JPH075279B2 - Method for detecting cargo handling position of cargo handling vehicle - Google Patents
Method for detecting cargo handling position of cargo handling vehicleInfo
- Publication number
- JPH075279B2 JPH075279B2 JP31630188A JP31630188A JPH075279B2 JP H075279 B2 JPH075279 B2 JP H075279B2 JP 31630188 A JP31630188 A JP 31630188A JP 31630188 A JP31630188 A JP 31630188A JP H075279 B2 JPH075279 B2 JP H075279B2
- Authority
- JP
- Japan
- Prior art keywords
- cargo handling
- information
- height
- vehicle
- reading device
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Warehouses Or Storage Devices (AREA)
- Forklifts And Lifting Vehicles (AREA)
Description
【発明の詳細な説明】 〔産業上の利用分野〕 本発明は、車体にフォーク爪等の作業機を上下動自在に
設けた有人荷役車両により荷役作業領域において作業機
で荷役作業する際の位置情報を検出する荷役位置検出方
法に関するものである。DETAILED DESCRIPTION OF THE INVENTION [Industrial field of application] The present invention relates to a position when carrying out cargo work with a work machine in a cargo work area by a manned cargo vehicle in which a work machine such as a fork claw is provided on a vehicle body so as to be vertically movable. The present invention relates to a cargo handling position detecting method for detecting information.
従来の荷役車両としては、車体に作業機を上下動自在に
設けたものが一般的であり、この荷役車両により荷役作
業するには車体を走行して荷と対向する位置とし、車体
をその位置で停止して作業機を荷の高さまで上昇してい
る。このようにして荷役作業している時に現在荷役作業
を行なっている荷役位置を認識しようとした場合、下記
方法を用いていた。As a conventional cargo handling vehicle, a work machine is generally provided on a vehicle body so that it can move up and down.To carry out the cargo handling work by this cargo handling vehicle, the vehicle body is moved to a position facing the load, and the vehicle body is positioned at that position. It stops at and the work implement is raised to the height of the load. When attempting to recognize the cargo handling position where the cargo handling work is currently performed during the cargo handling work in this way, the following method is used.
（１）車両のオペレータが車***置、作業機高さ等の荷
役位置情報（ロケーションコード）を入力装置より入力
する。(1) An operator of a vehicle inputs cargo handling position information (location code) such as vehicle body position and work implement height from an input device.
（２）荷役車両の作業機に取付けられた位置コード読取
装置で荷役位置に設けられた位置情報ID（バーコードな
ど）を読取る。(2) The position code reading device attached to the working machine of the cargo handling vehicle reads the position information ID (bar code or the like) provided at the cargo handling position.
前項（１）の方法では、作業が手作業となるため、車両
オペレータの操作が煩雑となり、また入力誤差が生じ易
くデータの信頼性の点でも問題があった。In the method of the above item (1), since the work is a manual work, the operation of the vehicle operator is complicated, and an input error is apt to occur, and there is a problem in the reliability of the data.
前項（２）の方法では、荷役作業の可能なロケーション
の形状は、第２図に示すラック型、第３図に示す床面平
置型のように、個々のロケーションａに位置情報IDを貼
付可能なものに限定される。つまり第２図のラック型の
場合にはラックを構成する棧などに位置情報IDを貼付で
きるし、第３図に示す床面平置型の場合には床面に１つ
の荷しか置いていないから床面に位置情報IDを貼付する
ことで位置を認識できる。しかしながら第４図のように
複数の荷ｃを多段に直積する直置段積型のロケーション
ａでは、床面に位置情報IDを貼付すれば１段目の荷の位
置を認識できるが、２段目、３段目の荷に対しては位置
が認識できなかった。In the method of the previous section (2), the location information that can be handled by cargo can be attached to each location a like the rack type shown in Fig. 2 and the floor flat type shown in Fig. 3. Limited to That is, in the case of the rack type shown in FIG. 2, the position information ID can be attached to the rack or the like constituting the rack, and in the case of the floor flat type shown in FIG. 3, only one load is placed on the floor. The location can be recognized by pasting the location information ID on the floor. However, as shown in FIG. 4, in the direct stacking type location a in which a plurality of loads c are directly stacked in multiple stages, if the position information ID is attached to the floor surface, the position of the first load can be recognized. The position could not be recognized for the third and third loads.
本発明は上記の事情に鑑みなされたものであって、その
目的とするところは、ラック型、平置型、直置段積型ロ
ケーションにおいても荷役位置認識を行うことができ、
しかもラック型のロケーションのような場合、ラックの
高さ方向の全ロケーションに位置情報IDを貼付ける必要
がなく、位置情報ID貼付の手間を少くすることができる
荷役車両の荷役位置検出方法を提供することにある。The present invention has been made in view of the above circumstances, and the purpose thereof is to be able to perform cargo handling position recognition even in a rack type, a flat type, and a direct stacking type location,
Moreover, in the case of a rack-type location, it is not necessary to attach the location information ID to all locations in the height direction of the rack, and a method for detecting the location of the cargo handling vehicle that can reduce the time and effort of attaching the location information ID is provided. To do.
上記の目的を達成するために本発明は、荷役車両の車体
に搭載されて路面における荷役置に記された位置情報を
読取る位置情報読取装置と、荷役車両の車体に対して上
下動する作業機に搭載されて荷役時の作業機高さを読取
る高さ情報読取装置とを備えて、位置情報からの情報に
位置情報読取装置で読取って車体の路面位置を認識する
と共に、高さ情報読取装置によって、作業機の高さの情
報を読取って作業機の高さを認識し、これらの情報から
荷役位置（ロケーション）データを読識するようにし
た。In order to achieve the above object, the present invention provides a position information reading device which is mounted on a vehicle body of a cargo handling vehicle and reads the positional information written on the cargo handling equipment on a road surface, and a working machine which moves up and down with respect to the vehicle body of the cargo handling vehicle. And a height information reading device for reading the height of the working machine when loading and unloading, and recognizing the road surface position of the vehicle body by reading the information from the position information with the position information reading device and the height information reading device. By reading the height information of the working machine, the height of the working machine is recognized, and the cargo handling position (location) data is read from the information.
これにより、直置段積型ロケーションにおいて２段目、
３段目等の荷を荷役する時の荷役位置を正確に認識でき
る。As a result, the second stage in the direct stacking type location,
It is possible to accurately recognize the cargo handling position when handling cargo such as the third stage.
以下、本発明の実施例を第１図に基づいて説明する。 An embodiment of the present invention will be described below with reference to FIG.
第１図は本発明方法のブロック図であり、図面中１は、
路面２に記された位置情報IDを読取る位置情報読取装置
であり、この位置情報読取装置１は荷役車両の車体に取
付けられており、例えばバーコードリーダ、文字読取装
置、非接触型認識装置（RF-ID）などが用いられる。FIG. 1 is a block diagram of the method of the present invention, in which 1 is
A position information reading device for reading the position information ID written on the road surface 2. The position information reading device 1 is attached to the body of a cargo handling vehicle, and includes, for example, a bar code reader, a character reading device, and a non-contact type recognition device ( RF-ID) is used.
３は荷役時の作業機高さを読取る高さ情報読取装置であ
り、これはポテンショメータ、エンコーダなどが用いら
れており、荷役車両の車体に対して上下動する作業機に
取付けられる。Reference numeral 3 denotes a height information reading device for reading the height of the working machine at the time of loading and unloading, which uses a potentiometer, an encoder and the like, and is attached to the working machine that moves up and down with respect to the body of the loading vehicle.
また、荷役作業領域には、各々の荷役位置に１ケづつ路
面２に位置情報IDが取付けてある。Further, in the cargo handling work area, one position information ID is attached to the road surface 2 at each cargo handling position.
次に荷役位置の検出方法を説明する。Next, a method of detecting the cargo handling position will be described.
荷役車両は荷役位置にて荷役作業を行う場合、位置情報
IDからの情報を位置情報読取装置１で読取って路面２の
車***置を認識し、また、高さ情報読取装置３によっ
て、作業機高さの情報を読取って作業機の高さを認識
し、これらの情報から荷役位置（ロケーション）データ
を読識する。When the cargo handling vehicle performs cargo handling work at the cargo handling position, position information
The position information reading device 1 reads the information from the ID to recognize the vehicle body position on the road surface 2, and the height information reading device 3 reads the working machine height information to recognize the working machine height. The cargo handling position (location) data is read from this information.
位置情報からの情報を位置情報読取装置で読取ることで
路面の車***置を認識し、高さ情報読取装置によって、
作業機高さの情報を読取って作業機の高さを認識するの
で、荷役位置の路面にのみ位置情報IDを貼付すれば良い
ため、ラック型、平置型、直置段積型ロケーションにお
いても荷役位置認識を行うことができ、しかもラック型
のロケーションのような場合、ラックの高さ方向の全ロ
ケーションに位置情報IDを貼付ける必要がなく、位置情
報ID貼付の手間を少なくすることができる。By recognizing the vehicle body position on the road surface by reading the information from the position information with the position information reading device, the height information reading device
Since the height of the work equipment is recognized by reading the height information of the work equipment, it is only necessary to attach the position information ID to the road surface at the cargo handling position.Therefore, even in rack type, flat type, and direct stacking type locations It is possible to perform position recognition, and in the case of a rack type location, it is not necessary to attach the position information ID to all locations in the height direction of the rack, and the labor of attaching the position information ID can be reduced.
第１図は本発明方法に用いる制御装置の構成説明図、第
２図、第３図、第４図は荷役作業のロケーションの形状
の説明図である。 １は位置情報読取装置、３は高さ情報読取装置。FIG. 1 is an explanatory view of the configuration of a control device used in the method of the present invention, and FIGS. 2, 3, and 4 are explanatory views of the shape of the location of the cargo handling work. 1 is a position information reader, 3 is a height information reader.
Claims (1)
荷役位置に記された位置情報を読取る位置情報読取装置
と、荷役車両の車体に対して上下動する作業機に塔載さ
れて荷役時の作業機高さを読取る高さ情報読取装置とを
備えて、位置情報からの情報を位置情報読取装置で読取
って車体の路面位置を認識すると共に、高さ情報読取装
置によって、作業機高さの情報を読取って作業機高さを
認識し、これらの情報から荷役位置（ロケーション）デ
ータを読識するようにしたことを特徴とする荷役車両の
荷役位置検出方法。1. A position information reading device which is mounted on a vehicle body of a cargo handling vehicle and reads position information written in a cargo handling position on a road surface, and a cargo machine which is mounted on a working machine which moves up and down with respect to the body of the cargo handling vehicle. A height information reading device for reading the height of the working machine at the time is read, and the position information reading device reads the information from the position information to recognize the road surface position of the vehicle body. A method for detecting a cargo handling position of a cargo handling vehicle, characterized in that the height of the work machine is recognized by reading the information on the height, and the cargo handling position (location) data is read from the information.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP31630188A JPH075279B2 (en) | 1988-12-16 | 1988-12-16 | Method for detecting cargo handling position of cargo handling vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP31630188A JPH075279B2 (en) | 1988-12-16 | 1988-12-16 | Method for detecting cargo handling position of cargo handling vehicle |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH02163299A JPH02163299A (en) | 1990-06-22 |
| JPH075279B2 true JPH075279B2 (en) | 1995-01-25 |
Family
ID=18075599
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP31630188A Expired - Fee Related JPH075279B2 (en) | 1988-12-16 | 1988-12-16 | Method for detecting cargo handling position of cargo handling vehicle |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH075279B2 (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020059236A1 (en) * | 2018-09-19 | 2020-03-26 | 日本電産株式会社 | Article management system |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5728874U (en) * | 1980-07-28 | 1982-02-15 |
-
1988
- 1988-12-16 JP JP31630188A patent/JPH075279B2/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| JPH02163299A (en) | 1990-06-22 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| LAPS | Cancellation because of no payment of annual fees |