JPH0720839B2 - Manned forklift truck - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to a manned forklift truck capable of detecting a luggage storage position for storing luggage, thereby enabling efficient loading and unloading of luggage. .

[Conventional technology]

In order to correctly and promptly take out a desired package from the storage position and rationalize the physical distribution, it is necessary to have correct storage position information about the package storage position of the package when storing the package.

On the other hand, manned forklift trucks driven by driver's steering are often used for loading and unloading luggage, but when such manned forklift trucks are used, especially due to loading of trucks, etc. When a large amount of luggage needs to be brought into the luggage storage position promptly, the driver may instruct the luggage storage location with a slip etc. There is. In particular, when the storage area is a frozen warehouse or the like, a prompt loading operation is required, and an error is likely to occur.

As a result, even when the package is taken out, the package is erroneously taken out easily, and due to an error in the storage position information, a lot of time may be lost when the package is taken in and out.

There are also known automatic warehouses that assemble the luggage storage position into a three-dimensional warehouse so that it can be carried in and carried out by an automatic machine, but it requires a large equipment and enormous cost. There is a problem that defects are likely to occur.

A first invention is a manned forklift that is steered by a driver, comprising a movement distance sensor and a control means.
An object of the present invention is to provide a manned forklift truck that can correctly carry in and take out luggage by making it possible to easily determine the storage location information regarding the luggage storage location.

Another object of the present invention is to provide a manned forklift truck capable of correcting position information by the moving distance sensor.

Furthermore, the third invention aims at providing a manned forklift truck capable of resetting the position information at the origin position.

Another object of the present invention is to provide a manned forklift truck equipped with a luggage identification sensor for identifying luggage.

It is an object of the fifth invention to provide a manned forklift truck capable of wirelessly transmitting storage position information and luggage information.

[Means for Solving the Problems]

The present invention relates to a manned forklift truck that moves between an origin position in a storage area and a plurality of luggage storage positions and delivers packages to and from the luggage storage position by driver's steering. Based on the current travel position information, a travel distance sensor that detects the travel distance of the left and right wheels, a control unit that calculates the detection output of the travel distance sensor and obtains the current travel position information where the manned forklift truck is actually present, and the current travel position information. The manned forklift truck is a manned forklift truck, comprising: a determination unit that obtains storage position information of the luggage storage position where the manned forklift truck is delivering the package.

A second aspect of the present invention is a manned forklift truck that moves between an origin position in a storage area and a plurality of luggage storage positions by a driver's steering and transfers the luggage between the luggage storage positions. The moving distance sensor for detecting the moving distance of the left and right wheels, the correction sensor for detecting the correction applying means provided in the storage area, the detection output of the moving distance sensor and the detection output of the correction sensor to calculate the manned fork. A control means for obtaining information on the current traveling position of the lift truck and a discriminating means for obtaining information on the storage location of the luggage storage location where the manned forklift truck is delivering the luggage based on the current traveling position information. It is a manned forklift truck with equipment.

Further, a third invention is a manned forklift truck that moves between an origin position in a storage area and a plurality of luggage storage positions by a driver's steering, and delivers the luggage between the luggage storage positions. There is a moving distance sensor for detecting the moving distance of the left and right wheels, an origin detecting sensor for detecting an origin position providing means provided at the origin position, and a detection output of the moving distance sensor to calculate the manned forklift truck. The control means for obtaining the present existing traveling position information and resetting the present traveling position information by the detection output from the origin detecting sensor, and the manned forklift truck delivering the package based on the present traveling position information. A manned forklift truck, comprising: a determination means for obtaining storage location information of a luggage storage location.

A fourth aspect of the present invention is a manned forklift truck that moves between the origin position in the storage area and a plurality of luggage storage positions and delivers the luggage to and from the luggage storage position by the driver's steering. A moving distance sensor for detecting the moving distance of the left and right wheels, a control means for calculating the detection output of the moving distance sensor and obtaining information on the current traveling position of the manned forklift truck, and the current traveling position information. Based on the above, the manned forklift truck is provided with a determination means for obtaining storage position information of the luggage storage position where the manned forklift truck delivers the luggage, and a luggage identification sensor for identifying the luggage and for obtaining the luggage information.

A fifth aspect of the present invention is a manned forklift truck that moves between an origin position in a storage area and a plurality of luggage storage positions and delivers the luggage between the luggage storage positions by steering of a driver. A moving distance sensor for detecting the moving distance of the left and right wheels, a control means for calculating the detection output of the moving distance sensor to obtain information on the current traveling position of the manned forklift truck, and the current traveling position. A determining means for obtaining storage position information of the luggage storage position where the manned forklift truck delivers the package based on the information; and a package identification sensor for identifying the package and obtaining the package information.
A manned forklift truck comprising information transmitting means for wirelessly transmitting the storage position information and the luggage information.

[Action]

Manned forklift trucks, by the steering of the driver,
It is possible to move between the origin position, which is, for example, the entrance / exit of the storage area, and a plurality of luggage storage positions.

The luggage storage position is a storage location for luggage provided in the storage area, and is formed using, for example, a multi-tiered rack or the like in addition to the floor surface, and is arranged at an appropriate position in the storage area.

The travel distance sensors provided on the left and right wheels of the manned forklift truck detect the travel distance of each wheel,
The control means calculates the detection output of the moving distance sensor,
The position and attitude angle at which the manned forklift truck is traveling are calculated to obtain the current traveling position information. Further, based on this current traveling position information, the discriminating means identifies the storage position information regarding the luggage storage position where the manned forklift truck is currently delivering the package. Incidentally, this information is appropriately recorded in the vehicle body, or is transmitted to the ground facility by using the transmitting means and managed.

In the second invention, the storage area is provided with correction applying means for correcting the current traveling position information, and the vehicle body is provided with a correction sensor for detecting it, so that the current traveling position information can be accurately obtained. It can be corrected and helps to accurately grasp the luggage storage position.

According to the third aspect of the invention, the vehicle body is provided with an origin detection sensor for detecting the origin position providing means provided at the origin position of the storage area, and the current traveling position information is reset each time the origin position is passed. Increase the accuracy of the information.

Further, in the fourth aspect of the invention, the manned forklift truck can obtain the luggage information at the same time as the storage location information by providing the luggage identification sensor that identifies the luggage and obtains the luggage information. It is possible to improve the carry-in and carry-out accuracy and work efficiency.

Furthermore, in the fifth aspect of the invention, the information transmission means for wirelessly transmitting the storage position information and the baggage information is provided, so that each of the above-mentioned information can be transmitted to the ground facility, and the baggage management is convenient.

〔Example〕

 An embodiment of the present invention will be described below with reference to the drawings.

1 to 3 exemplify a manned forklift truck 1 and a storage area 2, and the manned forklift truck 1 is
In this example, the lower frames 4 and 4 projecting on both front sides of the vehicle body 3
Further, a mast 6 provided with a fork via a lift bracket 5 which can be raised and lowered is formed as a lift truck of a mass-treach type in which the mast 6 is attached so as to be movable back and forth.

Further, the vehicle main body 3 is provided with left and right rear wheels 7, 7 which are steerable and driven by a prime mover on both lower sides thereof, and left and right idle wheels are provided on the front ends of the lower frames 4, 4. Wheels 9L and 9R in front of are installed respectively.

Further, the manned forklift truck 1 has a travel distance sensor S1 arranged on wheels 9L and 9R, a correction sensor S2 located near the turning center O of the vehicle body 3, and an origin detection sensor S3.
And a luggage identification sensor S4 provided on the lift bracket 5
And a control unit 10 located inside the vehicle body 3 and a transmission unit located on the roof above the driver's seat and having an antenna 11.
12, an OCR 13 for display, a call button 14 and the like are provided.

The storage area 2 is a frozen warehouse in this example,
The warehouse has an entrance and exit consisting of an outer door 16 leading to the outside and an inner door 17, and the manned forklift truck 1
Can move between the inside of the storage area 2 and the origin 20 as the outside of the outer door 16.

The storage area 2 has a main passage 2A extending from the doorway.
A sub-passage 2B is arranged on both sides of the sub-passage 2B, which is orthogonal to the main passage 2A, and a storage group 22 in which a plurality of luggage storage positions 21 are juxtaposed along the space between the sub-passages 2B ... , By being arranged in multiple rows, the luggage storage position 21 ...
It is arranged in multiple rows and multiple columns.

Note that the luggage storage position 21 may be a floor surface, or may be a rack arranged in multiple stages, and when the racks are arranged in multiple stages, other appropriate luggage storage positions 21 for identifying the luggage storage positions 21 on each stage may be identified. The identification means is provided on the rack or the truck 1.

Further, a correction giving means A is provided in the storage area 2, and an origin position giving means B is arranged at the origin position 20.

The moving distance sensor S1 arranged on the wheels 9L, 9R of the manned forklift truck 1 is, in this example, composed of encoders S1L, S1R having rotary wheels slidably contacting the outer peripheral surface of the manned forklift truck 1. , Absorbs errors due to abrasion of wheels 9L, 9R.

As described above, the wheels 9L and 9R are idle wheels, and therefore errors due to slippage due to driving do not usually occur, and errors due to abrasion of the tire do not occur because the encoder is pressed against the outer circumference of the tire.

However, the correction sensor S2 for detecting the correction applying means A corrects an error in the measured value of the moving distance due to a lateral slip at the time of turning, unevenness of the road surface, dust, and the like.

As the correction applying means A, a magnetic tape method using a magnetic tape is used in this embodiment.

In addition to this, there are an electromagnetic induction correction method shown in FIG. 5 and a fluorescent light correction method for detecting a fluorescent light provided on the ceiling of the storage area 2 shown in FIG.

As shown in FIG. 3, the magnetic tape method uses a storage area 2
The Y-correction magnetic tape used for correction of the Y-direction position by extending in the direction orthogonal to the main passage 2A, that is, in the X-direction and at a constant interval of 5 m in the Y-direction.
AY ... and an X correction magnetic tape for correcting the position in the X direction by extending in the Y direction along both ends of the main passage 2A.
The correction applying unit A is formed by arranging AX.

The magnetic tape 30 may be arranged in a grid pattern in the X and Y directions at a finer interval, for example, about 1 m.

As shown in FIG. 4, the magnetic tape 30 is coated with an adhesive on the floor surface F and then adhered. A protective film such as a glass cloth 31 is formed on the upper surface of the magnetic tape 30 and coated with a resin 32. , To improve wear resistance. As the resin 32, −
The magnetic tape 30 can be easily attached even in a frozen warehouse by using, for example, a phenolic resin that cures even at 30 ° C. Further, as the magnetic tape 30, it is preferable to use one having a width of 50 mm and a thickness of 0.8 mm, for example.

Further, the X correction magnetic tape AX is, for example, an S pole,
The other Y-correction magnetic tape BY has, for example, an N pole, and when such a correction applying unit A is used, as the correction sensor S2, a magnetic sensor S2X for detecting the S pole and a magnetic sensor for detecting the N pole are used. While using S2Y, the vehicle body 3
It is arranged front and back with the turning center O of the.

The origin position applying means B is also a magnetic tape in this embodiment.
30 is used. The origin giving means B is, for example, the outer door.
An X origin correction magnetic tape BX that can correct the origin in the X direction by extending in the Y direction outside 16 and the first and second Y that can extend in the X direction to the outside and correct the origin in the Y direction. Origin correction magnetic tape BY1 and BY2 are included.

The X origin correction magnetic tape BX has, for example, an N pole, and the first Y origin correction magnetic tape BY1 has an N pole and the other has an S pole.

Further, an origin detection sensor for detecting the origin position providing means B
S3 is also a magnetic sensor, X origin correction magnetic sensor S3X
And the Y origin correction magnetic sensor S3Y, and the distance l between them is set equal to the distance 1 between the X origin correction magnetic tape BX and the first Y origin correction magnetic tape BY1. Further, the magnetic sensors S3X and S3Y are both formed in an elongated body extending in the width direction of the vehicle body, and are arranged in front of and behind the magnetic sensors S2X and S2Y.

The luggage identification sensor S4 uses a bar code reader to read the barcode attached to the luggage, and is attached to the lift bracket 5, for example.

Encoders S1L, S1R of the moving distance sensor S1, the detection output, up-down counter 40, as shown in FIG.
It is sent to the control means 41 of the control unit 10 through 40.

Further, the control unit 10 has the control means 41 and the discrimination means 42, and sends the output thereof to the transmission unit 12.

Further, the control means 41 includes a calculation means 45, a coordinate and direction memory.
46 and a correction means 47. The correction means 47 is provided with the OCR 13 for displaying the location, and the correction means 47 is provided with the discrimination means via an AND circuit 49 to which the call button 14 is connected. Connected to 42. The transmission unit 12 includes information transmission means 50 having the antenna 11.

The calculating means 41 includes a ΔX displacement amount calculating circuit 51, a ΔY
Displacement calculation circuit 52, orientation calculation circuit 53, coordinate calculation circuit
Includes 54 and.

The operation of the manned forklift truck 1 will be described below with reference to FIGS.

A When the manned forklift truck 1 is located outside the storage area 2 and a load (not shown) is loaded, the origin correction is first performed at the origin position 20.

The Y origin correction magnetic sensor S3Y of the origin detection sensor S3
After detecting the south pole of the Y origin correction magnetic tape BY2 of No. 2, the north pole of the second Y origin correction magnetic tape BY2 is detected, and X
The origin correction magnetic sensor S3X separates the distance l
When the origin correction magnetic tapes BX are detected equally, it is assumed that the track 1 is orthogonal to the outer door 16, and the coordinate direction memory 46 and the correction unit 47 Y coordinate and direction (attitude angle) are set to zero. Further, the X origin correction magnetic sensor S3X extends in the lateral direction. Therefore, by detecting the amount of left / right deviation from the X origin correction magnetic tape BX, the encoder
The X coordinate obtained by S1R and S1L can be set according to the amount of displacement.

At the same time that the Y coordinate is set to 0, encoders S1R and S1L
Start a new reading of.

When exiting, the Y origin correction magnetic sensor S3Y
N of each of the first and second Y origin correction magnetic tapes B1Y and B2Y
By detecting the pole and the S pole within a predetermined moving distance,
Both the coordinates X and Y are reset to 0. After this, it is judged that the storage area 2 is outside, and the moving distance sensor is set.
Finish reading S1. The reset by detecting the Y origin correction magnetic tapes BY1 and BY2 at the time of this exit is within the area range in which the current traveling position information obtained when the storage area 2 is moved determines that the vehicle body is near the origin position 20. Only works.

B Manned forklift truck 1 moves to the origin position 20
When the manned forklift truck 1 is moved from the storage area 2 to the inside of the storage area 2, the current traveling position information about the coordinates (X, Y) and the posture angle w at which the manned forklift truck 1 is actually moving is sequentially calculated by the calculation means 45. To do.

In this example, this calculation uses the value obtained by the moving distance sensor S1 as
Sampling is performed at fixed time intervals (for example, 10 mm seconds), the moving distance of the vehicle body is calculated by 1/2 of the sum of the moving distances of the wheels in the unit time, and the direction is calculated by the difference between the moving distances of the wheels 9L and 9R. The current position X in the horizontal direction and the current position Y in the vertical direction, that is, the coordinates (X, Y) and the posture angle w are calculated by integration.

The respective arithmetic expressions are shown in Table 1, and the symbols in the respective expressions in the table will be explained first as follows.

i: Sampling frequency Xi, Yi: X-direction and Y-direction position when sampling frequency is i (mm) wi: Body posture angle (rad) when sampling frequency is i Δwi: Between sampling frequency i and i-1 Posture angle change (r
ad) ΔLi: Moving distance of the vehicle body representative point between sampling times i and i−1 (mm) ΔLli, ΔLri: Sampling times i and i− of wheels 9R and 9L
Distance traveled between 1 (mm) pli, pri: Accumulated pulse count Nl, Nr: Number of pulses per encoder rotation Dl, Dr: Travel distance per encoder rotation (mm) W: Wheel tread (mm) Kl , Kθ: Error correction coefficient In Table 1, the traveling distance ΔLli of the wheel 9L between the sampling times i and i−1 is the first expression in Table 1.

A similar travel distance ΔLri of the wheel 9R is obtained as the second equation.

Furthermore, the movement distance ΔLi between the number of samplings i and i−1 of the vehicle body representative point O (center of turning) is given by the third formula.

 The change in posture angle Δwi at that time is given by the fourth equation.

As a result, from the first to fourth equations, the sampling frequency i
At this time, the position Xi in the X direction, the position Yi in the Y direction, and the attitude angle wi of the vehicle body are given by the expressions 5 to 7.

As shown in the equation (8), the current traveling position information of the current address (X, Y, w) from the origin position 20 to the current traveling position can be obtained by integrating the equations (5) to (7).

Note that this calculation is performed by each of the circuits 51 and 5 of the calculation means 45.
The current traveling position information is stored in the coordinate and orientation memory 46 while the operation is performed using 2, 53 and 54.

C The correction of the current traveling position information is performed by the correction sensor S2 that detects the correction applying means A.

The magnetic sensor S2Y for Y-direction correction detects the Y-correction magnetic tape AY attached at regular intervals and sends it to the correction means 47 via the up / down counter 60.

At that time, by judging whether the manned forklift truck 1 is moving forward or backward, and counting up or down, Y
The position Ya in the direction can be calculated. Similarly, the magnetic sensor S2X sequentially detects the X correction magnetic tape BX in the same manner to calculate the position Xa in the X direction. Corrector 47 has this value X
The current traveling position information can be corrected by comparing a and Ya with the coordinates (X, Y) calculated by the moving distance sensor S1 and correcting if necessary.

In addition, the magnetic sensor S2X for correcting the X direction is also the tape B
Correct correction position information can be obtained by increasing or decreasing the number of times depending on the direction crossing X.

An example of such a work flow is shown in the flowchart of FIG.

The current traveling position information is displayed on the OCR 13 together with the corrected current traveling position information.

The luggage identification sensor S4 detects the bar code attached to the luggage, identifies the type of the barcode, and sends the luggage information to the determination means 42.

The manned forklift truck 1 arrives at the luggage storage position 21 where the luggage should be unloaded and advances its mast 6
When handing over luggage, the driver must
Press the button.

The signal is sent to the discriminating means 42 through the AND circuit 49, and the discriminating means 42 compares the current traveling position information at the time of receiving the signal with the information on the luggage storage position 21 stored in advance, And identifies the luggage storage position 21 where the manned forklift truck 1 is delivering the luggage,
Get storage location information. Further, this storage position information is sent to the ground device 70 shown in FIG. 12 through the antenna 11 of the information transmitting means 50 together with the luggage information. Ground equipment
Reference numeral 70 denotes a wireless LAN device 72 having an antenna 71 and a management device 73.
It is equipped with and manages the information, and at the same time, can be displayed on the OCR74 such as a cathode ray tube.

As described above, the correction applying means A may use the electromagnetic induction correction method shown in FIG. 5, the fluorescent lamp correction method shown in FIG. 6, or the like.

In the electromagnetic induction correction method, a groove is recessed on the road surface and an electric wire is embedded in the groove. Further, the correction applying means A is connected to an oscillator F1 that generates a frequency f1, and is connected to an X-direction correction line AX that is an electric wire portion that extends in the Y direction and an oscillator F2 that generates a frequency f2, and an electric wire portion that extends in the X direction. And a Y-direction correction line AY.

At this time, a pair of pickup coils and a receiver are used as the correction sensor S2. In this method, since the electric wire is buried, the damage due to running of the vehicle is small, and the absolute value can be detected by changing the frequency.

Further, in this embodiment, the electric wire connected to the oscillator F1 is passed through the position where the first Y origin correction magnetic tape BY1 was present to form the first Y origin correction line BY1 and the oscillator of the frequency f3 is also used. A second Y origin correction line BY2 is formed by passing an electric wire connected to F3 through the position of the second Y origin correction magnetic tape BY2. To correct the X origin, use the same X
Origin correction magnetic tape BX is used. Origin detection sensor S3
As described above, the origin position 20 is corrected in the same manner as described above by selecting the sensor corresponding thereto.

The fluorescent lamp correction system shown in FIG. 6 uses, as the correction applying means A, fluorescent lamps AL1, AL2 ... Installed in the front-rear direction at a constant pitch, for example, within 5 m along the center of the main passage 2A.

In addition, as the correction sensor S2, two image sensors S2F, S
Using 2R, as shown in FIG. 7, they are installed on the roof of the vehicle body 3 before and after. As shown in FIG. 8, the correction is performed by counting in the Y direction when the visual fields IF and IR of the image sensors S2F and S2R simultaneously detect the fluorescent lamp AL, and counting the number from the origin position 20. , Y direction position is corrected.

Further, as shown in FIG. 9, the field of view I of the image sensor is
Correction of the representative point O in the X direction is performed as (x1 + x2) / 2 by the average value of the deviation amounts x1 and x2 of the fluorescent lamp AL from the centers of F and IR. At the same time, the posture angle w can be corrected by using the difference between the distance d and the x1 and x2. The fluorescent lamp correction method has a simple device and can be easily adopted. However, when used in a frozen warehouse, an appropriate heat retaining device is required to prevent dew condensation, freezing, etc. on the lens surface.

Other correction methods include a reflection tape method in which a reflection tape is attached on the road surface, a bar code method in which bar codes are attached at regular intervals on the road surface, and an ID card method using an ID card. Although the reflective tape method is easy to install, it is difficult to protect the tape and the S / N ratio tends to decrease. In addition, since the bar code method has a relatively small sticking interval, a large number of sheets are required, the construction cost is high, and the S / N ratio tends to be low, resulting in poor reliability. However, the absolute address can be obtained by affixing it at each storage position. The ID card system requires a lot of construction cost, and low temperature characteristics pose a problem when used as a frozen warehouse.
Either method can be used by improving it.

The manned forklift truck 1 of the present invention can be used as a check device for correctly loading and unloading preliminarily instructed luggage to the preliminarily instructed luggage storage position 21 when loading and unloading luggage. Further, it can be used as a management device for automatically detecting at which luggage storage position the luggage is carried in when carrying in the luggage at random.

In either case, the storage location information about the luggage storage location where the luggage is stored is stored in the ground facility, which facilitates the loading and unloading of the luggage.

Further, instead of the call button 14, it is also possible to detect the operation by a detecting means for detecting the movement of the fork, the lift bracket 5, etc., and change the detection output to the push button of the call button 14.

Further, by providing other detecting means for detecting the height on the mast or the like, each rack position can be discriminated even when the luggage storage positions are provided in multiple stages like a rack. Further, all or part of such means may be provided in the rack.

Further, instead of the transmission unit 12, a recording means for recording storage position information and baggage information may be provided in the vehicle-mounted equipment, and information may be managed by totalizing the ground equipment after the work. As the recording means, magnetic tape, magnetic card, floppy disk, IC card, etc.
Various ones can be used. By using the transmitting unit 12, it is possible to reduce the number of on-vehicle facilities and reduce the breakdown of the device due to low temperature when used in a frozen warehouse or the like.

〔The invention's effect〕

Manned forklift trucks, by the steering of the driver,
For example, the position and attitude angle at which the manned forklift truck is traveling can be determined by a moving distance sensor that can move between the origin position, which is the entrance of the storage area, and a plurality of luggage storage positions, and control means provided on the left and right wheels. The discriminating means can identify the storage position information of the luggage storage position at which the package is actually delivered together with the calculated current traveling position information. This makes it possible to easily manage the storage location during the loading and unloading work of luggage, and enhances work efficiency and accuracy.

In the second aspect of the invention, the storage area is provided with correction applying means for correcting the current traveling position information, and the vehicle body is
By including a correction sensor for detecting this, the current traveling position information can be corrected correctly, which is useful for accurately grasping the luggage storage position.

In the third invention, the accuracy of the information is improved by resetting the current traveling position information each time the origin position is passed by the origin detection sensor for detecting the origin position providing means provided at the origin position of the storage area. Increase.

Further, according to the fourth aspect of the present invention, by providing the luggage identification sensor for identifying the luggage and obtaining the luggage information, it is possible to obtain the luggage position information at the same time as the storage location information, thereby improving the carry-in and carry-out accuracy of the luggage and the luggage storage position. Can be raised.

Furthermore, in the fifth aspect of the invention, the information transmission means for wirelessly transmitting the storage position information and the baggage information is provided, so that each of the above-mentioned information can be transmitted to the ground facility, and the baggage management is convenient.

[Brief description of drawings]

FIG. 1 is a perspective view showing an embodiment of the present invention, FIG. 2 is a schematic plan view thereof, and FIG. 3 is a plan view illustrating a storage area in which correction applying means is formed by using a magnetic tape, and FIG. Is a cross-sectional view showing a stuck state of a magnetic tape, FIG. 5 is a plan view illustrating a storage area in which correction applying means is formed by using an electromagnetic induction wire, and FIG. 6 is a storage area using a fluorescent lamp as the correction applying means. And FIG. 7 is a side view illustrating the case where an image sensor is used as a correction sensor, and FIGS.
FIG. 10 is a diagram showing its operation, FIG. 10 is a diagram explaining the calculating means, FIG. 11 is a block diagram illustrating an on-vehicle unit, and FIG.
FIG. 12 is a block diagram illustrating a ground facility, and FIG. 13 is a flowchart of the operation. 9R, 9L ... Wheels, 10 ... Control unit, 11 ... Antenna, 12 ...
Sending unit, 14 ... Sending button, 30 ... Magnetic tape, 41 ...
Control means, 42 ... Discrimination means, 43 ... Information transmission means, 45 ... Calculation means, 46 ... Coordinates, direction memory, 47 ... Correction means, A ... Correction giving means, B ... Origin position giving means, S1 ... Moving distance sensor, S2 ... correction sensor, S3 ... origin detection sensor, S4 ... baggage identification sensor.

Claims (5)

[Claims] 1. A manned forklift truck that moves between an origin position in a storage area and a plurality of luggage storage positions and delivers the luggage to and from the luggage storage position by steering by a driver. A moving distance sensor for detecting the moving distance of the left and right wheels, a control means for calculating the detection output of the moving distance sensor and obtaining information on the current traveling position of the manned forklift truck, and the current traveling position information. A manned forklift truck, comprising: a determination means for obtaining storage location information of the luggage storage location on which the manned forklift truck is delivering the luggage. 2. A manned forklift truck which moves between an origin position in a storage area and a plurality of luggage storage positions and delivers the luggage to and from the luggage storage position by steering by a driver. A moving distance sensor for detecting the moving distance of the left and right wheels, a correction sensor for detecting a correction applying means provided in the storage area, a detection output of the movement distance sensor and a detection output of the correction sensor, and the manned forklift A control means for obtaining information on the current traveling position of the truck and a discriminating means for obtaining information on the storage location of the luggage storage location where the manned forklift truck is delivering the luggage based on the information on the current traveling location. The manned forklift truck. 3. A manned forklift truck that moves between an origin position in a storage area and a plurality of luggage storage positions and delivers the luggage to and from the luggage storage position by steering by a driver. A moving distance sensor for detecting the moving distance of the left and right wheels, an origin detecting sensor for detecting an origin position providing means provided at the origin position, and a detection output of the moving distance sensor to calculate the manned forklift truck. Control means for obtaining the current traveling position information and resetting the current traveling position information by the detection output from the origin detecting sensor, and the luggage storage for delivering the luggage by the manned forklift truck based on the current traveling position information. A manned forklift truck equipped with a discriminating means for obtaining the storage location information of the location. 4. A manned forklift truck that moves between an origin position in a storage area and a plurality of luggage storage positions by a driver's steering and delivers the luggage between the luggage storage positions. , A moving distance sensor for detecting the moving distance of the left and right wheels, a control means for calculating the detection output of the moving distance sensor and obtaining information on the current traveling position of the manned forklift truck, and the current traveling position information. Determination means for obtaining storage location information of the luggage storage location where the manned forklift truck delivers the luggage based on
A manned forklift truck comprising a luggage identification sensor for identifying luggage and obtaining luggage information. 5. A manned forklift truck that moves between an origin position in a storage area and a plurality of luggage storage positions by a driver's steering and delivers the luggage to and from the luggage storage positions. A moving distance sensor for detecting the moving distance of the left and right wheels, a control means for calculating the detection output of the moving distance sensor and obtaining information on the current traveling position of the manned forklift truck, and the current traveling position information. Based on the manned forklift truck, the determination means for obtaining the storage position information of the luggage storage position where the manned forklift truck delivers the package, the package identification sensor for identifying the package and obtaining the package information, and transmitting the storage position information and the package information wirelessly A manned forklift truck equipped with information transmission means.