Material handling vehicles

Abstract

To provide a cargo handling vehicle capable of identifying an object of cargo handling work.SOLUTION: A cargo handling vehicle includes a vehicle body, side sensors mounted on side parts of the vehicle body to detect an object, and a controller. A detection range of the side sensor is regulated to an oblique front side of the vehicle body. The controller identifies an object to be automatically subjected to cargo handling work based on detected data of the side sensors.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] The present disclosure relates to a material handling vehicle.

Background Art

[0002] In the technical field related to material handling vehicles, a forklift as disclosed in Patent Document 1 is known.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] When automatically performing a material handling operation using a material handling vehicle, a technology capable of identifying the object of the material handling operation is desired.

[0005] An object of the present disclosure is to provide a material handling vehicle capable of identifying the object of a material handling operation.

Means for Solving the Problems

[0006] According to the present disclosure, there is provided a material handling vehicle including a vehicle body, a side sensor attached to a side portion of the vehicle body for detecting an object, and a controller. The detection range of the side sensor is defined diagonally forward of the vehicle body. The controller identifies an object for automatically performing a material handling operation based on the detection data of the side sensor.

Effects of the Invention

[0007] According to the present disclosure, there is provided a material handling vehicle capable of identifying the object of a material handling operation.'

Brief Description of the Drawings

[0008] [Figure 1]Figure 1 is a front perspective view showing a cargo handling vehicle according to an embodiment. [Figure 2] Figure 2 is a block diagram showing a cargo handling vehicle according to an embodiment. [Figure 3] Figure 3 is a block diagram of the controller according to the embodiment. [Figure 4] Figure 4 is a schematic diagram showing an object sensor according to an embodiment. [Figure 5] Figure 5 is a view of the cargo handling vehicle according to the embodiment, seen from above. [Figure 6] Figure 6 is a side view of a cargo handling vehicle according to this embodiment. [Figure 7] Figure 7 is a schematic diagram showing the loading operation according to the embodiment. [Figure 8] Figure 8 shows an example of display data shown on the display device when the automatic mode enable switch according to the embodiment is operated. [Figure 9] Figure 9 shows an example of display data shown on the display device when the automatic mode start switch according to the embodiment is operated. [Figure 10] Figure 10 is a schematic diagram showing the state in which the second forward sensor according to the embodiment is detecting an object. [Figure 11] Figure 11 is a schematic diagram showing the state in which the second forward sensor according to the embodiment is detecting an object. [Figure 12] Figure 12 is a schematic diagram showing the first forward sensor according to the embodiment. [Figure 13] Figure 13 is a schematic diagram illustrating the loading operation according to the embodiment. [Figure 14] Figure 14 is a schematic diagram showing the loading operation according to the embodiment. [Figure 15] Figure 15 is a schematic diagram showing a cargo handling vehicle according to another embodiment. [Figure 16] Figure 16 is a schematic diagram showing a cargo handling vehicle according to another embodiment. [Modes for carrying out the invention]

[0009] Hereinafter, embodiments according to the present disclosure will be described with reference to the drawings, but the present disclosure is not limited to the embodiments. The components of the embodiments described below can be combined as appropriate. Also, some components may not be used.

[0010] In the embodiments, terms such as left, right, front, rear, top, and bottom are used to describe the positional relationship of each part. These terms indicate the relative position or direction based on the origin of the vehicle body coordinate system defined for the forklift truck to carry goods.

[0011] [Forklift truck for carrying goods] FIG. 1 is a perspective view from the front showing the forklift truck 1 according to the embodiment. FIG. 2 is a block diagram showing the forklift truck 1 according to the embodiment. In the embodiment, the forklift truck 1 is a counterbalance type forklift. In the embodiment, the forklift truck 1 is appropriately referred to as the forklift 1.

[0012] The forklift 1 performs a cargo handling operation. The cargo handling operation includes a cargo lifting operation of lifting the cargo placed at a predetermined storage position and a cargo placing operation of placing the lifted cargo at a predetermined target position. The forklift 1 automatically performs at least a part of the cargo handling operation. In the embodiment, the operation mode of the forklift 1 includes a manual mode of performing the cargo handling operation based on the operator's driving operation and an automatic mode of performing a part of the cargo handling operation based on the operator's driving operation and automatically performing a part of the cargo handling operation.

[0013] The forklift 1 includes a vehicle body 2, a cab 3 supported by the vehicle body 2, a working machine 4 disposed in front of the vehicle body 2, a power source 5 of the forklift 1, a traveling device 用来支持6, an object sensor 7 for detecting an object, and a controller 100. The power source 5 drives a hydraulic pump 30 described later. The power source 5 is, for example, an engine.

[0014] The vehicle body 2 includes a counterweight 9 and fenders 10. The counterweight 9 is arranged at the rear part of the vehicle body 2. The fenders 10 are arranged at the front part of the vehicle body 2. The fenders 10 are arranged on each of the left and right sides of the vehicle body 2.

[0015] The cab 3 forms a driver's cab. The operator of the forklift 1 can board the cab 3 to operate the forklift 1.

[0016] The working device 4 performs at least a part of the cargo handling work. The working device 4 is arranged in front of the vehicle body 2. The working device 4 is supported by the vehicle body 2. The working device 4 has a mast 12, a bracket 13, forks 14, a lift cylinder 15, a tilt cylinder 16, and a side shift cylinder 17.

[0017] The mast 12 is rotatably supported at the front part of the vehicle body 2. The mast 12 is long in the vertical direction. The bracket 13 supports the forks 14. The bracket 13 is supported by the mast 12. The bracket 13 is movable in the vertical direction along the mast 12. The forks 14 support the cargo. The forks 14 are supported by the mast 12 via the bracket 13. The counterweight 9 is attached to the rear part of the vehicle body 2 to balance the weight of the forklift 1 in the front-rear direction when the forks 14 support the cargo.

[0018] A pair of forks 14 are provided. The forks 14 include a first fork 14A and a second fork 14B arranged on the right side of the first fork 14A. The bracket 13 supports the first fork 【14A】 and the second fork 14B.

[0019] Each of the lift cylinder 15, the tilt cylinder 16, and the side shift cylinder 17 is a hydraulic cylinder. The lift cylinder 15 moves the forks 14 in the vertical direction with respect to the vehicle body 2. The tilt cylinder 16 tilts the forks 14 in the front-rear direction with respect to the vehicle body 2. The side shift cylinder 17 moves the forks 14 in the left-right direction with respect to the vehicle body 2.

[0020] The lift cylinder 15 is positioned between the mast 12 and the bracket 13. The lift cylinder 15 moves the fork 14 vertically by moving the bracket 13 vertically. The bracket 13 and the fork 14 move together vertically. The bracket 13 and the fork 14 move vertically along the mast 12. The tilt cylinder 16 is positioned between the vehicle body 2 and the mast 12. The tilt cylinder 16 tilts the fork 14 in the front-to-back direction by tilting the mast 12 in the front-to-back direction.

[0021] The running gear 6 drives the forklift 1. The running gear 6 controls the forward movement, braking, and steering of the forklift 1. Forward movement means that the forklift 1 moves forward or backward. Braking means that the forklift 1 slows down or stops. Steering means that the direction of travel of the forklift 1 is changed. The running gear 6 has front wheels 18, rear wheels 19, a travel motor 20, a brake device (not shown), and a steering cylinder 21.

[0022] Each of the front wheels 18 and rear wheels 19 supports the vehicle body 2. At least a portion of the front wheels 18 is positioned below the vehicle body 2. At least a portion of the rear wheels 19 is positioned below the vehicle body 2. The front wheels 18 are positioned in front of the rear wheels 19. The front wheels 18 are positioned on the left and right sides of the vehicle body 2. The rear wheels 19 are positioned on the left and right sides of the vehicle body 2. Each of the front wheels 18 and rear wheels 19 is rotatable about a pivot axis.

[0023] The travel motor 20 generates the driving force to move the forklift 1 forward. The travel motor 20 rotates the front wheels 18, thereby moving the forklift 1 forward or backward. The travel motor 20 is driven by hydraulic fluid discharged from the hydraulic pump 30, which will be described later. The front wheels 18 are drive wheels that rotate due to the rotational force generated by the travel motor 20. The braking device brakes the forklift 1. The braking device slows down or stops the forklift 1.

[0024] The steering cylinder 21 steers the forklift 1. The steering cylinder 21 changes the direction of travel of the forklift 1 by steering the rear wheels 19. The rear wheels 19 are steering wheels that are steered by the steering cylinder 21.

[0025] The fender 10 is positioned to cover at least a portion of the front wheel 18. At least a portion of the fender 10 is positioned above the front wheel 18. At least a portion of the fender 10 is positioned behind the front wheel 18. The fenders 10 are positioned on the left and right sides of the vehicle body 2, respectively. The left fender 10 is positioned to cover at least a portion of the left front wheel 18. The right fender 10 is positioned to cover at least a portion of the right front wheel 18.

[0026] In this embodiment, the left-right direction is parallel to the axis of rotation of the front wheels 18 and rear wheels 19 when the forklift 1 is traveling in a straight line. The up-down direction is perpendicular to the contact surface of the front wheels 18 and rear wheels 19. The front-rear direction is perpendicular to both the left-right and up-down directions.

[0027] The object sensor 7 detects objects around the forklift 1. The objects detected by the object sensor 7 include objects for handling cargo. Multiple object sensors 7 are provided. In this embodiment, the object sensor 7 includes a left-side sensor 7A attached to the left side of the vehicle body 2, a right-side sensor 7B attached to the right side of the vehicle body 2, a first forward sensor 7C attached to the front of the vehicle body 2, and a second forward sensor 7D attached to at least a part of the work equipment 4.

[0028] The controller 100 controls at least the travel device 6 and the work equipment 4. As described above, the operating modes of the forklift 1 include a manual mode and an automatic mode. In manual mode, the forklift 1 performs cargo handling operations based on the driving operations of an operator seated in the cab. In automatic mode, the forklift 1 automatically performs at least a portion of the cargo handling operations based on the detection data of the object sensor 7.

[0029] In automatic mode, the traveling device 6 and the work implement 4 are automatically controlled by the controller 100. In automatic mode, the controller 100 controls the traveling device 6 and the work implement 4 based on the detection data of the object sensor 7. In the following description, the automatic control of the traveling device 6 in automatic mode will be referred to as "travel automatic control" as appropriate, and the automatic control of the work implement 4 in automatic mode will be referred to as "work implement automatic control" as appropriate.

[0030] In this embodiment, the automatic travel control includes automatic control of the steering of the forklift 1. The travel and braking of the travel device 6 are performed based on the operator's driving operations. In automatic mode, the steering cylinder 21 is automatically controlled by the controller 100.

[0031] In this embodiment, the automatic control of the work equipment includes automatic control of the position and orientation of the fork 14. In automatic mode, the lift cylinder 15, tilt cylinder 16, and side shift cylinder 17 are automatically controlled by the controller 100.

[0032] The driver's cab is equipped with a steering wheel 22, a work implement lever 23, a forward / reverse lever 24, an accelerator pedal 25, a brake pedal 26, an automatic mode enable switch 27, and an automatic mode start switch 28.

[0033] In manual mode, the rear wheels 19 are steered by the operator operating the steering wheel 22. In manual mode, the position and posture of the forks 14 are adjusted by the operator operating the work equipment lever 23. The forward / reverse lever 24 is operated by the operator to switch the forklift 1 between forward and reverse. The travel speed of the forklift 1 is adjusted by the operator operating at least one of the accelerator pedal 25 and the brake pedal 26.

[0034] The automatic mode enable switch 27, when operated by an operator, generates a control command that initiates the process of identifying objects for automatic cargo handling operations. In manual mode, when the automatic mode enable switch 27 is operated, the controller 100 starts the process of identifying objects based on the detection data from the object sensor 7.

[0035] The automatic mode start switch 28, when operated by the operator, generates a control command to start automatic travel control or automatic work equipment control. After the automatic mode permission switch 27 is operated, the controller 100 transitions the operating mode of the forklift 1 from manual mode to automatic mode when the automatic mode start switch 28 is operated.

[0036] An output device 29 is located in the driver's cab. The output device 29 provides output data to the operator. In this embodiment, the output device 29 includes a display device 29A and an audio output device 29B. The display device 29A provides display data to the operator as output data. Examples of the display device 29A include a flat panel display such as a liquid crystal display (LCD) or an organic electroluminescence display (OELD). The audio output device 29B provides audio data to the operator as output data. Examples of the audio output device 29B include a buzzer or a speaker. The output device 29 may also include a lamp.

[0037] Each of the travel motor 20, steering cylinder 21, lift cylinder 15, tilt cylinder 16, and side shift cylinder 17 operates based on hydraulic fluid discharged from a hydraulic pump 30. The hydraulic fluid discharged from the hydraulic pump 30 is supplied to each of the travel motor 20, steering cylinder 21, lift cylinder 15, tilt cylinder 16, and side shift cylinder 17 via a control valve unit 31. The control valve unit 31 is controlled by a controller 100. The control valve unit 31 includes a travel control valve 31A that controls the flow rate and direction of hydraulic fluid supplied to the travel motor 20, a steering control valve 31B that controls the flow rate and direction of hydraulic fluid supplied to the steering cylinder 21, and a work equipment control valve 31C that controls the flow rate and direction of hydraulic fluid supplied to each of the lift cylinder 15, tilt cylinder 16, and side shift cylinder 17.

[0038] Furthermore, the forklift 1 includes a vehicle speed sensor 32A for detecting the travel speed of the forklift 1, a steering sensor 32B for detecting the steering angle of the rear wheels 19, a lift sensor 33A for detecting the vertical position of the forks 14 relative to the vehicle body 2, a tilt sensor 33B for detecting the longitudinal inclination of the forks 14 relative to the vehicle body 2, a side shift sensor 33C for detecting the lateral position of the forks 14 relative to the vehicle body 2, and a pressure sensor 34 for detecting the pressure of the hydraulic fluid of the lift cylinder 15.

[0039] [controller] Figure 3 is a block diagram showing a controller 100 according to an embodiment. The controller 100 includes a computer system 1000. The computer system 1000 includes a processor 1001 such as a CPU (Central Processing Unit), a main memory 1002 including non-volatile memory such as ROM (Read Only Memory) and volatile memory such as RAM (Random Access Memory), a storage 1003, and an interface 1004 including input / output circuits. The functions of the controller 100 are stored in the storage 1003 as a computer program. The processor 1001 reads the computer program from the storage 1003, loads it into the main memory 1002, and executes the above-mentioned processing according to the program. The computer program may be distributed to the computer system 1000 via a network.

[0040] As shown in Figure 2, the controller 100 includes a detection data acquisition unit 101, an identification unit 102, a control command receiving unit 103, a determination unit 104, a distance calculation unit 105, a selection unit 106, an angle calculation unit 107, a switching unit 108, a travel control unit 109, a work equipment control unit 110, an output control unit 111, and a travel data storage unit 112.

[0041] The driving data storage unit 112 stores driving data indicating the driving conditions of the driving device 6 in automatic mode. The driving data is predetermined. In this embodiment, the driving data storage unit 112 stores multiple driving data.

[0042] The detection data acquisition unit 101 acquires detection data from the object sensor 7, vehicle speed sensor 32A, steering sensor 32B, lift sensor 33A, tilt sensor 33B, side shift sensor 33C, and pressure sensor 34.

[0043] The identification unit 102 identifies objects for which cargo handling operations are to be performed automatically, based on the detection data from the object sensor 7. As described above, cargo handling operations include cargo retrieval operations, which involve picking up cargo from a predetermined storage location, and cargo placement operations, which involve placing the picked-up cargo at a predetermined target location. Objects for which cargo retrieval operations are to be performed automatically include cargo. Objects for which cargo placement operations are to be performed automatically include target objects on which cargo is to be placed.

[0044] The control command receiving unit 103 receives a control command generated when the automatic mode permission switch 27 is operated. The control command receiving unit 103 receives a control command from the automatic mode permission switch 27 to start the process of identifying the target. The control command receiving unit 103 receives a control command generated when the automatic mode start switch 28 is operated. The control command receiving unit 103 receives a control command from the automatic mode start switch 28 to start automatic travel control or automatic work equipment control.

[0045] The determination unit 104 determines the target for automatic cargo handling operations based on the control command from the automatic mode start switch 28.

[0046] The distance calculation unit 105 calculates the distance between the vehicle body 2 and the object for which the cargo handling operation will be performed automatically, based on the detection data from the object sensor 7.

[0047] The selection unit 106 selects one travel data from among multiple travel data stored in the travel data storage unit 112 based on the distance calculated by the distance calculation unit 105.

[0048] The angle calculation unit 107 calculates the relative angle between the vehicle body 2 and the object for which automatic cargo handling operations are performed, based on the detection data from the object sensor 7.

[0049] The switching unit 108 switches the detection data of the object sensor 7 used for object identification based on the relative angle calculated by the angle calculation unit 107.

[0050] The driving control unit 109 controls the driving device 6 based on the detection data from the object sensor 7 and the driving data.

[0051] The work machine control unit 110 controls the work machine 4 based on the detection data from the object sensor 7.

[0052] The output control unit 111 causes output data to be output from the output device 29 when the state of at least one of the traveling device 6 and the work machine 4 changes.

[0053] [Object Sensor] Figure 4 is a schematic diagram showing an object sensor 7 according to an embodiment. In this embodiment, the object sensor 7 includes a camera 71 and a 3D sensor 72. The camera 71 and the 3D sensor 72 are arranged in the vertical direction. The camera 71 and the 3D sensor 72 are fixed. The relative position of the camera 71 and the 3D sensor 72 does not change.

[0054] Camera 71 acquires image data of an object. 3D sensor 72 acquires 3D data of an object. The 3D data of an object includes point cloud data consisting of multiple detection points defined on the object's surface. The point cloud data of an object indicates the relative distance and relative position between the 3D sensor 72 and each of the multiple detection points defined on the object's surface. An example of the 3D sensor 72 is a laser sensor (LiDAR: Light Detection and Ranging) that detects objects by emitting laser light. However, the 3D sensor 72 may also be an infrared sensor that detects objects by emitting infrared light or a radar sensor (RADAR: Radio Detection and Ranging) that detects objects by emitting radio waves.

[0055] The imaging range 41 of the camera 71 and at least a portion of the detection range 42 of the 3D sensor 72 overlap. In the following description, the imaging range 41 and the detection range 42 will be collectively referred to as the detection range 40 as appropriate.

[0056] Figure 5 is a view of the forklift 1 according to the embodiment from above. Figure 6 is a view of the forklift 1 according to the embodiment from the side. As shown in Figures 1, 5, and 6, the forklift 1 is equipped with a plurality of object sensors 7. The object sensors 7 include a left-side sensor 7A attached to the left side of the vehicle body 2, a right-side sensor 7B attached to the right side of the vehicle body 2, a first forward sensor 7C attached to the front of the vehicle body 2, and a second forward sensor 7D attached to at least a part of the work equipment 4.

[0057] The detection range 40 of the object sensor 7 includes the detection range 40A of the left-side sensor 7A, the detection range 40B of the right-side sensor 7B, the detection range 40C of the first front sensor 7C, and the detection range 40D of the second front sensor 7D.

[0058] The detection range 40A of the left-side sensor 7A is defined as the area diagonally to the left front of the vehicle body 2. The detection range 40B of the right-side sensor 7B is defined as the area diagonally to the right front of the vehicle body 2. The detection range 40C of the first-side sensor 7C is defined as the area in front of the vehicle body 2. The detection range 40D of the second-side sensor 7D is defined as the area in front of the vehicle body 2.

[0059] As shown in Figure 5, when the forklift 1 is viewed from above, the forks 14 are not located within the detection range 40A of the left-side sensor 7A, nor within the detection range 40B of the right-side sensor 7B. In other words, detection ranges 40A and 40B are defined to not include the forks 14. Also, when the forklift 1 is viewed from above, at least a portion of the forks 14 are located within the detection range 40C of the first-front sensor 7C, and within the detection range 40C of the second-front sensor 7D. In other words, detection ranges 40C and 40D are defined to include at least a portion of the forks 14.

[0060] In the front-rear direction, the left-side sensor 7A and the right-side sensor 7B are each positioned behind the work machine 4. The left-side sensor 7A and the right-side sensor 7B are each positioned behind the mast 12.

[0061] In the front-rear direction, the left-side sensor 7A and the right-side sensor 7B are positioned in front of the center of the vehicle body 2.

[0062] In the vertical direction, the left-side sensor 7A and the right-side sensor 7B are positioned between the center of the front wheel 18 and the upper end of the counterweight 9.

[0063] In this embodiment, the left-side sensor 7A is mounted on the upper surface of the left fender 10. The right-side sensor 7B is mounted on the upper surface of the right fender 10.

[0064] In the longitudinal direction, the first forward sensor 7C is positioned behind the work implement 4. The first forward sensor 7C is positioned behind the mast 12. The first forward sensor 7C is mounted on the front of the vehicle body 2 so that it is positioned behind the work implement 4.

[0065] In this embodiment, the first front sensor 7C is mounted on the upper surface of the left fender 10. Alternatively, the first front sensor 7C may be mounted on the upper surface of the right fender 10.

[0066] The first forward sensor 7C is capable of detecting objects located close to the ground on which the running gear 6 travels. In the vertical direction, the detection range 40C of the first forward sensor 7C corresponds to the position of at least a portion of the front wheel 18. In the vertical direction, at least a portion of the detection range 40C of the first forward sensor 7C corresponds to the position of the lower end of the movable range of the fork 14 in the vertical direction.

[0067] The second forward sensor 7D is mounted on at least part of the work implement 4 so as to move vertically with the fork 14. In the left-right direction, the second forward sensor 7D is positioned between the first fork 14A and the second fork 14B. In this embodiment, the second forward sensor 7D is mounted on the bracket 13. In the left-right direction, the second forward sensor 7D is mounted on the bracket 13 so as to be positioned between the first fork 14A and the second fork 14B.

[0068] [Loading and unloading] Figure 7 is a schematic diagram showing a loading operation according to an embodiment. The object 50 for automatically performing the loading operation includes cargo. A container is given as an example of cargo. As shown in Figure 7, a plurality of objects 50 are placed in predetermined storage positions at the loading site. The plurality of objects 50 are arranged in a line in a first direction at the loading site. The first direction indicates the direction in the site coordinate system defined at the loading site. In the example shown in Figure 7, the object 50 includes a first object 51 and a second object 52. The first object 51 and the second object 52 are arranged in the first direction. The controller 100 performs automatic driving control and automatic work machine control so that one of the plurality of objects 50 arranged in the first direction is picked up by the fork 14 of the work machine 4.

[0069] Forklift 1 moves forward in a first direction along the travel path 59 located in front of the multiple objects 50 in order to pick up one of the multiple objects 50 with its forks 14. Forklift 1 moves straight along the travel path 59 in the first direction so as to pass in front of the multiple objects 50 one by one.

[0070] The detection range 40A of the left-side sensor 7A is defined as being diagonally to the left front of the vehicle body 2. Therefore, when the forklift 1 moves forward in the first direction along the travel path 59, the left-side sensor 7A can detect the object 50 located to the left of the forklift 1. The detection data from the left-side sensor 7A is transmitted to the controller 100. The detection data acquisition unit 101 acquires the detection data from the left-side sensor 7A.

[0071] Figure 8 shows an example of display data shown on the display device 29A when the automatic mode enable switch 27 according to this embodiment is operated. The object 50 is placed on the top surface of the base 35. As shown in Figure 8, after the automatic mode enable switch 27 is operated and before the automatic mode start switch 28 is operated, if one object 51 is identified among the multiple objects 50, the output control unit 111 causes the display device 29A to display a symbol 36 indicating the identified object 51, along with image data of objects 51 and 52. The symbol 36 is displayed superimposed on the image data of object 51. In this embodiment, the symbol 36 is a frame image displayed surrounding object 51. The operator can recognize from the symbol 36 that object 51 has been identified among the multiple objects 50. Since object 52 is not identified among the multiple objects 50, the symbol 36 indicating object 52 is not displayed.

[0072] Figure 9 shows an example of display data displayed on the display device 29A when the automatic mode start switch 28 according to the embodiment is operated. When the operator performs the loading operation of the target 51 in automatic mode, the operator operates the automatic mode start switch 28 while the symbol 36 indicating the target 51 is displayed. When the automatic mode start switch 28 is operated by the operator, the control command receiving unit 103 receives a control command from the automatic mode start switch 28. When the control command from the automatic mode start switch 28 is received by the control command receiving unit 103 while the target 51 has been identified by the identification unit 102, the output control unit 111 causes the display device 29A to display the image data of the target 51 along with the symbol 37 indicating the target 51 for loading operation in automatic mode. The symbol 37 is displayed superimposed on the image data of the target 51. In this embodiment, the symbol 37 is a frame image displayed surrounding the target 51. The operator can recognize the target 51 for loading operation in automatic mode from among a plurality of targets 50 by the symbol 37.

[0073] The output control unit 111 causes symbol 36 and symbol 37 to be displayed on the display device 29A in such a way that their display modes are different. For example, symbol 36 may be a blue frame image, and symbol 37 may be a red frame image.

[0074] The output control unit 111 causes the output device 29 to output output data when the control command receiving unit 103 receives a control command from the automatic mode start switch 28. In this embodiment, the output control unit 111 causes the voice output device 29B to output a buzzer sound as voice data when the control command receiving unit 103 receives a control command from the automatic mode start switch 28. This allows the operator to recognize that the operating mode of the forklift 1 has transitioned from manual mode to automatic mode.

[0075] The output control unit 111 may output output data from the output device 29 when automatic travel control starts. This allows the operator to recognize that automatic control of the travel device 6 has started.

[0076] When the operator performs the loading operation of target 52 in automatic mode, after operating the automatic mode permission switch 27, the operator moves the forklift 1 forward in the first direction along the travel path in manual mode until target 52 is identified by the identification unit 102. After target 52 is identified and the symbol 36 is displayed superimposed on the image data of target 52, the operator operates the automatic mode start switch 28. With target 52 identified by the identification unit 102, the automatic mode start switch 28 is operated so that the symbol 37 is displayed superimposed on the image data of target 52, and target 52 for loading operation in automatic mode is determined. With target 52 for loading operation in automatic mode determined, the loading operation of target 52 is started based on the automatic mode.

[0077] In automatic mode, the steering of the travel unit 6 is automatically controlled. The travel control unit 109 controls the steering cylinder 21 so that the forklift 1 travels according to the target path defined by the travel data, based on the detection data of the steering sensor 32B. In automatic mode, the forward movement and braking of the travel unit 6 are performed by the operator operating the accelerator pedal 25 and brake pedal 26. In other words, in automatic travel control, the steering of the travel unit 6 is performed automatically based on the target path, and the forward movement and braking of the travel unit 6 are performed manually based on the operator's driving operations.

[0078] [Second forward sensor] Figures 10 and 11 are schematic diagrams showing the state in which the second forward sensor 7D according to the embodiment detects the object 50. As shown in Figures 10 and 11, the second forward sensor 7D can detect the object 50 when the work machine 4 and the object 50 are facing each other directly. The second forward sensor 7D can move vertically together with the fork 14. Therefore, in both cases, as shown in Figure 10, when the object 50 to be picked up by the fork 14 is positioned below, and as shown in Figure 11, when the object 50 to be picked up by the fork 14 is positioned above, the second forward sensor 7D can detect the fork pocket 53 and the fork 14 by moving vertically together with the fork 14. In other words, regardless of the position of the fork pocket 53 in the vertical direction, the second forward sensor 7D can detect the fork pocket 53 and the fork 14 by moving vertically together with the fork 14.

[0079] [First forward sensor] Figure 12 is a schematic diagram showing the first forward sensor 7C according to the embodiment. As shown in Figure 12, when the forks 14 are supporting the object 50, the second forward sensor 7D may be obstructed by the object 50 and unable to detect the object in front of the forklift 1. In this embodiment, the forklift 1 is equipped with the first forward sensor 7C attached to the front of the vehicle body 2. Therefore, even if the second forward sensor 7D is unable to detect the object in front of the forklift 1, the first forward sensor 7C can still detect the object in front of the forklift 1.

[0080] As described above, in the vertical direction, at least a portion of the detection range 40C of the first forward sensor 7C coincides with the lower end of the movable range of the fork 14 in the vertical direction. As shown in Figure 12, when the forklift 1 is moving with the fork 14 supporting the object 50, the fork 14 is raised by the lift cylinder 15. Therefore, the first forward sensor 7C can detect an object in front of the forklift 1 without being obstructed by the object 50.

[0081] The switching unit 108 can switch the detection data of the object sensor 7 used to identify an object in front of the forklift 1 between the detection data of the first forward sensor 7C and the detection data of the second forward sensor 7D. When the forks 14 are not supported by a load, the switching unit 108 determines the detection data of the object sensor 7 used to identify an object in front of the forklift 1 to be the detection data of the second forward sensor 7D. When the forks 14 are supported by a load, the switching unit 108 determines the detection data of the object sensor 7 used to identify an object in front of the forklift 1 to be the detection data of the first forward sensor 7C. Based on the detection data of the pressure sensor 34 that detects the pressure of the lift cylinder 15, the switching unit 108 switches between the detection data of the first forward sensor 7C and the detection data of the second forward sensor 7D used for object identification. When the forks 14 are supported by a load, the pressure of the lift cylinder 15 increases, and when the forks 14 are not supported by a load, the pressure of the lift cylinder 15 decreases. Therefore, the switching unit 108 can determine whether or not a load is supported by the fork 14 based on the detection data from the pressure sensor 34.

[0082] [Storage work] Figures 13 and 14 are schematic diagrams illustrating the loading operation according to the embodiment. In the loading operation, automatic vehicle control is performed, but automatic control of the work equipment is not.

[0083] The objects for which the loading operation is performed automatically include the target object on which the load is to be placed. In the example shown in Figure 13, the object 54 is a container. The forklift 1, with the object 50 (load) supported by the forks 14, moves forward in a first direction along the travel path 59. While the forklift 1 is moving forward in the first direction, the identification unit 102 identifies the object 54 based on the detection data of the left-side sensor 7A. Similar to the loading operation, the travel control unit 109 rotates the forklift 1 90 degrees to approach the object 54 according to the target path. When the forklift 1 moves forward in a second direction to approach the object 54, the identification unit 102 identifies the object 54 based on the detection data of the second forward sensor 7D. After the forklift 1 has approached the object 54, the operator can operate the work equipment lever 23 to place the object 50 on top of the object 54, for example.

[0084] In the example shown in Figure 14, object 55 is a fastening device that secures object 50 (cargo). Object 50 is a container. The forklift 1, with object 50 supported by the forks 14, moves forward along the travel path 59 in a first direction. While the forklift 1 is moving forward in the first direction, the identification unit 102 identifies object 55 based on the detection data of the left-side sensor 7A. Similar to the example shown in Figure 13, the travel control unit 109 rotates the forklift 1 90 degrees to approach object 55 according to the target path. When the forklift 1 moves forward in a second direction to approach object 55, the identification unit 102 identifies object 55 based on the detection data of the second forward sensor 7D. After the forklift 1 has approached object 55, the operator can operate the work equipment lever 23 to place object 50 on object 55.

[0085] [effect] As described above, the forklift 1 comprises a vehicle body 2, a left-side sensor 7A and a right-side sensor 7B which are side sensors attached to the side of the vehicle body 2 for detecting objects, and a controller 100. The detection range 40A of the left-side sensor 7A is defined to the left front of the vehicle body 2, and the detection range 40B of the right-side sensor 7B is defined to the right front of the vehicle body 2. In this embodiment, the controller 100 identifies an object for which loading and unloading operations are to be performed automatically, based on the detection data of the left-side sensor 7A. The controller 100 identifies an object 50 for which loading operations are to be performed automatically, and an object 54 or object 55 for which loading operations are to be performed automatically.

[0086] Since the objects for which cargo handling operations are to be performed automatically are identified, the controller 100 can perform at least a portion of the cargo handling operations in automatic mode.

[0087] The forklift 1 is equipped with a work implement 4 positioned in front of the vehicle body 2 and supported by the vehicle body 2. In the front-rear direction, the left-side sensor 7A and the right-side sensor 7B are positioned behind the work implement 4. This allows the left-side sensor 7A and the right-side sensor 7B to detect objects located to the sides of the vehicle body 2.

[0088] The forklift 1 includes front wheels 18 that are positioned at least partially below the body 2 and support the body 2. The body 2 includes a counterweight 9 located at the rear of the body 2. In the vertical direction, the left-side sensor 7A and the right-side sensor 7B are positioned between the axis of rotation of the front wheels 18, which is the center of the front wheels 18, and the upper end of the counterweight 9. This allows the left-side sensor 7A and the right-side sensor 7B to detect objects located to the sides of the body 2.

[0089] In the front-rear direction, the left-side sensor 7A and the right-side sensor 7B are positioned in front of the center of the vehicle body 2. As a result, for example, when the forklift 1 is moving forward in the first direction and the left-side sensor 7A detects the target 51, the distance between the left-side sensor 7A and the target 51 is short, making it easier for the left-side sensor 7A to detect the target 51. Therefore, the controller 100 can identify the target 51 based on the detection data from the left-side sensor 7A.

[0090] The vehicle body 2 includes a fender 10 positioned to cover at least a portion of the front wheel 18. The left-side sensor 7A and the right-side sensor 7B are each mounted on the fender 10. This allows the left-side sensor 7A and the right-side sensor 7B to detect objects on the side of the forklift 1.

[0091] The forklift 1 comprises a body 2, a work unit 4 positioned in front of the body 2 and having forks 14 that can move vertically relative to the body 2, a first forward sensor 7C mounted on the front of the body 2 so as to be positioned behind the work unit 4 and detecting objects, and a controller 100. The detection range 40C of the first forward sensor 7C is defined in front of the body 2. Based on the detection data of the first forward sensor 7C, the controller 100 identifies an object for which to perform cargo handling operations automatically.

[0092] Since the objects for which cargo handling operations are to be performed automatically are identified, the controller 100 can perform at least a portion of the cargo handling operations in automatic mode.

[0093] In the vertical direction, at least a portion of the detection range 40C of the first forward sensor 7C coincides with the lower end of the movable range of the fork 14. As a result, when the fork 14 rises while supporting the object 50, as explained with reference to Figure 12, the first forward sensor 7C can detect an object in front of the forklift 1 without being obstructed by the object 50.

[0094] The forklift 1 is equipped with front wheels 18 that support the body 2, with at least a portion of them positioned below the body 2. The body 2 includes fenders 10 that are positioned to cover at least a portion of the front wheels 18. A first forward sensor 7C is mounted on the fenders 10. This allows the first forward sensor 7C to detect objects in front of the forklift 1.

[0095] The forklift 1 is equipped with a second forward sensor 7D that detects objects and is attached to at least a part of the work equipment 4 so as to move vertically with the forks 14. The detection range 40D of the second forward sensor 7D is defined in front of the vehicle body 2. Based on the detection data of the second forward sensor 7D, the controller 100 identifies an object for which automatic cargo handling operations are to be performed. Since an object for automatic cargo handling operations is identified, the controller 100 can perform at least a part of the cargo handling operations in automatic mode. Furthermore, as described with reference to Figures 10 and 11, regardless of the position of the fork pocket 53 in the vertical direction, the second forward sensor 7D can detect the fork pocket 53 and the forks 14 by moving vertically with the forks 14.

[0096] A pair of forks 14 are provided. The work machine 4 has a bracket 13 that supports the first fork 14A and the second fork 14B. In the left-right direction, the second forward sensor 7D is mounted on the bracket 13 so as to be positioned between the first fork 14A and the second fork 14B. This allows the second forward sensor 7D to detect the pair of fork pockets 53 and the pair of forks 14.

[0097] [Other embodiments] In the above embodiment, an object for which cargo handling operations are to be performed automatically is located to the left of the forklift 1 traveling along the travel path 59 in the first direction, and the left-side sensor 7A detects the object. If an object for which cargo handling operations are to be performed automatically is located to the right of the forklift 1 traveling along the travel path 59 in the first direction, the object is detected by the right-side sensor 7B. The identification unit 102 identifies the object based on the detection data from the right-side sensor 7B.

[0098] Figure 15 schematically shows a forklift 1B according to another embodiment. As shown in Figure 15, in the front-rear direction, the right-side sensor 7B may be positioned behind the center of the vehicle body 2. In the example shown in Figure 15, the right-side sensor 7B is attached to the counterweight 9. The detection range of the right-side sensor 7B is defined to the right front of the vehicle body 2. By positioning the right-side sensor 7B at the rear of the vehicle body 2, when the object 50 is supported by the forks 14, the object 50 is prevented from entering the detection range 40B of the right-side sensor 7B. When an object for automatic loading and unloading is positioned to the right of the forklift 1 traveling in a first direction along the travel path 59, the right-side sensor 7B can detect the object located to the right of the forklift 1 while preventing the object 50 supported by the forks 14 from entering the detection range 40B of the right-side sensor 7B. Similarly, the left-side sensor 7A may be positioned behind the center of the vehicle body 2. The left-side sensor 7A may be attached to the counterweight 9.

[0099] Figure 16 is a schematic diagram showing a forklift 1C according to another embodiment. As shown in Figure 16, the detection range 40B of the right-side sensor 7B may be defined to the right rear of the vehicle body 2. The identification unit 102 of the controller 100 may identify an object for which cargo handling operations will be performed automatically based on the detection data of the right-side sensor 7B. When the forklift 1C is reversing in the first direction, the identification unit 102 may identify an object located to the right of the forklift 1C based on the detection data of the right-side sensor 7B.

[0100] In the above-described embodiment, the power source 5 of the forklift 1 is an engine, but it is not limited to an engine. For example, the power source 5 of the forklift 1 may be a battery that supplies electricity. In this case, the travel motor 20 may be an electric motor. Also, the hydraulic pump 30 may be driven by an electric motor.

[0101] In the above-described embodiment, the automatic mode permission switch 27 and the automatic mode start switch 28 are separate switches. The automatic mode permission switch 27 and the automatic mode start switch 28 may be the same switch. By operating one switch, a control command is generated to start the process of identifying an object for which cargo handling operations will be performed automatically, and by operating it again, a control command is generated to start automatic travel control or automatic work equipment control.

[0102] In the above-described embodiment, the forklift 1 is operated by an operator seated in the cab 3. The operating device, such as the steering wheel 22, for operating the forklift 1 may be located outside the forklift 1. For example, the operating device for operating the forklift 1 may be located remotely from the forklift 1, and the forklift 1 may be operated remotely. In other words, the forklift 1 may be a remotely operated forklift. [Explanation of Symbols]

[0103] 1...Forklift (material handling vehicle), 1B...Forklift, 1C...Forklift, 2...Body, 3...Cab, 4...Work equipment, 5...Power source, 6...Running gear, 7...Object sensor, 7A...Left side sensor, 7B...Right side sensor, 7C...First forward sensor, 7D...Second forward sensor, 9...Counterweight, 10...Fender, 12...Mast, 13...Bracket, 14...Fork, 15...Lift cylinder, 16...Tilt cylinder, 17...Side shift cylinder, 18...Front wheel, 1 9...Rear wheels, 20...Travel motor, 21...Steering cylinder, 22...Steering wheel, 23...Work implement lever, 24...Forward / reverse lever, 25...Accelerator pedal, 26...Brake pedal, 27...Automatic mode enable switch, 28...Automatic mode start switch, 29...Output device, 29A...Display device, 29B...Audio output device, 30...Hydraulic pump, 31...Control valve unit, 31A...Travel control valve, 31B...Steering control valve, 31C...Work implement control valve, 32A...Vehicle Speed ​​sensor, 32B…Steering sensor, 33A…Lift sensor, 33B…Tilt sensor, 33C…Side shift sensor, 34…Pressure sensor, 35…Base, 36…Symbol, 37…Symbol, 40…Detection range, 40A…Detection range, 40B…Detection range, 40C…Detection range, 40D…Detection range, 41…Imaging range, 42…Detection range, 50…Target, 51…Target, 52…Target, 53…Fork pocket, 54…Target, 55…Target, 59…Road, 71…Camera, 72 ...3D sensor, 100...controller, 101...detection data acquisition unit, 102...identification unit, 103...control command reception unit, 104...determination unit, 105...distance calculation unit, 106...selection unit, 107...angle calculation unit, 108...switching unit, 109...travel control unit, 110...working equipment control unit, 111...output control unit, 112...travel data storage unit, 1000...computer system, 1001...processor, 1002...main memory, 1003...storage, 1004...interface.

Claims

1. The car body and, A side sensor, which is attached to the side of the vehicle body and detects objects, At least a portion of it is positioned below the vehicle body, and the front wheels support the vehicle body, Equipped with a controller, The vehicle body includes a counterweight positioned at the rear of the vehicle body. In the vertical direction, the lateral sensor is positioned between the center of the front wheel and the upper end of the counterweight. The detection range of the aforementioned side sensor is defined diagonally in front of the vehicle body. The controller identifies an object for which cargo handling operations will be performed automatically, based on the detection data from the side sensor. Material handling vehicle.

2. The vehicle is equipped with a work machine positioned in front of the vehicle body and supported by the vehicle body, In the front-rear direction, the lateral sensor is positioned behind the work machine. A cargo handling vehicle according to claim 1.

3. In the front-rear direction, the side sensor is positioned in front of the center of the vehicle body. The cargo handling vehicle according to claim 2.

4. The car body and, A side sensor, which is attached to the side of the vehicle body and detects objects, At least a portion of it is positioned below the vehicle body, and the front wheels support the vehicle body, Equipped with a controller, The vehicle body includes a fender positioned to cover at least a portion of the front wheel, The side sensor is attached to the fender, The detection range of the aforementioned side sensor is defined diagonally in front of the vehicle body. The controller identifies an object for which cargo handling operations will be performed automatically, based on the detection data from the side sensor. Material handling vehicle.

5. The car body and, A side sensor, which is attached to the side of the vehicle body and detects objects, A work machine positioned in front of the vehicle body and supported by the vehicle body, Equipped with a controller, In the front-rear direction, the lateral sensor is positioned behind the work implement and behind the center of the vehicle body. The detection range of the aforementioned side sensor is defined diagonally in front of the vehicle body. The controller identifies an object for which cargo handling operations will be performed automatically, based on the detection data from the side sensor. Material handling vehicle.

6. The car body and, A side sensor, which is attached to the side of the vehicle body and detects objects, Equipped with a controller, The vehicle body includes a counterweight positioned at the rear of the vehicle body. The side sensor is attached to the counterweight, The detection range of the aforementioned side sensor is defined diagonally in front of the vehicle body. The controller identifies an object for which cargo handling operations will be performed automatically, based on the detection data from the side sensor. Material handling vehicle.

7. The side sensors are mounted on the left and right sides of the vehicle body, respectively. A cargo handling vehicle according to claim 1.

8. The car body and, A work machine having a fork positioned in front of the vehicle body and movable vertically relative to the vehicle body, A first forward sensor, which detects objects, is mounted on the front of the vehicle body so as to be positioned behind the aforementioned work machine, Equipped with a controller, The detection range of the first forward sensor is defined in front of the vehicle body, The controller identifies an object for which cargo handling operations will be performed automatically, based on the detection data of the first forward sensor. Material handling vehicle.

9. In the vertical direction, at least a portion of the detection range of the first forward sensor coincides with the position of the lower end of the movable range of the fork. The cargo handling vehicle according to claim 8.

10. At least a portion of it is positioned below the vehicle body and is equipped with front wheels that support the vehicle body, The vehicle body includes a fender positioned to cover at least a portion of the front wheel, The first forward sensor is attached to the fender, The cargo handling vehicle according to claim 8.

11. A second forward sensor is attached to at least a part of the work machine so as to move vertically together with the fork and is provided to detect an object. The detection range of the second forward sensor is defined in front of the vehicle body. The controller identifies an object for which cargo handling operations will be performed automatically, based on the detection data from the second forward sensor. The cargo handling vehicle according to claim 8.

12. The aforementioned fork includes a first fork and a second fork, The work machine has a bracket that supports the first fork and the second fork, In the left-right direction, the second forward sensor is mounted on the bracket so as to be positioned between the first fork and the second fork. A cargo handling vehicle according to claim 11.

13. The car body and, A side sensor, which is attached to the side of the vehicle body and detects objects, A work machine positioned in front of the vehicle body and supported by the vehicle body, Equipped with a controller, In the front-rear direction, the lateral sensor is positioned behind the work implement and behind the center of the vehicle body. The detection range of the aforementioned side sensor is defined diagonally behind the vehicle body. The controller identifies an object for which cargo handling operations will be performed automatically, based on the detection data from the side sensor. Material handling vehicle.

Images