To provide a cargo handling control device capable of handling a cargo safely and highly efficiently without turning over the cargo.SOLUTION: A cargo handling control device 10 acquires cargo characteristic information 112 containing the size, the mass, a gravity center position, a static friction coefficient of a cargo and cargo handling apparatus characteristic information 113 including the length of a fork and a static friction coefficient of a cargo handling apparatus 1 and stores them in a storage unit 110. The cargo handling control device acquires an inter-cargo handling apparatus distance 111, determines whether or not it is within a preset range of the inter-cargo handling apparatus distance 111 obtained based on the size of the cargo, the gravity center position, and the length of the fork, and gives notification of the abnormality when it is out of the range. Further, the cargo handling control device acquires cargo handling variable information 114 containing the acceleration of the cargo handling apparatus 1 and a tilt angle of the fork during the cargo handling operation, calculates the friction force and the rotation moment based on the mass of the cargo, the acceleration of the cargo handling apparatus 1, and the tilt angle of the fork, and obtains the acceleration and a tilt angle at which slipping or rotation of the cargo does not occur so as to control the cargo handling apparatus 1.SELECTED DRAWING: Figure 2

    【課題】貨物が転倒することなく安全かつ高効率で荷役することのできる荷役制御装置を提供する。【解決手段】荷役制御装置10は、貨物のサイズ、質量、重心位置及び静止摩擦係数を含む貨物特性情報112、並びに、荷役機器1のフォークの長さ及び静止摩擦係数を含む荷役機器特性情報113を取得して記憶部110に記憶しておく。貨物荷役機器間距離111を取得して、貨物のサイズ、重心位置及びフォークの長さに基づいて求めた貨物荷役機器間距離111の設定範囲内であるか否かを判定し、範囲外である場合には、異常を報知する。また、荷役動作中に荷役機器1の加速度及びフォークのチルト角を含む荷役変数情報114を取得して、貨物の質量、荷役機器1の加速度及びフォークのチルト角に基づいて摩擦力や回転モーメントを演算し、荷ズレや回転が発生しない加速度及びチルト角を求めて荷役機器1を制御する。【選択図】図2


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    Title :

    CARGO HANDLING CONTROL DEVICE, CARGO HANDLING APPARATUS, CARGO HANDLING CONTROL METHOD, AND PROGRAM


    Additional title:

    荷役制御装置、荷役機器、荷役制御方法及びプログラム


    Contributors:

    Publication date :

    2019-10-10


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    B66F HOISTING, LIFTING, HAULING, OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD , Hub-, Verhol- oder Schubvorrichtungen, soweit nicht anderweitig vorgesehen, z.B. Vorrichtungen mit unmittelbarer Krafteinwirkung auf die Last / G01B MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS , Messen der Länge, der Dicke oder ähnlicher linearer Abmessungen



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