height direction along the mast. [Industrial Applicability]

[0088] The present invention can be used in monitoring devices for transport vehicles used in warehouses and factories. [Explanation of symbols]

[0089] 1...Monitoring device 3... Forklift (transport vehicle) 3b…Cargo handling equipment 5. Human 11...Status detection unit 12...Inertial measurement unit (motion measurement unit) 13...Speaker (warning section) 15...Device body (judgment section, storage section) 21...First detection sensor (first detection unit) 22...Second detection sensor (second detection unit) 200...Luggage (carried items) 301...First Mast (Mast) 302...Second Mast (Mast) 303...Fork 304... Mechanism section

Claims

1. A monitoring device for monitoring a transport vehicle, the transport vehicle has a cargo handling device capable of transporting an object in a height direction of the transport vehicle, the monitoring device includes a state detection unit provided in the transport vehicle to detect whether the transport vehicle is stationary; a motion measurement unit provided in the cargo handling device and configured to measure a change in motion of the cargo handling device; a determination unit that is connected to the state detection unit and the motion measurement unit so as to be able to communicate information with each other and that determines whether the motion change measured by the motion measurement unit exceeds a preset threshold value; The monitoring device is characterized in that, when the state detection unit detects the stationary state, the judgment unit determines that the movement change measured by the movement measurement unit exceeds the threshold value, and determines that a human is present on or near the loading device, indicating a state requiring attention.

2. The state detection unit includes a first detection unit that detects the traveling of the transport vehicle; a second detection unit that detects an operation on the cargo handling device, The monitoring device according to claim 1, wherein the state detection unit detects that the transport vehicle is in the stationary state if the first detection unit has not detected the transport vehicle moving and the second detection unit has not detected the operation of the loading and unloading device.

3. 3. The monitoring device according to claim 1, further comprising a warning unit that issues a warning to at least the cargo handling device or the person present in the vicinity of the cargo handling device when the judgment unit judges that the caution is required.

4. a storage unit that stores a reference value of the movement change in the stationary state; 3. The monitoring device according to claim 1, wherein the determination unit determines whether the change in movement measured by the movement measurement unit exceeds the threshold value based on a comparison between the change in movement and the reference value.

5. the transport vehicle is a forklift; 3. The monitoring device according to claim 1, wherein the loading and unloading device includes a mast extending in the height direction of the forklift, forks on which the transported object can be placed, and a mechanism for moving the forks in the height direction along the mast.

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