Cargo handling control unit of forklift
A cargo handling control unit of a forklift includes a traveling device including a traveling drive unit, forks loading cargos, and a cargo handling device having a lift cylinder. The cargo handling control unit includes at least a pair of one-dimensional laser distance sensors, each of which is configured to emit a one-dimensional laser beam and receives the laser beam reflected from an object, thereby detecting a distance between the object and the one-dimensional laser distance sensor, a picking start position determination unit determining a picking start position of the forks for the cargos, and a picking control unit being configured to control the traveling drive unit and the lift cylinder so as to load the cargos on the forks.
1. A cargo handling control unit of a forklift comprising:
a traveling device including a traveling drive unit;
forks disposed in a front side of the traveling device and loading cargos; and
a cargo handling device having a lift cylinder that raises and lowers the forks, wherein
the cargo handling control unit includes:
at least a pair of right and left one-dimensional laser distance sensors disposed on both right and left sides of the cargo handling device, each of the right and left one-dimensional laser distance sensors being configured to emit a one-dimensional laser beam ahead of the forklift and receive the laser beam reflected from an object that is located in front of the forklift, thereby detecting a distance between the object and the one-dimensional laser distance sensor;
a picking start position determination unit determining a picking start position of the forks for the cargos to be picked placed in front of the forklift on the basis of detection values of the pair of the right and left one-dimensional laser distance sensors; and
a picking control unit configured to control the traveling drive unit and the lift cylinder so as to load the cargos to be picked on the forks correspondingly to the picking start position determined by the picking start position determination unit
wherein
the cargo handling device has:
a mast provided upright on a front end portion of a body of the traveling device; and
a backrest disposed in front of the mast,
the forks are attached to the mast with a lift bracket interposed therebetween and allowed to be raised and lowered,
the backrest is fixed to the lift bracket, and
the one-dimensional laser distance sensors are attached on both right and left sides of the backrest or the lift bracket,
the picking start position determination unit determines whether or not the laser beams emitted from the pair of the right and left one-dimensional laser distance sensors hit the cargos to be picked on the basis of the detection values of the pair of the right and left one-dimensional laser distance sensors, and determines a position of the forks when the picking start position determination unit determines that the laser beams emitted from the one-dimensional laser distance sensors do not hit the cargos to be picked as the picking start position,
when the picking start position determination unit determines that the laser beam emitted from the first one-dimensional laser distance sensor of the pair of the right and left one-dimensional laser distance sensors hits the cargos to be picked, the picking start position determination unit moves the forks toward the first one-dimensional laser distance sensor, and determines that a position of the forks when the picking start position determination unit then determines that the laser beams emitted from the pair of the right and left one-dimensional laser distance sensors do not hit the cargos to be picked as the picking start position.
2. The cargo handling control unit of the forklift according to claim 1 , wherein
the cargo handling device has a side shift cylinder that shifts the forks in a right and left direction of the body relative to the mast, and
when the picking start position determination unit determines that the laser beam emitted from the first one-dimensional laser distance sensor of the pair of the right and left one-dimensional laser distance sensors hits the cargos to be picked, the picking start position determination unit controls the side shift cylinder so that the forks are shifted from a normal position toward the first one-dimensional laser distance sensor.
3. The cargo handling control unit of the forklift according to claim 2 , wherein
after the picking control unit controls the traveling drive unit and the lift cylinder correspondingly to the picking start position so that the cargos to be picked are loaded on the forks, the picking control unit controls the side shift cylinder so that the forks return back to the normal position.
4. A cargo handling control unit of a forklift comprising:
a traveling device including a traveling drive unit
forks disposed in a front side of the traveling device and loading cargos; and
a cargo handling device having a lift cylinder that raises and lowers the forks, wherein
the cargo handling control unit includes:
at least a pair of right and left one-dimensional laser distance sensors disposed on both right and left sides of the cargo handling device, each of the right and left one-dimensional laser distance sensors being configured to emit a one-dimensional laser beam ahead of the forklift and receive the laser beam reflected from an object that is located in front of the forklift, thereby detecting a distance between the object and the one-dimensional laser distance sensor;
a picking start position determination unit determining a picking start position of the forks for the cargos to be picked placed in front of the forklift on the basis of detection values of the pair of the right and left one-dimensional laser distance sensors; and
a picking control unit configured to control the traveling drive unit and the lift cylinder so as to load the cargos to be picked on the forks correspondingly to the picking start position determined by the picking start position determination unit,
wherein
the cargo handling device has:
a mast provided upright on a front end portion of a body of the traveling device; and
a backrest disposed in front of the mast,
the forks are attached to the mast with a lift bracket interposed therebetween and allowed to be raised and lowered,
the backrest is fixed to the lift bracket, and
the one-dimensional laser distance sensors are attached on both right and left sides of the backrest or the lift bracket,
wherein
the cargo handling control unit of the forklift further includes:
a placing start position determination unit determining a placing start position of the forks on the basis of the detection values of the pair of the right and left one-dimensional laser distance sensors, and
a placing control unit configured to control the traveling drive unit and the lift cylinder correspondingly to the placing start position determined by the placing start position determination unit so as to place the cargos to be placed loaded on the forks, wherein
in a case in which the cargos to be placed are placed adjacently to a structure existing in advance, the placing start position determination unit determines whether or not the laser beam emitted from the first one-dimensional laser distance sensor of the pair of the right and left one-dimensional laser distance sensors hits the structure on the basis of the detection values of the pair of the right and left one-dimensional laser distance sensors, and the placing start position determination unit determines a position of the forks when the laser beam emitted from the first one-dimensional laser distance sensor hits the structure as the placing start position.
5. The cargo handling control unit of the forklift according to claim 4 , wherein
when the placing start position determination unit determines that the laser beams emitted from the pair of the right and left one-dimensional laser distance sensors do not hit the structure, the placing start position determination unit moves the forks toward the structure, and determines that a position of the forks when the placing start position determination unit then determines that the laser beam emitted from the first one-dimensional laser distance sensor of the pair of the right and left one-dimensional laser distance sensors hits the structure as the placing start position.
6. The cargo handling control unit of the forklift according to claim 5 , wherein
when the placing start position determination unit determines that the laser beam emitted from the first one-dimensional laser distance sensor of the pair of the right and left one-dimensional laser distance sensors hits the structure, the placing start position determination unit moves the forks toward a second one-dimensional laser distance sensor, and moves the forks toward the structure when the placing start position determination unit determines that the laser beams emitted from the pair of the right and left one-dimensional laser distance sensors do not hit the structure.
7. The cargo handling control unit of the forklift according to claim 5 , wherein
the cargo handling device has the side shift cylinder that shifts the forks relative to the mast in the right and left direction of the body, and
when the placing start position determination unit moves the forks, the placing start position determination unit controls the side shift cylinder so that the forks are shifted.
8. The cargo handling control unit of the forklift according to claim 7 , wherein
after the placing control unit controls the traveling drive unit so that the forklift is moved forward from the placing start position, the placing control unit controls the side shift cylinder so that the forks are shifted toward the structure until the cargos are brought into contact with the structure, and controls the lift cylinder so that the forks are then lowered.
9. A cargo handling control unit of a forklift comprising:
a traveling device including a traveling drive unit
forks disposed in a front side of the traveling device and loading cargos; and
a cargo handling device having a lift cylinder that raises and lowers the forks, wherein
the cargo handling control unit includes:
at least a pair of right and left one-dimensional laser distance sensors disposed on both right and left sides of the cargo handling device, each of the right and left one-dimensional laser distance sensors being configured to emit a one-dimensional laser beam ahead of the forklift and receive the laser beam reflected from an object that is located in front of the forklift, thereby detecting a distance between the object and the one-dimensional laser distance sensor;
a picking start position determination unit determining a picking start position of the forks for the cargos to be picked placed in front of the forklift on the basis of detection values of the pair of the right and left one-dimensional laser distance sensors; and
a picking control unit configured to control the traveling drive unit and the lift cylinder so as to load the cargos to be picked on the forks correspondingly to the picking start position determined by the picking start position determination unit,
wherein
the cargo handling device has:
a mast provided upright on a front end portion of a body of the traveling device; and
a backrest disposed in front of the mast,
the forks are attached to the mast with a lift bracket interposed therebetween and allowed to be raised and lowered,
the backrest is fixed to the lift bracket, and
the one-dimensional laser distance sensors are attached on both right and left sides of the backrest or the lift bracket,
wherein
the cargo handling control unit of the forklift further includes:
a placing start position determination unit determining a placing start position of the forks on the basis of the detection values of the pair of the right and left one-dimensional laser distance sensors, and
a placing control unit configured to control the traveling drive unit and the lift cylinder correspondingly to the placing start position determined by the placing start position determination unit so as to place the cargos to be placed loaded on the forks, wherein
in a case in which the cargos to be placed are placed between two existing cargos placed in advance, the placing start position determination unit determines whether or not the laser beams emitted from the pair of the right and left one-dimensional laser distance sensors hit the two existing cargos, and determines a position of the forks as the placing start position, when the placing start position determination unit determines that the laser beams emitted from the pair of the right and left one-dimensional laser distance sensors do not hit the two existing cargos.
10. The cargo handling control unit of the forklift according to claim 9 , wherein
when the placing start position determination unit determines that the laser beam emitted from the first one-dimensional laser distance sensor of the pair of the right and left one-dimensional laser distance sensors hits a first existing cargo of the two existing cargos, the placing start position determination unit moves the forks toward a second existing cargo of the two existing cargos, and determines a position of the forks when the placing start position determination unit then determines that the laser beams emitted from the pair of the right and left one-dimensional laser distance sensors do not hit the two existing cargos as the placing start position.
11. The cargo handling control unit of the forklift according to claim 10 , wherein
the cargo handling device has the side shift cylinder that shifts the forks relative to the mast in the right and left direction of the body, and
when the placing start position determination unit determines that the laser beam emitted from the first one-dimensional laser distance sensor of the pair of the right and left one-dimensional laser distance sensors hits the first existing cargo, the placing start position determination unit controls the side shift cylinder so that the forks are shifted toward the second existing cargo.
12. The cargo handling control unit of the forklift according to claim 11 , wherein
the placing start position determination unit i) controls the side shift cylinder so that the forks are shifted toward the second existing cargo from a position in which the laser beam emitted from the first one-dimensional laser distance sensor of the pair of the right and left one-dimensional laser distance sensors hits the first existing cargo to a position in which the laser beam emitted from the second one-dimensional laser distance sensor of the pair of the right and left one-dimensional laser distance sensors hits the second existing cargos, ii) obtains a positional relationship between the forks and the two existing cargos, and iii) determines a position corresponding to a middle position between the two existing cargos as the placing start position, and
the placing control unit controls the side shift cylinder so that the forks are shifted to the placing start position, and controls the traveling drive unit so that the forklift is then moved forward from the placing start position and controls the lift cylinder so that the forks are lowered.