JP-2026075513-A - Forklift and forklift control method

Abstract

[Problem] To provide a forklift capable of handling cargo while taking into account the tilt of the loading platform. [Solution] The forklift according to the present disclosure is a forklift that performs loading and unloading of an object onto the loading platform of a vehicle, and includes forks that are inserted into insertion holes provided in the object, a calculation unit that calculates the inclination of the loading platform, and a tilt control unit that controls the inclination of the forks according to the calculated inclination of the loading platform. It further includes an illumination unit that irradiates a reference light from the side of the loading platform toward the mounting surface of the loading platform, and an observation unit that observes the reference light irradiated onto the loading platform, and the calculation unit determines the inclination of the loading platform based on the observed reference light. [Selection Diagram] Figure 1

Inventors

• 高桑 俊康

Assignees

• トヨタ自動車株式会社

Dates

Publication Date

20260508

Application Date

20241022

Claims (5)

1. A forklift used for loading and unloading objects onto the loading platform of a vehicle, A fork inserted into an insertion hole provided in the object, A calculation unit for calculating the inclination of the cargo bed, A tilt control unit controls the tilt of the forks according to the calculated tilt of the cargo bed, including, forklift.
2. An illumination unit that irradiates a reference light from the side of the cargo bed toward the mounting surface of the cargo bed, An observation unit for observing the reference light irradiated onto the cargo bed, It further includes, The calculation unit determines the inclination of the cargo bed based on the observed reference light. The forklift according to claim 1.
3. The observation unit observes the length of the region on the loading surface of the cargo bed that is illuminated by the reference light, along the direction of illumination. The calculation unit determines the inclination of the cargo bed according to the length. The forklift according to claim 2.
4. A first distance measuring unit that measures a first distance from a reference position to the upper part of the side of the cargo bed, A second distance measuring unit measures a second distance from the aforementioned reference position to the lower part of the side of the cargo bed, It further includes, The calculation unit uses the first distance and the second distance to determine the inclination of the cargo bed. The forklift according to claim 1.
5. A control method for a forklift that performs loading and unloading of objects onto the loading platform of a vehicle, The steps include calculating the inclination of the cargo bed, A step of controlling the inclination of the forks inserted into the insertion holes provided in the object, according to the calculated inclination of the cargo bed, including, Forklift control methods.

Description

This disclosure relates to a forklift and a method for controlling a forklift. Patent Document 1 discloses a cargo handling system that allows an unmanned forklift to remove cargo from a truck bed even when the height of the truck bed from the ground changes. The cargo handling system described in Patent Document 1 comprises a truck with a cargo bed and an unmanned forklift for removing cargo. The truck includes an information transmission unit that transmits ground height information related to the height of the cargo bed. The unmanned forklift controls the raising and lowering of its forks based on the ground height information when removing cargo with its forks. Japanese Patent Publication No. 2021-116141 This diagram shows the configuration of a forklift according to Embodiment 1.This block diagram shows an example of the configuration of the control device shown in Figure 1.This diagram illustrates the tilt of the truck bed and the region where the reference light is placed on the mounting surface.This diagram illustrates the tilt of the truck bed and the region where the reference light is placed on the mounting surface.This diagram illustrates the tilt of the truck bed and the region where the reference light is placed on the mounting surface.This figure shows the configuration of the forklift according to Embodiment 2. The embodiments of this disclosure will be described below with reference to the drawings. For clarity, the following descriptions and drawings have been omitted and simplified as appropriate. Furthermore, the same elements are denoted by the same reference numerals in each drawing, and redundant explanations have been omitted where necessary. The embodiment relates to an unmanned forklift having the function of loading and unloading cargo onto the cargo bed of a freight vehicle such as a truck. Embodiment 1. Figure 1 is a diagram showing the configuration of a forklift 10 according to Embodiment 1. Figure 1 shows a view of the forklift 10 from the left side and a view of the truck 30 from the rear. The truck 30 is positioned in front of the forklift 10. The truck 30 is a vehicle that transports objects 40 on which cargo 42 is loaded onto cargo materials 41 such as pallets or skids. The forklift 10 performs cargo handling operations, including unloading objects 40 from a truck 30 and loading them onto a truck 30, for example, in a workplace such as a factory or commercial facility. The cargo material 41 has a storage section for accommodating the cargo 42, and insertion holes (neither shown) located below the storage section into which the forks 15 of the forklift 10 (described later) are inserted. Truck 30 comprises a cargo bed 31, tires 32, and side walls 33. The cargo bed 31 is used to load the object 40. The surface of the cargo bed 31 on which the object 40 is loaded is designated as the loading surface 34. The tires 32 support the load applied to the cargo bed 31. The side walls 33 constitute a cargo compartment 35 that houses the object 40. By lifting the side walls 33, the sides of the cargo compartment 35 are opened. With the cargo compartment 35 open, the forklift 10 can load and unload the object 40 from the side of the truck 30. The tires 32 deform according to the weight of the object 40 loaded on the cargo bed 31, causing the ground clearance of the cargo bed 31 (i.e., the distance from the ground surface to the loading surface 34) to change. Furthermore, the loading of the object 40 on the cargo bed 31 causes the truck's suspension to compress. Therefore, depending on the position of the object 40 on the cargo bed 31, the cargo bed 31 may tilt relative to the forklift 10 in the front-to-back direction. Hereinafter, a state where the rear of the cargo bed 31 is lower and the front is higher, as viewed from the forklift 10 side, will be referred to as the "front-down state," and a state where the rear is higher and the front is lower will be referred to as the "front-up state." The forklift 10 comprises a body 11 and a material handling device 12. The material handling device 12 includes a mast 13, a lift bracket 14, and forks 15. The mast 13 is constructed, for example, by the slidable engagement of an outer mast (not shown) and an inner mast. The lift bracket 14 is connected, for example, to the inner mast of the mast 13. The lift bracket 14 is mounted to be vertically movable relative to the inner mast. A fork 15 is attached to the lift bracket 14. The fork 15 extends forward from the forklift 10. The fork 15 is the part that is inserted into an insertion hole provided in the object 40. Furthermore, the forklift 10 includes a lift cylinder and a tilt cylinder (not shown). The lift cylinder is a fork lifting mechanism that raises and lowers the forks 15, and is, for example, a hydraulic cylinder. The forks 15 rise and fall together with the lift bracket 14 by supplying and discharging hydraulic fluid to the lift cylinder. The tilt cylinder is a fork tilting mechanism th