Material handling vehicles

Abstract

To provide a vehicle comprising a safety device which can draw attention to surroundings when expanding a body, and a vehicle which can realize smooth loading and unloading of an object to be transported.SOLUTION: A cargo handling vehicle has a vehicle part, a loading device, and a light irradiation device, and the loading device and the light irradiation device are loaded on the vehicle part. The loading device has an unloading device and a control device, and the unloading device can place an object to be transported directly or on a body, and can indirectly unload the same. The unloading device performs an unloading operation for grounding the body or the object to be transported to a ground surface, and a loading operation for pulling the body or the object to be transported onto the vehicle part. The light irradiation device can irradiate with light a region of the ground surface on which the body or the object to be transported is grounded, and / or a position suitable for the loading operation.SELECTED DRAWING: Figure 3

Description

Technical Field

[0001] The present invention relates to a safety device for a cargo handling vehicle having a function of moving a part of a cargo bed or lowering a part of the cargo bed to the ground, such as a vehicle carrier or a container carrier.

Background Art

[0002] Patent Document 1 discloses a vehicle carrier having a body on which a vehicle can be placed and performing a lowering operation of grounding the body on the ground and a loading operation of pulling the body onto the vehicle part. The vehicle carrier disclosed in Patent Document 1 is used when transporting vehicles such as passenger cars and construction machinery.

[0003] The vehicle carrier described in Patent Document 1 has a lift frame, and the body is mounted on the lift frame so as to be slidable on the lift frame. In the vehicle disclosed in Patent Document 1, the lift frame can be tilted and the body can be slid downward to lower the body to the ground.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0005] Incidentally, when changing from the state in which the body is stored on the lift frame during driving to a state in which the lift frame is tilted and the body is slid downward or the body is lowered to the ground, the body is positioned at the rear of the vehicle, so if people in the vicinity cannot anticipate the body's movement, there is a risk of them coming into contact with the body. Also, if there are objects in the area where the body is positioned, when the body is deployed to the state in which it is slid downward or lowered to the ground, the body may come into contact with those objects.

[0006] Therefore, the present invention aims to provide a vehicle equipped with a safety device that can draw attention to the surroundings when the body is deployed. Furthermore, the present invention aims to provide a vehicle that can enable the smooth loading and unloading of transported goods. [Means for solving the problem]

[0007] An embodiment for solving the above-mentioned problems is a cargo handling vehicle having a vehicle section, a loading device, and a light irradiation device, wherein the loading device and the light irradiation device are mounted on the vehicle section, the loading device having a loading / unloading device and a control device, the loading / unloading device being configured to load and unload the transported object directly or indirectly by placing it on the body, the loading / unloading device being configured to perform an unloading operation in which the body or the transported object touches the ground, and a loading operation in which the body or the transported object is pulled onto the vehicle section, and the light irradiation device being able to irradiate light onto the area of ​​the ground where the body or the transported object touches the ground, and / or at a position suitable for the loading operation.

[0008] The cargo handling vehicle in this embodiment has a light-emitting device that emits a light beam onto the area of ​​ground it occupies behind it. As a result, people around the cargo handling vehicle can anticipate the landing point of the vehicle's body, etc., by looking at the ground illuminated by the light beam, and can avoid entering this space. Furthermore, the vehicle's occupants or workers can visually confirm whether or not there are objects within the area illuminated by the light beam. They can then move the object out of the illuminated area, or move the vehicle to a location where there are no objects in the area illuminated by the light beam, and carry out loading and unloading operations.

[0009] In the above-described embodiment, the cargo handling vehicle is a vehicle transport vehicle, the loading and unloading device has a lift frame and a slide body, the lift frame is capable of changing its orientation to an inclined position, the slide body is capable of moving linearly along the lift frame, the loading and unloading device is configured to perform an unloading operation to lower the slide body to the ground and a loading operation to pull the slide body onto the vehicle, the unloading operation can be performed in an inclined position with the rear end of the slide body touching the ground, and it is desirable that the light irradiation device can irradiate light onto the area occupied on the ground when the lift frame and slide body in the inclined position are projected in plan view.

[0010] In the above-described embodiment, the cargo handling vehicle is a vehicle transport vehicle, the loading and unloading device has a lift frame and a slide body, the lift frame is capable of changing its orientation to an inclined position, the slide body is capable of moving linearly along the lift frame, the loading and unloading device is configured to perform an unloading operation to lower the slide body to the ground and a loading operation to pull the slide body onto the vehicle, the unloading operation can be performed in a parallel position with the slide body grounded substantially parallel to the ground, and it is desirable that the light irradiation device can irradiate light onto the area occupied on the ground when the lift frame and slide body in the parallel position are projected in plan view.

[0011] In the above-described embodiment, the loading and unloading device comprises a lift frame and a slide body, the lift frame is capable of changing its orientation to an inclined position, the slide body is capable of moving linearly along the lift frame, the loading and unloading device is configured to perform an unloading operation to lower the slide body to the ground and an loading operation to pull the slide body onto the vehicle, the unloading operation can be performed in the inclined position with the rear end of the slide body touching the ground, or in the parallel position with the slide body touching the ground substantially parallel to the ground, and it is desirable that the light irradiation device can irradiate light rays onto the area occupied on the ground when the lift frame and slide body in the inclined position are projected in plan view and onto the area occupied on the ground when the lift frame and slide body in the parallel position are projected in plan view.

[0012] The cargo handling vehicle of this embodiment is applied to a vehicle transport vehicle. In this embodiment, during the lowering operation, it is possible to change the posture between an inclined posture in which only the rear end of the slide body is on the ground and a parallel posture in which the slide body is on the ground approximately parallel to the ground, and the lowering operation can be performed in each of the inclined and parallel postures. Here, the area occupied on the ground when the lift frame and slide body are projected in plan view is different in the inclined posture and the parallel posture. For this reason, the light irradiation device is designed to irradiate both the area occupied on the ground when the lift frame and slide body are projected in plan view in the inclined posture and the area occupied on the ground when the lift frame and slide body are projected in plan view in the parallel posture.

[0013] In the above-described embodiment, it is desirable that the light irradiation device can selectively irradiate light onto the area occupied on the ground when the lift frame and slide body are projected in a plan view in the inclined position, or the area occupied on the ground when the lift frame and slide body are projected in a plan view in the parallel position, at the discretion of a person.

[0014] In each of the above embodiments, it is desirable that the light irradiation device is capable of simultaneously irradiating light onto the area occupied on the ground when the lift frame and slide body are projected in a plan view in the inclined position, and onto the area occupied on the ground when the lift frame and slide body are projected in a plan view in the parallel position.

[0015] In each of the above embodiments, it is desirable that the light irradiation device is capable of simultaneously or selectively irradiating the area occupied on the ground when the lift frame and slide body are projected in a plan view in the inclined position, and the area occupied on the ground when the lift frame and slide body are projected in a plan view in the parallel position, with light rays of different colors.

[0016] In each of the above embodiments, it is desirable that the light irradiation device irradiates the area occupied on the ground when the lift frame and slide body in the inclined position are projected in plan view until the slide body touches the ground, and after the slide body touches the ground, it irradiates the area occupied on the ground when the lift frame and slide body in the parallel position are projected in plan view.

[0017] In the above-described embodiment, the cargo handling vehicle is a container transport vehicle capable of transporting at least two sizes of containers. The loading and unloading device has a cargo handling arm equipped with an engaging portion that engages with the container, and the cargo handling arm is configured to perform a loading operation in which the engaging portion engages with a container placed on the ground and the cargo handling arm is driven to pull the container onto the vehicle, and an unloading operation in which the container placed on the vehicle is lowered to the ground by the cargo handling arm. It is desirable that the light irradiation device can irradiate light onto the area of ​​the ground occupied by the container that is the target of the unloading operation when it is lowered to the ground.

[0018] The cargo handling vehicle of this embodiment is applied to a container transport vehicle. In this embodiment, the container transport vehicle is capable of transporting at least two sizes of containers. Here, the vehicle is configured to illuminate the area of ​​the ground occupied by the containers that are loaded onto the cargo handling vehicle and are to be unloaded when they are lowered to the ground.

[0019] In each of the above embodiments, it is desirable that the light irradiation device can irradiate light before the lowering operation begins.

[0020] With this configuration, the light irradiation device emits light before the lowering operation begins, so that people around the vehicle can know in advance that the lift frame or slide body will extend, and can avoid entering the area of ​​the ground occupied by the extended lift frame or slide body and placing objects there.

[0021] In the above-described embodiment, the cargo handling vehicle is a container transport vehicle capable of transporting containers and is equipped with a steering amount detection unit that can detect the amount of steering of the container transport vehicle, the loading and unloading device has a cargo handling arm equipped with an engagement part that engages with the container, the cargo handling arm is configured to perform a loading operation in which the engagement part engages with a container placed on the ground and the cargo handling arm is driven to pull the container onto the vehicle, and an unloading operation in which the container placed on the vehicle is lowered to the ground by the cargo handling arm, the light irradiation device irradiates the rear of the container transport vehicle and it is desirable that the irradiation trajectory can be changed according to the detection result of the steering amount detection unit.

[0022] In the above-described aspect, the handling vehicle is a container carrier capable of transporting a container, the loading and unloading device has a handling arm provided with an engaging portion that engages with the container, and the handling arm engages the engaging portion with a container placed on the ground and drives the handling arm to pull the container onto the vehicle portion. It is configured to perform a loading operation, and a unloading operation of lowering the container placed on the vehicle portion to the ground by the handling arm. It is desirable that the light irradiation device can irradiate a position where the container can be loaded during the execution of the loading operation.

[0023] In the above-described aspect, the handling vehicle further has an appropriate position detection unit, and the appropriate position detection unit detects that the position of the container carrier is at an appropriate position for loading with respect to the container to be loaded. It is desirable that the light irradiation device can change the irradiation pattern of the light irradiation device when the appropriate position detection unit detects the appropriate position.

[0024] In the above-described aspect, the proximal end side of the handling arm is attached to a handling arm rotation shaft provided on the vehicle portion, and the handling arm is swingable about the handling arm rotation shaft. It is desirable that the light irradiation device can irradiate an irradiation pattern that serves as a mark on the ground corresponding to the engagement position with the engaged portion of the container among the swing trajectories of the engaging portion around the handling arm rotation shaft during the engagement operation.

[0025] In the above-described aspect, the handling vehicle further has a handling arm posture detection unit, and the handling arm posture detection unit detects the distance from the handling arm rotation shaft to the engaging portion. It is desirable that the light irradiation device can irradiate an irradiation pattern that serves as a mark during the engagement operation based on the distance from the handling arm rotation shaft to the engaging portion detected by the handling arm posture detection unit.

[0026] In the above-described aspect, the handling vehicle further has an engaging portion height detection unit that detects the height of the engaging portion from the ground, and it is desirable that the light irradiation device can change the irradiation pattern of the light irradiation device when the handling arm swings backward and the height of the engaging portion from the ground is lower than the height of the engaged portion of the container from the ground.

[0027] In the above-described aspect, the handling vehicle further has an engaged portion height detection unit that detects the height of the engaged portion from the ground, and it is desirable that the light irradiation device can change the irradiation pattern of the light irradiation device when the handling arm swings backward, compares the height of the engaging portion from the ground with the height of the engaged portion from the ground, and the height of the engaging portion is lower than the height of the engaged portion of the container.

Advantages of the Invention

[0028] According to the handling vehicle of the present invention, it is possible to attract the attention of people around the vehicle and avoid situations where the body contacts people or objects.

Brief Description of the Drawings

[0029] [Figure 1] A side view of the handling vehicle (vehicle transporter) of the first embodiment of the present invention with a vehicle loaded, (a) shows the state before starting the operation of the light irradiation device, and (b) shows the state after starting the operation of the light irradiation device. [Figure 2] The handling vehicle shown in FIG. 1, where (a), (b), and (c) are side views showing the operations of each part in the lowering operation. [Figure 3] The handling vehicle shown in FIG. 1, where (d) and (e) are side views showing the operations of each part following FIG. 3 in the lowering operation. [Figure 4] The handling vehicle shown in FIG. 1, where (f) and (g) are side views showing the operations of each part following FIG. 4 in the lowering operation. [Figure 5] A front view of the remote control device. [Figure 6]This is a side view of a cargo handling vehicle (container transport vehicle) according to a second embodiment of the present invention, where (a) shows the state before the operation of the light irradiation device 88 begins, and (b) shows the state after the operation of the light irradiation device 88 has begun. [Figure 7] The second embodiment of the present invention is a side view of a cargo handling vehicle (container transport vehicle) showing the transport of a container smaller than that shown in Figure 6, where (a) is the state before the operation of the light irradiation device 88 begins, and (b) is the state after the operation of the light irradiation device 88 has begun. [Figure 8] Figure 6 shows a cargo handling vehicle, and (a), (b), and (c) are side views illustrating the operation of each part during unloading. [Figure 9] Figure 6 shows the cargo handling vehicle, and (d), (e), and (f) are side views showing the operation of each part in the unloading operation, following Figure 8. [Figure 10] This is a side view of a cargo handling vehicle (container transport vehicle) according to a third embodiment of the present invention. [Figure 11] Figure 10 is a plan view of the cargo handling vehicle, where (a) shows the positional arrangement of the cargo handling vehicle and container before the operation of the light irradiation device 188, (b) shows the relationship between the steering amount and the irradiated light when the light irradiation device 188 is operated, (c) shows the state in which the cargo handling vehicle is positioned in the longitudinal direction of the container 2, and (d) shows the state in which the cargo handling vehicle has reached a position in which the container can be loaded. [Figure 12] This is a side view of a cargo handling vehicle (container transport vehicle) according to the fourth embodiment of the present invention. [Figure 13] Figure 12 is a side view of the cargo handling vehicle, where (a) shows the initial positional relationship between the cargo handling vehicle and the container to be loaded, (b) shows the positional relationship between the oscillating trajectory of the cargo handling arm of the cargo handling vehicle and the container, and (c) shows the state in which the engaging part of the cargo handling arm is engaged with the engaged part of the container. [Figure 14] Figure 12 is a plan view of the loading vehicle with its light irradiation device in operation. (a) shows the initial state of the loading vehicle and the container to be loaded, and (b) shows the arrangement of the loading vehicle and the container in an engageable state. [Modes for carrying out the invention]

[0030] Embodiments of the present invention will be described below. In the following explanation, the front and rear relationships are based on the front and rear of cargo handling vehicles 1, 40, 51, and 56. That is, the front side refers to the side with the driver's seat 100, and the rear side refers to the opposite side. The cargo handling vehicle 1 of the first embodiment of the present invention is a vehicle transport vehicle that lowers the slide body 32, which was on the vehicle section 5, to the ground to load automobiles and the like, and then lifts the slide body 32 back onto the vehicle section 5 for transport. As shown in Figures 1(a) and (b), the cargo handling vehicle 1 has a vehicle section 5, a loading device 18, and a light irradiation device 88. The light irradiation device 88 (safety device) is composed of LED lamps, and for example, Koito Manufacturing's "LED drawing lamp" can be used. The light irradiation device 88 does not emit light when the vehicle is in motion, as shown in Figure 1(a). However, when loading or unloading vehicles using the area behind the cargo handling vehicle 1, it is configured to emit light to alert the surroundings to safety, as shown in Figure 1(b). The loading device 18 has a loading and unloading device 26. As shown in Figures 3 and 4, the loading and unloading device 26 is broadly composed of a lift frame 30, a tilt mechanism (inclination means) 31, and a slide body 32.

[0031] The loading device 18 also includes a control device 6, a hydraulic system 7, and a bumper system 50. Furthermore, the loading device 18 includes the remote control device (hereinafter referred to as the remote control) 8 shown in Figure 5. Vehicle section 5 is the body of a known truck, has an engine, and rotates its wheels to travel on the road. The lift frame 30 is installed on the subframe 33 of the vehicle section 5 and pivots around a pin (not shown) located at the rear end of the vehicle section 5. That is, it can assume an inclined position as shown in Figures 3 and 4. Furthermore, the lift frame 30 itself moves in the longitudinal direction relative to the vehicle section 5 due to the action of a hydraulic cylinder (not shown).

[0032] The tilt mechanism (inclination means) 31 is composed of a hydraulic cylinder 35 and a link mechanism 36, and is used to incline the lift frame 30 so that the rear side is downward. The tilt mechanism 31 is an inclination means that performs an inclination operation to change the angle of the lift frame 30.

[0033] The slide body 32 is slidably mounted to the lift frame 30 and is suspended by a chain (not shown) or the like, which moves linearly along the lift frame 30. A footplate 37 is also provided at the rear end of the slide body 32. The footplate 37 is located at the rear end of the slide body 32 and can be positioned to change between an upright position and a horizontal position.

[0034] The control device 6 includes a circuit that sends signals to each solenoid valve according to a predetermined procedure. The loading and unloading device 26 operates in a predetermined order based on the signals from the control device 6. The control device 6 has communication means for communicating with the remote control 8.

[0035] As shown in Figure 5, the remote control 8 is equipped with an automatic unloading switch 60 and an automatic loading switch 61, which are operating switches for operating the loading and unloading device 26. Both switches 60 and 61 are button switches, which are only on while the operator is pressing them, and turn off when the operator releases their hand.

[0036] The remote control 8 is also equipped with a light irradiation area switching switch 110. The light irradiation area switching switch 110 is a DIP switch, and when it is slid to the display A or to the display B, the light irradiation device 88 selects a different light irradiation area. The light irradiation device 88 of the present invention can irradiate light into two light irradiation areas. The details of the two light irradiation areas will be described below.

[0037] The cargo handling vehicle 1 of this embodiment is a vehicle transport vehicle that performs loading and unloading operations of vehicles in the state shown in Figure 3(e) or Figure 4(g), depending on the minimum ground clearance (hereinafter referred to as vehicle height) of the vehicle to be loaded. That is, when loading or unloading a vehicle with a high vehicle height, the front end of the vehicle and the inclined slide body 32 do not interfere with each other, so it is possible to load and unload the vehicle with the footboard 37 in a horizontal position relative to the ground in the state shown in Figure 3(e). On the other hand, when loading or unloading a vehicle with a low vehicle height, the front end of the vehicle and the inclined slide body 32 interfere with each other, so it is necessary to perform loading and unloading operations in the state shown in Figure 4(f), that is, with the slide body 32 lowered to a parallel position.

[0038] Here, as shown in Figure 3(e), when the slide body 32 is tilted with one end touching the ground, the area occupied on the ground when the lift frame 30 and slide body 32 are projected in plan view from the rear of the cargo handling vehicle is named the tilted position area A. Then, as shown in Figure 4(f), when the slide body 32 is lowered until it is parallel to the ground, the area occupied on the ground when the lift frame 30 and slide body 32 are projected in plan view from the rear of the cargo handling vehicle is named the parallel position area B. When A is selected with the light irradiation area switching switch 110 of the remote control 8, the light irradiation device 88 irradiates the tilted position area A. On the other hand, when B is selected with the light irradiation area switching switch 110 of the remote control 8, the light irradiation device 88 irradiates the parallel position area B. At this time, the operator is selectively irradiating the light beam using the switch, that is, "the light beam is irradiated selectively by human will." Here, "selectively irradiating with light rays at a person's discretion" includes "irradiating by operating an input device that performs the irradiation, which is separate from the switch operated during the lowering process." The input device may include, for example, a dedicated switch or a switch that can be used in conjunction with other switches (for example, a switch to change the operating speed), an audio input device, or a camera that recognizes a specific operation.

[0039] The operation of the loading / unloading device 26 and the light irradiation device 88, etc., when lowering the slide body 32 will be explained in detail below with reference to Figures 3, 4, and 5. Note that the operation of lowering the slide body 32 involves loading the transport vehicles onto the slide body 32 and unloading the transport vehicles that are already loaded. The operation of loading the transport vehicles onto the slide body will be explained below.

[0040] First, we will explain the operation when loading a vehicle with the slide body 32 lowered all the way down, as shown in Figure 4(g). In this case, the light beam illumination area switching switch 110 of the remote control 8 is slid to side B to select area B, which is the parallel position. When the cargo handling vehicle 1 is in motion, the lift frame 30 is in a horizontal position as shown in Figure 2(a), and the slide body 32 is pulled up onto the lift frame 30. The lift frame 30 is in a horizontal position (grounded position) and is at its front end position (initial position) in the longitudinal direction. The slide body 32 is also at its front end position (initial position).

[0041] Then, the loading / unloading device 26 lowers the slide body 32 to the ground. When loading or unloading a vehicle with a low ground clearance, the unloading operation is performed by sequentially executing the following steps. (1) Light irradiation process (2) Lift frame retraction process (slide body horizontal movement process) (3) First tilting process (initial tilting motion) (4) Slide body lowering process (5) Second tilting process

[0042] (1) Light irradiation process First, the light irradiation device 88 is activated to irradiate the necessary area behind the cargo handling vehicle 1 with light to warn the surrounding area of ​​safety during the unloading operation. When unloading the slide body 32 for loading a low-profile vehicle, the light irradiation is started into the parallel position area B.

[0043] (2) Lift frame retraction process (slide body horizontal movement process) The lift frame retraction process is a process in which the lift frame 30 is moved backward while maintaining a horizontal position by a hydraulic cylinder (not shown). The lift frame retraction process is also a horizontal movement that moves the slide body from its initial position to the rear of the vehicle. A horizontal movement is the movement of the slide body relative to the vehicle, moving the slide body through Figures 2(a) and (b) to the position shown in Figure 2(c).

[0044] (3) First tilting process The first tilting step is the initial tilting movement in the lowering operation. The first tilting step is the process of activating the hydraulic cylinder 35 and operating the tilt mechanism 31 to tilt the lift frame 30 to a certain angle as shown in Figure 3(d).

[0045] (4) Slide body lowering process The slide body lowering process, as shown in Figure 3(e), involves moving the slide body 32 linearly along the lift frame 30 toward the rear of the vehicle until the rear end of the slide body 32 touches the ground. At this point, as the rear end of the slide body 32 approaches the ground, it becomes difficult for the light from the light irradiation device 88 to irradiate the slide body 32. Therefore, in this embodiment, another light irradiation device (not shown) is installed on the foot plate 37 to assist in light irradiation.

[0046] (5) Second tilting process The second tilting process involves raising the lift frame 30 to its maximum angle, as shown in Figure 4(f) and Figure 4(g), and lowering the entire bottom surface of the slide body 32 to the ground. Once the slide body 32 has completely touched the ground, the operation of the light irradiation device 88 is stopped. The footboard 37 is then set to a horizontal position, and the vehicle is loaded or unloaded.

[0047] As mentioned above, when loading or unloading vehicles with high ground clearance, it is also possible to load or unload the vehicle with the footboard 37 horizontal to the ground in the state shown in Figure 3(e). In this case, the light irradiation area switching switch 110 on the remote control 8 is set to A, and the light irradiation device 88 is set to irradiate area A in the inclined position shown in Figure 3(e). Therefore, the light irradiation area in Figures 2(b), (c), 3(d), and (e) is area A in the inclined position, not area B in the parallel position. In this case, the step of lowering the slide body to the parallel position, i.e., the second inclination step in (5), can be omitted. Therefore, after the slide body lowering step in (4) is completed, the operation of the light irradiation device 88 is stopped.

[0048] The cargo handling vehicle 1 is configured to load and unload goods directly or indirectly by placing them on the body. When loading and unloading goods indirectly by placing them on the body, there are two possibilities: either the body is tilted so that only the end furthest from the cargo handling vehicle touches the ground, or the entire bottom surface of the body touches the ground. When only the end touches the ground, only the straight section formed by the end furthest from the cargo handling vehicle 1 is illuminated. Even in this case, the vehicle's occupants or workers can determine which area is the hazardous zone. However, illuminating the entire rectangular area formed by the end touching the ground and the opposite end of the body as opposite sides results in an even safer cargo handling vehicle. Therefore, the concept of "illuminating the area of ​​the ground where the body or goods touch the ground" includes illuminating this entire rectangular area. In the above embodiment, the irradiation of the light beam was continued until the end of the slide body lowering step (4) or the second tilting step (5). However, the present invention is not limited thereto, and irradiation of region A in the tilted position may be continued only while the lift frame retraction step (1) is being performed.

[0049] The light irradiation device 88 of this embodiment selectively irradiates either the inclined region A or the parallel region B using the light irradiation region switching switch 110. However, the present invention is not limited to this, and both regions A and B may be irradiated simultaneously. In this case, the two regions A and B can be distinguished, for example, by changing the color or drawing a line.

[0050] In yet another embodiment, the inclined orientation region A and the parallel orientation region B may be automatically switched and displayed. Specifically, as shown in Figure 2(a), when the aforementioned lift frame retraction process begins, the light irradiation device 88 starts irradiating the inclined region A with light. This irradiation of the inclined region A with light continues from the end of the lift frame retraction process shown in Figure 2(c) and the start of the first inclination process shown in Figure 3(d) until the end of the first inclination process shown in Figure 3(e). Then, as the first tilting process shown in Figure 3(e) is completed and the slide body lowering process begins, the light irradiation device 88 starts irradiating the parallel-positioned region B with light. This irradiation of the parallel-positioned region B continues through the execution state of the slide body lowering process shown in Figure 4(f) until the second tilting process shown in Figure 4(g) is completed, and the light irradiation device 88 stops irradiating the parallel-positioned region B with light as the second tilting process is completed.

[0051] The loading process is generally performed by reversing the unloading process described above, so a detailed explanation will be omitted. In this embodiment, light irradiation by the light irradiation device 88 is not performed during this loading operation, but light irradiation may be performed.

[0052] In the above description, an embodiment was explained using a vehicle transporter as an example of cargo handling vehicle 1. However, the present invention can also be applied to container transporters such as those shown in Figures 6 and 7. Other embodiments will be described below. In the following description, the same reference numerals are used for components common to the previous embodiments, and redundant explanations are omitted.

[0053] The cargo handling vehicle 40 of the second embodiment of the present invention is a container transport vehicle and, as shown in Figures 6 and 7, has a vehicle section 5, a loading device 17, and a light irradiating device 88. The light irradiating device 88 (safety device) is composed of an LED lamp, and for example, an "LED drawing lamp" manufactured by Koito Manufacturing Co., Ltd. can be used. The light irradiating device 88 does not emit light when driving, as shown in Figures 6(a) and 7(a). However, when loading and unloading containers using the rear area of ​​the cargo handling vehicle 40, it is configured to emit light to alert the surrounding area to safety, as shown in Figures 6(b) and 7(b). The cargo handling vehicle 40 of this embodiment is capable of transporting two containers 2 of different sizes. For example, when transporting the larger container 2, the light irradiation device 88 enables the irradiation of light onto the ground area C occupied by the larger container 2 when it is lowered to the ground, as shown in Figure 6(b). On the other hand, when transporting the smaller container 2, the light irradiation device 88 enables the irradiation of light onto the ground area D occupied by the smaller container 2 when it is lowered to the ground, as shown in Figure 7(b).

[0054] The loading device 17 includes a control device 6, a hydraulic device 7, and a bumper device 50. The loading device 17 has a container loading section 11 on which the container 2 is placed, and a cargo handling arm 3. The container mounting section 11 is a frame on which the container 2 is mounted.

[0055] As shown in Figure 9, the cargo handling arm 3 is composed of a hook arm 20 and a lift arm 21. The cargo handling arm 3 has a hook arm 20 attached to the tip of the lift arm 21 so as to be able to swing at an angle, and its overall shape is roughly "L"-shaped. A hydraulic cylinder 22 is attached between the hook arm 20 and the lift arm 21, and the angle of the hook arm 20 relative to the lift arm 21 changes by extending and retracting the hydraulic cylinder 22. A hook (engaging part) 23 is provided at the tip of the hook arm 20. The base end of the lift arm 21 is pivotably attached to the vehicle section 5, and the entire load handling arm 3 is pivotable. A hydraulic cylinder 25 is also attached to the lift arm 21, and the entire load handling arm 3 is pivotable by this hydraulic cylinder 25. In other words, the base end of the load handling arm 3 is attached to a load handling arm pivot shaft 150 provided on the vehicle section, and the load handling arm 3 is pivotable around the load handling arm pivot shaft 150.

[0056] The cargo handling vehicle 40 can also perform an automatic unloading operation by coordinating the cargo handling arm 3 and the bumper device 50 to automatically lower the container 2. Furthermore, the cargo handling arm 3 and the bumper device 50 can also perform an automatic loading operation to automatically load the container 2.

[0057] Next, we will explain the operation of the loading / unloading arm 3 and the light irradiation device 88, etc., when unloading the container 2 from the loading / unloading vehicle 40. Figure 8(a) shows the initial state before operation begins. First, as shown in Figure 8(b), the light irradiation device 88 is activated to begin irradiating the ground areas C and D that will be occupied when the container 2 is lowered to the ground during the lowering operation. Next, in order to unload container 2 from the loading / unloading vehicle 40, the hook arm 20 is swung backward (clockwise in the diagram) as shown in Figures 8 and 9, and then the lift arm 21 is changed to an inclined position. As a result, container 2 is slowly lowered to the ground. Specifically, as shown in Figure 8(c), the hook arm 20 is swung backward (clockwise in the diagram) to change the posture of the lift arm 21 to an acute angle, and the container 2 is slid backward. Next, as shown in Figure 9(d), the lift arm 21 is swung backward (clockwise in the drawing) to tilt its position. As shown in Figure 9(e), the lift arm 21 is swung further backward (clockwise in the drawing) to bring the rear end of the container 2 to the ground. Then, the lift arm 21 is swung further backward (clockwise in the diagram), and the hook arm 20 is swung slightly forward (counterclockwise in the diagram), causing the front end of the container 2 to touch the ground as shown in Figure 9(f), and the container 2 is lowered to the ground. When the container 2 is in a horizontal position with respect to the ground and has completely touched the ground, the light irradiation device 88 stops emitting light.

[0058] The operation of the loading arm 3 and other components when loading container 2 is generally performed by reversing the unloading operation described above. Therefore, no further detailed description will be provided. In this embodiment, light irradiation by the light irradiation device 88 is not performed during this loading operation, but light irradiation may be performed.

[0059] The cargo handling arm 3 described above is of a type called a swing type, and both the hook arm 20 and the lift arm 21 are only capable of swinging and do not move in a straight line. In contrast, a type of cargo handling arm called a sliding arm is known, and this cargo handling arm In this case, some of the components move in a straight line. The present invention is not limited to those employing a swing-type cargo handling arm 3, This can also be applied to material handling vehicles that employ a sliding load handling arm.

[0060] In the embodiments described above, the light irradiation device 88 is located on the upper part of the bumper device 50 and in the center in the width direction. However, the present invention is not limited thereto, and the light irradiation device 88 may be located at any position on the bumper device 50 as long as it can irradiate light onto the inclined region A, the parallel region B, or the ground regions C and D that the container 2 occupies when it is lowered to the ground.

[0061] In the embodiments described above, the light irradiation device 88 was provided on the bumper device 50. However, the present invention is not limited thereto, and the light irradiation device 88 may be provided anywhere on the cargo handling device as long as it can irradiate light onto the inclined region A, the parallel region B, or the ground regions C and D that the container 2 occupies when it is lowered to the ground. For example, it may be provided on the underside of the lift frame, the underside of the slide frame, or the footboard.

[0062] In the embodiments described above, the area illuminated by the light rays is the area A and B on the ground occupied by the lift frame and slide body when projected in plan view (area A in the inclined position, area B in the parallel position), or the area C and D on the ground occupied by container 2 when it is lowered to the ground. However, it may also be an area that includes these areas with a little extra margin. By doing so, it is possible to provide a cargo handling vehicle that is even safer.

[0063] In the embodiments described above, in order to prevent the light beam from being shone on the cargo handling vehicle while it is in motion, for example, a switch for preparing or performing loading and unloading of cargo may be installed, and some detection means may be provided to detect whether this switch is in the ON state, and the light beam may be shone on the condition that the switch is ON. Specifically, the light beam may be shone on the condition that a PTO (Power Take-Off) switch (not shown), which enables the operation of the PTO function that converts engine rotation into "hydraulics," is ON.

[0064] In the embodiments described above, it is possible to selectively illuminate the occupied area on the ground with light rays when the lift frame and slide body are projected in a plan view in an inclined position, and to illuminate the occupied area on the ground with light rays when the lift frame and slide body are projected in a plan view in a parallel position. In this embodiment, the same color light rays or different color light rays may be irradiated to both positions.

[0065] In the embodiments described above, when the lowering operation is performed in an inclined position, light rays may be shone only on the area occupied on the ground when the lift frame and slide body in the inclined position are projected in plan view. Similarly, when the lowering operation is performed in a parallel position, light rays may be shone only on the area occupied on the ground when the lift frame and slide body in the parallel position are projected in plan view.

[0066] In the embodiments described above, the light irradiation area switching switch was equipped on the remote control, but it may also be equipped inside the cab or on the body. The shape of the light irradiation area switching switch may also be a lever or the like. Furthermore, the function of the switch may be replaced by a smartphone.

[0067] In the embodiments described above, the front end of the body may be in contact with the ground when in an inclined position. For example, it may have retractable feet attached to the front end.

[0068] In the embodiments described above, light irradiation by the light irradiation device 88 was not performed during the loading operation. However, the light irradiation device in the present invention can also be effective during the loading operation. An embodiment equipped with the light irradiation device will be described below.

[0069] The cargo handling vehicle 51 of the third embodiment of the present invention is a container transport vehicle and, as shown in Figure 10, is equipped with a light irradiation device 188, a steering amount detection unit 105, and an appropriate position detection unit 106. Compared with the cargo handling vehicle 40 of the second embodiment, the light irradiation device 188 equipped in the cargo handling vehicle 51 has a different configuration from the light irradiation device 88 of the second embodiment (Figure 9(f)). Also, the steering amount detection unit 105 and the appropriate position detection unit 106 are not provided in the cargo handling vehicle 40 of the second embodiment.

[0070] The steering amount detection unit 105 detects the steering amount of the cargo handling vehicle 51, that is, the steering angle operated by the steering wheel. The appropriate position detection unit 106 detects whether the cargo handling vehicle 51 is in the appropriate position for loading the container 2 to be loaded.

[0071] To briefly outline the functions of the cargo handling vehicle 51 in this embodiment, it uses information from the steering amount detection unit 105 to adjust the lateral displacement of the cargo handling vehicle 51 relative to the container 2 by operating the steering wheel, and also uses information from the appropriate position detection unit 106 to adjust the longitudinal displacement of the cargo handling vehicle 51 relative to the container 2, thereby confirming that it has reached the appropriate position for loading. At this time, the irradiation pattern of the light irradiation device 188 is also taken into consideration to confirm that it has reached the appropriate position. An example of the appropriate position detection unit is a camera. For example, the relative position between the cargo handling vehicle 51 and the container 2 can be obtained by image processing of a photograph taken by the camera.

[0072] Next, the procedure for positioning the cargo handling vehicle 51 in this embodiment to a suitable position for loading the container 2 will be explained, including the irradiation pattern specific to the light irradiation device 188. As shown in Figure 11(a), the initial position of the cargo handling vehicle 51 is assumed to be behind the container 2, that is, in a position that cannot be reached by forward / backward control. In this case, the cargo handling vehicle 51 needs to be backed up with the steering wheel turned by a certain amount. Here, the cargo handling vehicle 51 of this embodiment is equipped with a steering amount detection unit 105 that detects the amount of steering. Furthermore, as shown in Figure 11(b), the light irradiation device 188 of the cargo handling vehicle 51 irradiates the trajectory of the rear center of the truck over a certain distance in a straight line (for 0°) or curve (for 5°, 10°, and 15°) depending on the amount of steering, for example, when backing up with steering amounts of 0°, 5°, 10°, and 15°, as shown by the irradiation rays 41 (0°), 42 (5°), 43 (10°), and 44 (15°) in Figure 11(b). The light irradiation device 188 of this embodiment makes this light irradiation possible by arranging multiple lights that can irradiate the curve of each operating amount onto the ground.

[0073] While the light beams are being emitted, the assistant determines which of the four beams—41 (0°), 42 (5°), 43 (10°), or 44 (15°)—is most suitable for approaching the location where container 2 is installed, and informs the driver. In this embodiment, 10° is the closest to the steering input. The driver then reverses the loading vehicle 51 with a steering input of 10°. As it approaches the container 2, the driver adjusts the steering input according to the fine adjustments instructed by the assistant, and finally the loading vehicle 51 can be positioned in the longitudinal direction of the container 2, as shown in Figure 11(c).

[0074] Next, the cargo handling vehicle 51 is driven in a straight line in the forward and backward direction with a steering angle of 0°. At this time, the light irradiation device 188 projects a U-shaped line onto the ground, as shown in Figure 11(c), which represents the entire surface of the container 2, a portion of its left side, and a portion of its right side. The loading vehicle 51 is moved in a straight line in the forward and backward direction, and when the loading vehicle 51 approaches the container 2, the appropriate position detection unit 106 of the loading vehicle 51 detects that the loading vehicle 51 is in the appropriate position for loading the container 2, the light irradiation device 188 changes the color of the light it emits. That is, as shown in Figures 11(c) and (d), the loading vehicle 51 changes the illumination of the container 2 installation area AA, which was initially illuminated with, for example, red light, to blue light when it reaches a state where the container can be loaded. In this way, the assistant can easily confirm that the loading vehicle 51 has reached a position where the container can be loaded. In addition to changing the color of the light beam, another way to indicate that a loading location is available is to make the beam flash, for example.

[0075] With the above steps completed, the cargo handling vehicle 51 is ready to perform the loading operation. Therefore, all that remains is to perform the loading operation. As mentioned above, the loading operation should be performed in the order of Figures 8 and 9, i.e., Figures 9(f), 9(e), 9(d), 8(c), 8(b), and 8(a).

[0076] In the third embodiment described above, an assistant performed tasks such as checking the illumination beam. However, the present invention is not limited to this, and the driver may perform these tasks alone without the assistance of an assistant, while checking the rear view on a monitor installed in the driver's cabin using a camera or the like installed at the rear of the cargo handling vehicle 51.

[0077] In the third embodiment described above, the illuminated beams 41, 42, 43, and 44 generated in response to steering were the trajectory of the rear center of the truck when it was backed up with a given amount of steering, i.e., a single linear light. However, they may also be the extensions of both left and right tires, i.e., two linear lights.

[0078] In the third embodiment described above, the irradiated light ray was curved when the cargo handling vehicle 51 was operated with a certain amount of steering input, but the present invention is not limited to this. The irradiation direction may be changed while the irradiation remains linear.

[0079] In the third embodiment described above, the light irradiation device 188 has lights for front-to-back adjustment and lights for left-to-right adjustment. In this case, some of the lights may perform both functions. This is expected to reduce costs.

[0080] In the third embodiment described above, information from the steering amount detection unit 105 and the appropriate position detection unit 106 is used for loading operations, but the present invention is not limited to this and may also be used for unloading operations. That is, the information from the steering amount detection unit 105 may be used to adjust the lateral displacement of the cargo handling vehicle 51 relative to the container 2 by operating the steering wheel, and the information from the appropriate position detection unit 106 may be used to adjust the longitudinal displacement of the cargo handling vehicle 51 relative to the container 2, thereby moving the cargo handling vehicle 51 to the target position where the container 2 should be loaded or unloaded.

[0081] Next, a fourth embodiment of the present invention will be described. The cargo handling vehicle 56 of the fourth embodiment shown in Figure 12 is a container transport vehicle similar to that of the third embodiment, and is equipped with a light irradiation device 189. The light irradiation device 189 has a different configuration from the light irradiation device 188 of the third embodiment.

[0082] The loading operation in the cargo handling vehicle 56 begins from the state shown in Figure 12. From this state, the cargo handling vehicle 56 is brought closer to the container 2, and then an engagement step is performed in which the engaging portion (hook) 23 at the tip of the hook arm 20 of the cargo handling arm 3 is engaged with the engaged portion 24 of the container 2. The cargo handling vehicle 56 in this embodiment is equipped with a light irradiation device 189 that can be used in this engagement step.

[0083] Furthermore, the cargo handling vehicle 56 of the fourth embodiment includes a cargo handling arm attitude detection unit 160, an engagement part height detection unit 161, and an engaged part height detection unit 162. The cargo handling arm attitude detection unit 160, the engagement part height detection unit 161, and the engaged part height detection unit 162 are not provided in the cargo handling vehicle 40 of the second embodiment.

[0084] The cargo handling arm attitude detection unit 160 detects the distance from the cargo handling arm rotation axis 150 to the engagement portion 23 and is mounted on the base end side of the lift arm 21. The engagement portion height detection unit 161 and the engaged portion height detection unit 162 detect the height of the engagement portion 23 from the ground and the height of the engaged portion 24 from the ground, respectively. The light irradiation device 189 illuminates the ground with a marker light (for example, a cross-shaped light) to indicate the engageable position of the engaging portion 24.

[0085] Next, the procedure for the engagement step in the fourth embodiment will be explained using Figure 13. In Figure 13, RR shows the oscillation trajectory of the engagement portion 23 at the tip of the hook arm 21 of the cargo handling arm 3. On the oscillation trajectory RR, E indicates a point where the height of the engagement portion 23 from the ground is higher than the height of the engaged portion 24 of the container 2, F indicates a point where the height of the engagement portion 23 from the ground is lower than the height of the engaged portion 24 of the container 2, and G indicates a point where the height of the engagement portion 23 from the ground is the same as the height of the engaged portion 24 of the container 2. First, as shown in Figure 13(a), the loading vehicle 56 is moved backward in the direction of the arrow to approach the container 2. At this point, the engaging portion 23 at the tip of the hook arm 21 of the loading arm 3 is at point E, that is, the height of the engaging portion 23 from the ground is higher than the height of the engaged portion 24 of the container 2. At this time, the engaging portion 23 at the tip of the hook arm 20 is brought closer to the engaged portion 24 of the container 2, almost adjacent to it. In this process, the lift arm 21 is rotated to the right along the oscillation trajectory RR in Figure 13, so that the height of the engaging portion 23 of the loading arm 3 from the ground is positioned at point F, as shown in Figure 13(b). Then, the loading arm 3 is rotated counterclockwise along the oscillating trajectory RR in Figure 13, moving the engaging portion 23 from point F to point G on the oscillating trajectory RR. In this way, at point G on the oscillating trajectory RR, the engaging portion 23 of the loading arm 3 engages with the engaged portion 24 of the container 2, as shown in Figure 13(c). As will be described later, the light irradiation device 189 of this embodiment is useful for smoothly carrying out each step of this engagement process.

[0086] Specifically, the light irradiation device 189 projects a straight line onto the ground, representing the oscillation trajectory RR of the loading arm 3 around the pivot axis of the engaging portion 23 at the tip of the hook arm 20. This line is projected from the rear end of the loading vehicle 56 as a light beam BB perpendicular to the rear end, as shown in Figure 14(a). Here, the light irradiation device 189 includes a light that projects a cross-shaped marker beam consisting of light beam BB and a light beam CC perpendicular to the rear end of the hook's oscillation trajectory. The position of light beam CC perpendicular to light beam BB can be determined by knowing the radius R of the oscillation trajectory RR. As shown in Figure 12, in this embodiment, a loading arm attitude detection unit 160, which detects the distance from the loading arm pivot axis to the engaging portion 23, is installed on the base end side of the lift arm 21, and this can be used to determine the radius R of the oscillation trajectory RR.

[0087] Based on the above background, the loading vehicle 56 is reversed while the marker ray CC is emitted from the light irradiation device 189. When the marker ray CC reaches the point where it coincides with the engagement portion 24 of the container 2, as shown in Figure 14(b), it is determined that the loading vehicle 56 has reached the appropriate position for loading the container 2. In this embodiment, the loading vehicle 56 is determined by a driver and assistant pair. Specifically, the assistant confirms that the marker ray CC has reached the engagement portion 24 and informs the driver. After this, the loading operation is performed. Alternatively, the driver may use a camera or similar device installed at the rear of the cargo handling vehicle 56 to check the area behind them on a monitor installed in the driver's cabin, and confirm by themselves, without assistance from an assistant, that the marker light CC has reached the engaged part 24.

[0088] Furthermore, the load handling arm attitude detection unit 160, which detects distance, can use not only a method that directly measures distance, but also a method that processes images captured by a camera to determine the relative position with respect to the engaged part.

[0089] Alternatively, the cargo handling arm attitude detection unit 160 may be configured by providing tilt sensors on the vehicle unit 5, the hook arm 20, and the lift arm 21, respectively, to detect the angle in the vertical direction. In this case, the lengths of the hook arm 20 and the lift arm 21 may be stored in advance, and the distance from the cargo handling arm rotation axis 150 to the engagement part 23 may be calculated from these values.

[0090] In this embodiment, when engaging the engaging portion 23 at the tip of the hook arm 20 with the engaged portion 24 of the container 2, the shape of the engaged portion 24 is designed such that it is preferable to position the engaging portion 23 below the engaged portion 24 of the container 2 and swing it upward from that position. Therefore, before the operation of backing up the cargo handling vehicle 56 so that the marker light CC reaches the engaged portion 24, the engaging portion 23 is swayed in advance to position the engaging portion 23 below the engaged portion 24. If the height of the engaging portion 23 from the ground becomes lower than the height of the engaged portion 24 from the ground, the irradiation pattern of the light rays BB and CC shown in Figure 14 is changed, for example, by changing the color or making them flash. The assistant confirms this and informs the driver. In response, the driver stops the rocking motion of the engaging portion. At this time, the change in the irradiation pattern may be photographed, for example with a camera and displayed on a monitor in the driver's cab, so that the driver can confirm whether the height of the engaging portion 23 from the ground is lower than the height of the engaged portion 24 from the ground. In this embodiment, a cargo handling vehicle 56 transports a container 2 having an engaged portion 24 at a certain height. In this embodiment, the cargo handling vehicle 56 also has an engaged portion height detection unit 161 that detects the height of the engaged portion from the ground surface. Therefore, confirmation that the height of the engaged portion 23 from the ground surface is lower than the height of the engaged portion from the ground surface can be obtained by the engaged portion height detection unit 161 and comparing this value with the height of the engaged portion 24 from the ground surface stored in the control device 6 of the cargo handling vehicle 56.

[0091] However, even if the cargo handling vehicle 56 loads and transports containers 2 having engaged portions 24 at different height positions, if the vehicle has an engaged portion height detection unit 162 in addition to the engaged portion height detection unit 161, it is easy to confirm that the height of the engaged portion 23 from the ground surface is lower than the height of the engaged portion from the ground surface. The engaged portion height detection unit 162 can be configured, for example, by providing a camera that takes pictures of the rear and processing the image from this camera for detection. This makes it easy to move the engaged portion 23 so that it is positioned below the engaged portion 24. Alternatively, as a method for determining the height of the engagement portion 23 for each size of container 2, a correspondence table between the size of the container 2 and the height of the engagement portion 23 may be stored in the cargo handling vehicle 56 in advance, and the height of the engagement portion 23 may be obtained from this correspondence table according to the size of the container 2 to be transported and processed. [Explanation of symbols]

[0092] 1, 40, 51, 56 Loading and unloading vehicles 2 containers 3. Loading Arm 5. Vehicle Department 6 Control device 17 Loading device 18 Loading device 23 Hook (engaging part) 26 Loading and unloading equipment 30 Lift Frame 32 Slide Body 88, 188, 189 Light irradiation device 110 Light beam irradiation area switching switch A. Region of tilted posture B. Parallel orientation region C, D: The area of ​​ground occupied when container 2 is lowered to the ground. 105 Steering Amount Detection Unit 150 Loading arm pivot axis 160 Load Handling Arm Posture Detection Unit 161 Engagement part height detection unit 162 Engaged part height detection unit

Claims

1. A cargo handling vehicle having a vehicle section, a loading device, and a light irradiation device, wherein the loading device and the light irradiation device are mounted on the vehicle section, The aforementioned loading device includes a loading / unloading device and a control device. The aforementioned loading and unloading device is configured to load and unload objects directly or indirectly by placing them on the body. The aforementioned loading and unloading device is configured to perform an unloading operation in which the body or the object to be transported touches the ground, and a loading operation in which the body or the object to be transported is pulled onto the vehicle. A cargo handling vehicle characterized in that the light irradiation device can irradiate a light beam that makes visible the area of ​​the ground on which the body or the transported object is placed, and / or irradiate a marker light beam in a position suitable for loading operations with a changeable irradiation pattern.

2. The aforementioned cargo handling vehicle is a vehicle transport vehicle, The aforementioned loading and unloading device has a lift frame and a slide body, The aforementioned lift frame is capable of changing its orientation to an inclined position. The slide body is capable of moving linearly along the lift frame, The aforementioned loading and unloading device is configured to perform an unloading operation to lower the slide body to the ground and an loading operation to pull the slide body onto the vehicle section. The aforementioned lowering operation can be performed in an inclined position with the rear end of the slide body touching the ground. The cargo handling vehicle according to claim 1, characterized in that the light irradiation device can irradiate a light beam onto the area occupied on the ground when the lift frame and slide body in the inclined position are projected in plan view.

3. The aforementioned cargo handling vehicle is a vehicle transport vehicle, The aforementioned loading and unloading device has a lift frame and a slide body, The aforementioned lift frame is capable of changing its orientation to an inclined position. The slide body is capable of moving linearly along the lift frame, The aforementioned loading and unloading device is configured to perform an unloading operation to lower the slide body to the ground and an loading operation to pull the slide body onto the vehicle section. The aforementioned lowering operation can be performed in a parallel position with the slide body in contact with the ground in a manner approximately parallel to the ground. The cargo handling vehicle according to claim 1, characterized in that the light irradiation device can irradiate a light beam onto the area occupied on the ground when the lift frame and slide body in the parallel position are projected in plan view.

4. The aforementioned cargo handling vehicle is a vehicle transport vehicle, The aforementioned loading and unloading device has a lift frame and a slide body, The aforementioned lift frame is capable of changing its orientation to an inclined position. The slide body is capable of moving linearly along the lift frame, The aforementioned loading and unloading device is configured to perform an unloading operation to lower the slide body to the ground and an loading operation to pull the slide body onto the vehicle section. The lowering operation can be performed in an inclined position with the rear end of the slide body touching the ground, or in a parallel position with the slide body touching the ground approximately parallel to the ground. The cargo handling vehicle according to claim 1, characterized in that the light irradiation device can irradiate light rays onto the area occupied on the ground when the lift frame and slide body are projected in a plan view in the inclined position, and onto the area occupied on the ground when the lift frame and slide body are projected in a plan view in the parallel position.

5. A cargo handling vehicle having a vehicle section, a loading device, and a light irradiation device, wherein the loading device and the light irradiation device are mounted on the vehicle section, The aforementioned loading device includes a loading / unloading device and a control device. The aforementioned loading and unloading device is configured to load and unload objects directly or indirectly by placing them on the body. The aforementioned loading and unloading device is configured to perform an unloading operation in which the body or the object to be transported touches the ground, and a loading operation in which the body or the object to be transported is pulled onto the vehicle. The light irradiation device can irradiate light onto the area of ​​the ground where the body or the object to be transported is placed, and / or at a position suitable for the loading operation. The aforementioned cargo handling vehicle is a vehicle transport vehicle, The aforementioned loading and unloading device has a lift frame and a slide body, The aforementioned lift frame is capable of changing its orientation to an inclined position. The slide body is capable of moving linearly along the lift frame, The aforementioned loading and unloading device is configured to perform an unloading operation to lower the slide body to the ground and an loading operation to pull the slide body onto the vehicle section. The lowering operation can be performed in an inclined position with the rear end of the slide body touching the ground, or in a parallel position with the slide body touching the ground approximately parallel to the ground. The light irradiation device can irradiate light rays onto the area occupied on the ground when the lift frame and slide body are projected in a plan view in the inclined position, and onto the area occupied on the ground when the lift frame and slide body are projected in a plan view in the parallel position. A cargo handling vehicle characterized in that the light irradiation device can selectively irradiate light onto the area occupied on the ground when the lift frame and slide body are projected in a plan view in the inclined position, or the area occupied on the ground when the lift frame and slide body are projected in a plan view in the parallel position, at the discretion of a person.

6. The cargo handling vehicle according to claim 4 or 5, wherein the light irradiation device is capable of simultaneously irradiating light onto the area occupied on the ground when the lift frame and slide body are projected in a plan view in the inclined position, and onto the area occupied on the ground when the lift frame and slide body are projected in a plan view in the parallel position.

7. The cargo handling vehicle according to claim 4 or 5, wherein the light irradiation device is capable of simultaneously or selectively irradiating the area occupied on the ground when the lift frame and slide body are projected in a plan view in the inclined position and the area occupied on the ground when the lift frame and slide body are projected in a plan view in the parallel position with light rays of different colors.

8. The cargo handling vehicle according to claim 4 or 5, wherein the light irradiation device irradiates a light beam onto the area occupied on the ground when the lift frame and slide body in the inclined position are projected in plan view until the slide body touches the ground, and after the slide body touches the ground, irradiates a light beam onto the area occupied on the ground when the lift frame and slide body in the parallel position are projected in plan view.

9. The aforementioned cargo handling vehicle is a container transport vehicle capable of transporting at least two sizes of containers, The loading and unloading device has a cargo handling arm equipped with an engaging portion that engages with the container, The aforementioned cargo handling arm is configured to perform a loading operation in which it engages with a container placed on the ground and drives the cargo handling arm to pull the container onto the vehicle, and an unloading operation in which it lowers the container placed on the vehicle to the ground using the cargo handling arm. The cargo handling vehicle according to claim 1, characterized in that the light irradiation device can irradiate light onto the area of ​​the ground occupied when the container that is the target of the unloading operation is lowered to the ground.

10. The cargo handling vehicle according to claim 1, 2, 3, 4, 5, or 9, characterized in that the light irradiation device starts irradiating light before the lowering operation begins.

11. A cargo handling vehicle having a vehicle section, a loading device, and a light irradiation device, wherein the loading device and the light irradiation device are mounted on the vehicle section, The aforementioned loading device includes a loading / unloading device and a control device. The aforementioned loading and unloading device is configured to load and unload objects directly or indirectly by placing them on the body. The aforementioned loading and unloading device is configured to perform an unloading operation in which the body or the object to be transported touches the ground, and a loading operation in which the body or the object to be transported is pulled onto the vehicle. The light irradiation device can irradiate light onto the area of ​​the ground where the body or the object to be transported is placed, and / or at a position suitable for the loading operation. The aforementioned cargo handling vehicle is a container transport vehicle capable of transporting containers, and is equipped with a steering amount detection unit that can detect the amount of steering of the container transport vehicle. The loading and unloading device has a cargo handling arm equipped with an engaging portion that engages with the container, The aforementioned cargo handling arm is configured to perform a loading operation in which it engages with a container placed on the ground and drives the cargo handling arm to pull the container onto the vehicle, and an unloading operation in which it lowers the container placed on the vehicle to the ground using the cargo handling arm. The aforementioned light irradiation device illuminates the rear of the container transport vehicle and is characterized in that the irradiation trajectory can be changed according to the detection result of the steering amount detection unit.

12. A cargo handling vehicle having a vehicle section, a loading device, and a light irradiation device, wherein the loading device and the light irradiation device are mounted on the vehicle section, The aforementioned loading device includes a loading / unloading device and a control device. The aforementioned loading and unloading device is configured to load and unload objects directly or indirectly by placing them on the body. The aforementioned loading and unloading device is configured to perform an unloading operation in which the body or the object to be transported touches the ground, and a loading operation in which the body or the object to be transported is pulled onto the vehicle. The light irradiation device can irradiate light onto the area of ​​the ground where the body or the object to be transported is placed, and / or at a position suitable for the loading operation. The aforementioned cargo handling vehicle is a container transport vehicle capable of transporting containers, The loading and unloading device has a cargo handling arm equipped with an engaging portion that engages with the container, The aforementioned cargo handling arm is configured to perform a loading operation in which it engages with a container placed on the ground and drives the cargo handling arm to pull the container onto the vehicle, and an unloading operation in which it lowers the container placed on the vehicle to the ground using the cargo handling arm. The aforementioned light irradiation device is characterized in that it can irradiate a position where a container can be loaded when the loading operation is performed on the cargo handling vehicle.

13. The cargo handling vehicle further includes an appropriate position detection unit, which detects whether the container transport vehicle is in an appropriate position for loading the container to be loaded. The cargo handling vehicle according to claim 12, characterized in that the light irradiation device can change the irradiation pattern of the light irradiation device when the appropriate position detection unit detects the appropriate position.

14. The base end of the aforementioned load handling arm is attached to a load handling arm pivot shaft provided on the vehicle, and the load handling arm is oscillating about the load handling arm pivot shaft. The cargo handling device according to claim 12, characterized in that the light irradiation device can irradiate a pattern that serves as a marker when performing engagement work onto the ground corresponding to the engagement position with the engaged portion of the container, within the oscillation trajectory of the cargo handling arm around the rotation axis of the engagement portion.

15. The aforementioned cargo handling vehicle further includes a cargo handling arm attitude detection unit, which detects the distance from the cargo handling arm rotation axis to the engagement portion. The cargo handling device according to claim 14, characterized in that the light irradiation device can irradiate an irradiation pattern that serves as a marker when performing the engagement operation, based on the distance from the rotation axis of the cargo handling arm to the engagement part detected by the cargo handling arm attitude detection unit.

16. The aforementioned cargo handling vehicle further includes an engagement portion height detection unit that detects the height of the engagement portion from the ground, The cargo handling device according to any one of claims 12 to 15, characterized in that the irradiation pattern of the light irradiation device can be changed when the cargo handling arm sways backward and the height of the engagement portion from the ground falls below the height of the engaged portion of the container from the ground.

17. The aforementioned cargo handling vehicle further includes an engaged portion height detection unit that detects the height of the engaged portion from the ground, The cargo handling device according to claim 16, characterized in that the light irradiation device can change the irradiation pattern of the light irradiation device when the cargo handling arm sways backward and the height of the engagement portion from the ground is compared with the height of the engaged portion from the ground, and the height of the engagement portion falls below the height of the engaged portion of the container.

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