JP2003155198A - Loading/unloading assisting device for industrial vehicle and industrial vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To assist the process of image screen-aided aligning of loading equipment by showing (drawing) positioning data for alignment in an image on a display screen covering the loading equipment operating area (object cargo). SOLUTION: The forklift truck operating area, picked up by a camera provided in a carriage elevated along a mast erected on the forklift truck, is shown on a screen 28A of a display in the operator's seat. Marks M1, M2 on a pallet 41, shelf 42 in the image on the screen 28 are subjected to image recognition, and position data are obtained on marks M1, M2. By using the position data, a target point mark 87 is shown whereto the mark M is to move on the screen 28A for aligning the fork with the object cargo (fig. (a)). That the forklift truck is aligned with the object cargo is confirmed on the screen 28A when the mark M and the target point mark 87 occupy the same spot (fig. (b)).

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention makes it possible to view an image of a work area of a cargo handling equipment provided in an industrial vehicle through a screen of a display means provided in a driver's seat or the like, for example, cargo handling such as a pallet. BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a cargo handling work support device for an industrial vehicle and an industrial vehicle that support a positioning work for positioning a cargo handling device to a target.

[0002]

2. Description of the Related Art For example, in a forklift truck which is an industrial vehicle of this type, a multistage mast is provided on a vehicle body, and a carriage having a cargo handling device (attachment) such as a fork is provided so as to be able to move up and down along the mast. There is. For example, when carrying out loading work or loading work at a high place on a shelf, a driver operates a cargo handling lever (lift lever) to hydraulically drive a multi-stage mast to slide and extend it, thereby allowing cargo handling equipment such as forks to be installed. The cargo handling equipment is moved up along the mast, and the cargo handling equipment is aligned with the pallet on the shelf or the shelf surface so as to have a predetermined positional relationship. At this time, the driver is in a high place (for example, 3 ~
It is necessary to operate the cargo handling lever while looking up (6 meters) and visually checking whether the fork is aligned with the hole of the pallet or a position slightly above the shelf surface. However, it is difficult to visually determine whether the fork and pallet, etc. are aligned horizontally while looking up at a high place from below.
There is a problem that even a skilled person needs time for this alignment.

Conventionally, for example, in US Pat. No. 5,586,620, a camera is attached to a carriage, and an image of a shelf or a pallet seen in front of a fork is photographed by a driver in a driver's seat through a screen of a display device. A device for supporting the fork alignment work at a high place is known. In this case, since the image captured by the camera can be viewed through the screen of the display device, the driver can relatively easily and accurately perform the fork alignment work even in the cargo handling work at a high place.

[0004]

However, after looking up at a high place and visually aligning the fork with the target load, the fork is aligned with the target load on the screen. However, there was nothing on the screen that served as a moving target to move the fork for the purpose of alignment, so what was to be aligned with the target was to remove the target on the screen. There was a problem that it was difficult.

Further, the positions of pallets and shelves are indexed by image processing based on the image data of the work area photographed by the camera, and the forks are automatically aligned with the object of cargo handling such as pallets and shelves. It is also possible to adopt automatic control. In this case, there is a problem that it is not possible to easily know the completion of the automatic alignment of the forks by looking at the screen.

The present invention has been made to solve the above-mentioned problems, and its purpose is to display the cargo handling equipment on the image displayed on the screen of the display means showing the work area (the cargo handling target) of the cargo handling equipment. An object of the present invention is to provide a cargo handling work support device for an industrial vehicle and an industrial vehicle that can be helpful in aligning cargo handling equipment through a screen by displaying (drawing) positioning information for positioning.

[0007]

In order to achieve the above object, in the invention according to claim 1, a cargo handling device movably provided on a vehicle body for aligning with a cargo handling target, a display means, and a cargo handling A detection means for detecting the position of the target, and a display control means for displaying on the display means positioning information that helps to position the cargo handling equipment on the cargo handling target based on the position detection result detected by the detection means. The point is to have prepared.

According to the present invention, the position of the cargo handling target is detected by the detecting means. The invention according to claim 2, wherein the display control means displays positioning information for assisting in positioning the cargo handling equipment on the cargo handling target based on the position detection result detected by the detection means. For this purpose, a cargo handling device movably provided on the vehicle body, a photographing means for photographing a cargo handling target to be a work target of the cargo handling equipment, a display means for displaying an image photographed by the photographing means on a screen, Detecting means for detecting the position of the cargo handling target in the photographing area of the photographing means, and calculation for calculating positioning information when aligning the cargo handling equipment with the cargo handling target based on the position data detected by the detecting means. Means, and drawing control means for drawing the positioning information when positioning the cargo handling equipment to the cargo handling target on the screen of the display means .

According to this invention, the position of the cargo handling target in the photographing area of the photographing means is detected by the detecting means. The computing means computes positioning information when aligning the cargo handling equipment with the cargo handling target based on the position data. Then, the drawing control means draws on the screen of the display means positioning information for positioning the cargo handling equipment on the cargo handling target.

According to a third aspect of the present invention, a cargo handling device movably provided on the vehicle body for carrying out cargo handling work, a photographing means for photographing a cargo handling target to be a work target of the cargo handling device, and the photographing. Display means for displaying an image photographed by the means on the screen; detection means for detecting the position of the cargo handling target on the screen by image-processing the image data photographed by the photographing means; and the detecting means. Based on the detected position data, the calculating means for calculating the position of the movement target point on the screen of the display means when aligning the cargo handling equipment with the cargo handling target, and the movement target point on the image of the screen. The gist of the present invention is to include drawing control means for drawing the positioning information for notifying the position.

According to the present invention, the position of the cargo handling object on the screen is detected by the image processing of the image data photographed by the photographing means by the detecting means.
The calculation means calculates the position of the movement target point on the screen of the display means when the cargo handling equipment is aligned with the cargo handling target. Then, the drawing control means draws the positioning information for notifying the position of the movement target point on the image on the screen.

In the invention described in claim 4, claims 1 to 3 are provided.
In the invention described in any one of 1, the gist is that the positioning information is information on a positional relationship between the cargo handling equipment and a cargo handling target.

According to the present invention, information on the positional relationship between the cargo handling equipment and the cargo handling target is displayed on the display means. Claim 5
In the invention according to claim 1, in the invention according to any one of claims 1 to 4, the positioning information displayed on the display means indicates a positional relationship between the cargo handling equipment and a cargo handling target in a direction and an amount. The gist is that it is character information.

According to the present invention, the display means displays the character information indicating the positional relationship between the cargo handling equipment and the cargo handling target in terms of direction and quantity. In order to achieve the above object, in the invention according to claim 6, a cargo handling device is provided movably on the vehicle body for carrying out cargo handling work. The photographing means photographs a cargo handling target which is a target of work by the cargo handling equipment. The display means displays the image photographed by the photographing means on the screen.
The detection means detects the position of the cargo handling target on the screen based on the image data photographed by the photographing means. The calculation means calculates the position of the movement target point on the screen of the display means when the cargo handling equipment is aligned with the cargo handling target based on the position data detected by the detection means. The drawing control means draws a mark for visually recognizing the position of the movement target point on the image of the screen.

According to the present invention, the position of the cargo handling target on the screen is detected by the detecting means based on the image data photographed by the photographing means. The calculation means calculates the position of the movement target point on the screen of the display means when the cargo handling equipment is aligned with the cargo handling target. Then, the drawing control means draws a mark for visually recognizing the position of the movement target point on the image on the screen. Therefore,
From the mark drawn on the screen, it becomes possible to visually recognize the movement target point when aligning the cargo handling equipment with the cargo handling target through the screen.

In the invention described in claim 7, claims 2 to 6 are provided.
In the invention according to any one of the items 1 to 3, the detection unit is an image recognition unit that performs an image recognition process for determining the position of the cargo handling target on the screen based on the image data photographed by the photographing unit. The point is that there is.

According to this invention, the following actions are added to the invention described in any one of claims 2 to 6. The image recognition processing for determining the position of the cargo handling target on the screen based on the image data photographed by the photographing means is performed by the image recognition means, whereby the position of the cargo handling target on the screen is determined. Therefore, the processing for determining the position of the cargo handling target is performed by using the image data of the photographing means used for displaying the work area (the cargo handling target) of the cargo handling equipment on the screen of the display means.

In order to achieve the above object, in the invention according to claim 8, the cargo handling equipment is provided movably on the vehicle body for carrying out cargo handling work. The photographing means photographs a cargo handling target which is a target of work by the cargo handling equipment. The display means
The image photographed by the photographing means is displayed on the screen.
The calculating means calculates the position of the movement target point when aligning the cargo handling device with the mark attached to the cargo handling target on the screen of the display means with the cargo handling target. The drawing control means draws a mark for visually recognizing the movement target point on the image of the screen.

According to the present invention, the mark for visually recognizing the moving target point of the mark attached to the cargo handling object on the screen of the display means is drawn on the image of the screen of the display means. Therefore, for example, by moving the cargo handling equipment so that the mark on the screen matches the mark, the cargo handling equipment can be aligned with the cargo handling target. In addition, you can feel a sense of security when the cargo handling equipment is automatically aligned, and the mark matches the movement target point indicated by the mark (including matching within the allowable range).
It is also possible to know the completion of the alignment control.

In the invention described in claim 9, claims 2 to 8
In the invention described in any one of 1,
A manual operation means for performing a manual operation for moving the cargo handling equipment and a control means for driving and controlling a driving means for moving the cargo handling equipment according to a manual operation of the manual operation means are provided. The calculation means calculates a movement target point on the screen of the display means when the cargo handling equipment is moved by manual operation of the manual operation means.

According to the present invention, the following actions are added to the invention according to any one of claims 2 to 8. When the cargo handling equipment is moved manually by the manual operation means, a mark indicating a movement target point when the cargo handling equipment is aligned with the cargo handling target is drawn on the screen of the display means. Therefore, for example, when aligning the cargo handling equipment at high lift while looking at the image displayed on the screen, a manual operation is performed so that the cargo handling target on the screen moves with the mark drawn on the screen image as the target. The cargo handling equipment may be moved by manually operating the means. Therefore, it becomes easy to perform the work of aligning the cargo handling device with the cargo handling target while looking at the screen.

According to the invention described in claim 10,
In the invention described in any one of 9 above, a camera constituting the photographing means is provided so as to be able to move up and down with respect to the cargo handling equipment. The determining means determines whether the cargo handling work by the cargo handling equipment is a unloading work or a unloading work. The elevating drive means is driven so as to move and arrange the camera with respect to the cargo handling equipment at a height according to the type of the cargo handling work determined by the determination means. The placement position of the camera during the loading operation is set to a position where the load on the loading device does not hinder the imaging of the work area (target of loading).

According to the present invention, the following actions are added to the invention according to any one of claims 2 to 9. The position of the camera with respect to the cargo handling equipment differs depending on the type of cargo handling work (pickup work / loading work). During the loading work that is performed while the load is taken by the cargo handling equipment, the camera is moved to a position (height) where the shooting of the work area (target of cargo handling) is not hindered by the load taken by the cargo handling equipment. . For example, position the camera so that you can shoot the cargo handling object (work area) almost from the front during the loading operation, and set the camera so that the cargo taken by the cargo handling equipment does not block the shooting of the cargo handling object during the loading operation. Since it can be arranged, it is possible to take an image from a position suitable for the alignment of the cargo handling equipment by the camera as much as possible.

In the invention described in claim 11, claims 2 to
In the invention described in any one of 10 above, the camera constituting the photographing means is fixed to a component member of a mast in which a carriage having the cargo handling device is provided so as to be able to move up and down. In the cargo handling apparatus, the carriage moves on the mast while the cargo handling equipment and the camera maintain a constant positional relationship at least in the height direction when the cargo handling equipment moves up and down at a lift higher than a predetermined lift. Is configured. Lifting height detection means for detecting the lifting height of the cargo handling equipment is provided. When the lift detected by the lift detecting means is equal to or higher than the predetermined lift, the drawing control means displays the image on the screen based on the position data of the moving target point calculated by the calculating means. A process for drawing a mark for visually recognizing the movement target point is executed.

According to this invention, the following actions are added to the invention described in any one of claims 2 to 10. The camera fixed to the component member of the mast maintains a constant positional relationship at least in the height direction with respect to the cargo handling equipment when the cargo handling equipment moves up and down at a predetermined lift or higher. Therefore, when the lift is higher than the predetermined lift, the camera can always photograph the work area of the cargo handling device (the cargo handling target) from the same photographing position with respect to the cargo handling device. Therefore, a simple camera mounting structure for fixing the camera to the component member of the mast can be adopted, and at this time, the moving target point when aligning the cargo handling equipment with the cargo handling target can be visually recognized by the mark drawn on the screen image. .

According to the twelfth aspect of the present invention, the carriage having the cargo handling equipment is provided on the industrial vehicle so as to be able to move up and down along the mast provided on the vehicle body. A camera is provided on a component of the mast so that the camera can photograph the work area of the cargo handling equipment. The display means displays an image captured by the camera on the screen. The determination means determines whether the cargo handling work performed by the cargo handling equipment is a unloading work or a unloading work. The detection means determines the cargo handling target according to the type of cargo handling work determined by the determination means, and based on the image data captured by the camera, an image of the target image recognition target for position detection of the cargo handling target is imaged. By performing recognition processing, the position of the cargo handling target on the screen of the display means is detected. The calculation means calculates the position of the movement target point on the screen of the display means when the cargo handling device is aligned with the cargo handling target. The drawing control means draws a mark for visually recognizing the movement target point on the screen of the display means on the image of the screen.

According to the present invention, since the camera has a simple mounting structure in which it is fixed to the constituent members of the mast, the camera mounting structure is relatively inexpensive, and the moving target is moved to the image plane of the image of the display means. It becomes possible to draw a mark indicating a point. Therefore, for example, in an industrial vehicle of a type in which the cargo handling equipment is manually aligned with the cargo handling target, a mark of a movement target point when aligning the cargo handling equipment with the cargo handling target can be drawn on the screen without much cost, The mark makes it possible to easily visually recognize the position of the movement target point on the screen.

The invention described in claim 13 is the invention according to claims 1 to 1.
In the invention according to any one of 3 above, the detection means detects the position of the cargo handling target by distinguishing between the loading operation and the loading work, and the display means detects the cargo handling target detected by the detecting means. Positioning information corresponding to the picking work or the loading work is displayed.

According to this invention, in addition to the function of the invention described in any one of claims 1 to 13,
The position of the cargo handling target is detected by distinguishing between the cargo picking work and the loading work, and the display means displays the positioning information corresponding to the cargo picking work or the loading work of the cargo handling target whose position is detected by the detecting means.

According to the invention of claim 14, the industrial vehicle is
The cargo handling work support device according to any one of claims 1 to 13 is provided. According to this invention, since the cargo handling work support apparatus according to any one of claims 1 to 13 is provided, the same operation as the invention according to any one of claims 1 to 13 can be obtained. To be

[0031]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS (First Embodiment) A first embodiment in which the present invention is embodied in a forklift position detection device will be described below with reference to the drawings.

As shown in FIG. 1, a reach type forklift truck (hereinafter referred to as a forklift) 1 as an industrial vehicle uses a fork 2 as a cargo handling device to carry out cargo handling work. Left and right front wheels (driven wheels) 5 are attached to the front ends of a pair of left and right reach legs 4 extending forward from the front of the vehicle body 3, and the drive steered wheels 6 as rear wheels are
The vehicle is driven by the power of a traveling motor 8 that uses a battery 7 provided in the vehicle body 3 as a power source. The driver operates the forklift 1 by operating the steering wheel 10 to steer the driving steered wheels 6 while standing on the standing seat type driver's seat 9 provided on the rear right side of the vehicle body 3.

The cargo handling device (mast device) 11 arranged on the front side of the vehicle body 3 is moved in the front-rear direction along the left and right reach legs 4 by the drive of the reach cylinder 12 (reach operation).
It is possible. The cargo handling device 11 includes a multi-stage (three-stage in this example) mast 13 and a carriage 14 for cargo handling.
And a central lift cylinder 15A and a pair of left and right lift cylinders 15B (only one side is shown). The mast 13 is a three-stage mast including an outer mast 13A, a middle mast 13B, and an inner mast 13C. The cargo handling device 11 of the present embodiment is a telescopic type (full free type) in which the slide extension of the mast 13 is started only after the carriage 14 once reaches the uppermost position of the inner mast 13C. That is, the lift cylinder 15A is erected on the bottom plate of the inner mast 13C, and the carriage 14 moves up and down along the inner mast 13C when the lift cylinder 15A is driven. Lift cylinder 15
B is erected on the back surface of the outer mast 13A and is driven in a state where the carriage 14 is detected to be located at the uppermost end of the inner mast 13C.
3A, 13B and 13C slide and expand and contract. Fork 2
Can rise up to about 6 meters, for example.

The forklift 1 includes a cargo handling operation support device (fork positioning operation support device) 20 for supporting the position alignment operation of the fork 2 in a high place (high lift range).
Is provided. The cargo handling operation support device 20 includes a camera elevating device 21 which is assembled in a vertically elongated state at the center of the front surface of the side shifter 16 which constitutes the carriage 14. The camera raising / lowering device 21 is a raising / lowering camera unit 23 that is housed in a housing 22 attached to the center of the front surface of the carriage 14 and that is raised and lowered so as to project and retract from below.
Is equipped with. The camera unit 23 has a housing 22.
It moves up and down between a storage position stored inside and a lowered position protruding from the lower end of the housing 22. Camera unit 2
3 is a camera (for example, CC
A D camera) 24 is built in, and it is possible to take a picture of the cargo handling work area in front of the fork from the photographing section (lens section) 24A. Further, even from the storage position, the cargo handling work area in front of the fork can be photographed by the camera 24 through the photographing window 22A formed in the lower front surface of the housing 22. That is, the camera 24 can photograph the cargo handling work area in front of the fork from two positions, the storage position and the lowered position.
The side shifter 16 is attached to a lift bracket (not shown) that is attached to the mast 13 so as to be able to move up and down so as to be movable in the left-right direction. Shift left and right.

Further, a display device (liquid crystal display device (LCD)) 28 as a display means is attached to the roof 27 at a position where a driver standing on the driver's seat 9 can easily see it. The screen of the display device 28 shows the camera 2 during the cargo handling work.
The image of the front of the fork captured by No. 4 is displayed.

An operating lever (multi-lever) 31 shown in FIG. 2 is provided on the instrument panel. The operation lever 31 is capable of performing all the traveling operation and the cargo handling operation by itself, and is provided with a plurality of types of operation portions.

The operation lever 31 is provided with a lever body 33 that tilts in the front-rear direction along a slot 32 formed at a predetermined position on the instrument panel. When the lever body 33 is not operated, it is returned to a neutral position substantially perpendicular to the panel surface by the urging force of a spring (not shown). A grip 34 is attached to the upper end portion of the lever body 33 in a posture inclining at an angle of about 30 to 60 degrees with respect to the vehicle width direction. At the left end of the grip 34, a substantially cylindrical knob 35 is provided rotatably around the axis C. A seesaw switch 36 is provided on the front edge of the left portion of the grip 34, a cross switch 37 is provided on the rear surface of the left portion of the grip 34, and an operation switch 38 is provided on the front surface of the left portion of the grip 34.
Are provided respectively. The grip 34 is used in a state where the driver holds the right elbow and holds it with the right hand. Grip 3
While holding 4, hold the knob 35 and cross switch 3 with your thumb.
7, the seesaw switch 36 can be operated with the index finger, and the operation switch 38 can be operated with the middle finger. In addition, the inside of the circle in the figure is the cross switch 37 viewed from the direction A.

The lever body 3 is held by the right hand holding the grip 34.
When 3 is tilted forward, the forklift 1 moves forward, and when the lever body 33 is tilted backward, the forklift 1 moves backward. When the protrusion 35A formed on the knob 35 is pushed upward with the thumb and the knob 35 is turned upward, the fork 2 is raised, and when the protrusion 35A is pushed downward with the thumb and the knob 35 is turned downward, the fork 2 is lowered. Further, when the front end of the seesaw switch 36 is pushed with the index finger, the cargo handling device 11 moves forward, and when the rear end of the seesaw switch 36 is pushed with the index finger, the cargo handling device 11 moves backward. The cross switch 37 can be operated in four directions of up / down / left / right, and the tilt of the mast 13 is operated by the up / down operation, and the side shift is operated by the left / right operation. Pushing the upper end of the cross switch 37 with the thumb tilts the mast 13 forward, and pushing the lower end of the cross switch 37 tilts the mast 13 backward. If you press the right end of the cross switch 37 with your thumb, the fork 2 will move to the right,
When the left end of the cross switch 37 is pressed, the fork 2 moves leftward.

As shown in FIG. 3, in this embodiment, the marks M1, which are position targets when the forks 2 are aligned with the shelves 40 or the pallet 41, on the shelves 40 and the pallets 41 which are the objects of cargo handling. M2 is attached. That is, two insertion holes 41A are provided on the front and back of the pallet 41.
A pallet position detection mark M1 is provided at the center of the space. On the other hand, the shelf portion (beam) 42 of the shelf 40 is provided with a shelf position detecting mark M2 at the center of the front surface thereof. Here, the mark M1 attached to the pallet 41 and the shelf 42
The mark M2 attached to is a figure having a pattern in which black and white are mutually inverted. Mark M taken by camera 24
Left and right (Y direction) of the fork 2 and the cargo object (pallet 41 or shelf 42) from the position of 1 (or M2) on the screen
-Fork automatic alignment control is performed to calculate the amount of vertical (Z direction) displacement and to automatically align the fork 2 with the cargo handling target so as to eliminate the amount of displacement.

Next, the electrical configuration of the cargo handling operation support device 20 will be described with reference to FIG. The cargo handling operation support device 20 includes a controller 45. The controller 45 includes an image control unit 46, a cargo handling control unit 47, drive circuits 48 and 49, and a solenoid drive circuit 50.

The image control unit 46 has a camera 2 on its input side.
4 is electrically connected, a video signal (image signal) is input, and the display device 28 and the speaker 51 are connected to the output side. The image control unit 46 displays a captured image on the screen of the display device 28 based on the video signal (image signal) from the camera 24. Further, the image control unit 46
Image recognition processing (template matching processing) is performed to recognize the mark from the captured image, and the position of the cargo handling target is grasped from the position of the mark on the screen (screen coordinate system) grasped by this image recognition. Then, display processing is performed to display a target moving point (target mark), which is a target when the fork 2 is aligned to a position where the cargo handling target can be captured, on the screen. In this display processing, a method of displaying a target mark on the screen of the display device 28 is adopted as a method of guiding the target moving point. This display process will be described in detail later. Further, the speaker 51 informs the cargo handling work support status and the contents of instructions to the worker by a voice guide.

On the other hand, in the cargo handling control unit 47, the upper limit position detection switch 52, the lower limit position detection switch 53, the potentiometers 54 and 55 of the multi-lever 31, the switches 36 to 38, and the lift sensor 5 as lift detection means.
8, a load sensor 59, a tilt angle sensor 60, etc. are connected. Further, the cargo handling control unit 47 includes a drive circuit 48,
An electric actuator 61 as a lifting drive means and a cargo handling motor (electric motor) 62 are respectively connected via 49, and various solenoid proportional valves 65 to 69 assembled to an oil control valve 64 via a solenoid drive circuit 50. The solenoid of is connected. In addition,
The cargo handling control unit 47 and the load sensor 59 constitute a discriminating means.

The cargo handling control unit 47 controls the potentiometers 5
4, 55 and the switches 36 and 37, the current value control of the solenoid proportional valves 65 to 69 and the drive control of the cargo handling motor 62 are performed. By operating the cargo handling motor 62, the cargo handling pump (hydraulic pump) 70 is driven to supply hydraulic oil to the oil control valve 65. Based on the operation signal of the multi-lever 31, each solenoid proportional valve 65 to 5 corresponding to the operation.
69 is proportionally controlled to lift cylinder 15
A, 15B, the reach cylinder 12, the side shift cylinder 71, and the tilt cylinder 72 are hydraulically controlled, and the lifting operation, the reach operation, the side shift operation, and the tilt operation of the fork 2 are possible. In addition, the cylinder 15A,
A drive means is constituted by 15B and 71.

The cargo handling control section 47 controls the cargo handling when the multi-lever is operated, as well as the raising / lowering control of the camera unit 23 and the automatic fork alignment control. The fork automatic alignment control is for supporting the cargo handling work at a high place performed by raising the fork 2 to a certain height or more, and the lift of the fork 2 detected by the lift sensor 58 is set to the set lift. Only when it is above (for example, about 2 meters) or more. The cargo handling control unit 47 determines whether there is a load on the fork 2 based on the detection value of the load sensor 59 to determine the cargo handling mode,
In the “unloading mode” in which there is no load on the fork 2 and the load detection value is less than or equal to the threshold value, the camera unit 23 is placed in the storage position, and there is a load on the fork 2 and the load detection value exceeds the threshold value. In the "place mode", the camera unit 23 is arranged in the lowered position. The electric actuator 61 driven to raise and lower the camera unit 23 operates when the camera unit 23 reaches the upper limit position and the upper limit position detection switch 52 turns on, and when the camera unit 23 reaches the lower limit position and the lower limit position detection switch 53 operates. Driving is stopped when it is turned on.

The image control unit 46 includes a display processing unit 75, an image processing unit 76, a drawing display unit 77, a drawing data storage unit 78 and a voice synthesizing unit 79. The display processing unit 75 outputs the video signal input from the camera 24 to the display device 28 so that the image captured by the camera 24 is displayed on the screen. Further, the voice synthesizing unit 79 performs a voice synthesizing process for a voice announcement (voice guide) or the like to perform the speaker 5 operation.
The audio signal is output to 1. The image data from the display processing unit 75 is also input to the image processing unit 76. The drawing display unit 77 and the drawing data storage unit 78 constitute drawing control means.

The image processing unit 76 displays the mark M1, on the screen.
An image recognition process for calculating the position of M2 and a positional relationship between the vehicle (fork 2) and the cargo handling target are calculated based on the calculated mark position. The image processing unit 76 includes an image recognition processing unit 81, a template storage unit 82, an image calculation unit 83, and a display position determination unit 84 as calculation means. The image recognition processing unit 81 performs image recognition processing by pattern matching processing. When the deviation amount between the vehicle and the cargo-handling target in the vehicle width direction exceeds the allowable range, the image calculation unit 83 calculates the vehicle lateral movement direction and the lateral movement distance required to eliminate the deviation amount. The display position determination unit 84 determines the display position at which position on the screen the display indicating the width-shifting direction and the width-shifting distance should be displayed. The image processing unit 76 is composed of program data stored in a microcomputer, a memory (ROM), or the like. The drawing display unit 77 and the drawing data storage unit 78 include a drawing control gate array and a drawing VRA.
It is composed of M. Further, the image recognition processing unit 81, the template storage unit 82, and the image calculation unit 83 constitute a detection unit and an image recognition unit.

FIG. 5 shows marks and templates. The figure (a) shows the mark M1 for pallet position detection, and the figure (c) shows the mark M2 for shelf position detection. Further, FIG. 7B is a template T1 for the mark M1, and FIG.
Is a template T2 for the mark M2.

The mark M1 is formed by arranging two patterns P1 and P1. The mark M2 is formed by arranging two patterns P2 and P2. The mark refers to the entire pattern, and the pattern refers to the two patterns that make up the mark. The templates T1 and T2 used for the pattern matching process have the same pattern as the patterns P1 and P2. Two marks M1,
Each of the patterns P1 and P2 of M2 has a pattern in which white and black are reversed.

Each of the patterns P1 and P2 has a pattern in which white and black are color-coded by a plurality of boundary lines extending straight in a radial pattern with one point as a center. Each of the patterns P1 and P2 of the present embodiment is a pattern in which four areas divided by two diagonal lines of a square are color-coded in white and black. However, the contour line corresponding to the side of the quadrangle of the template is not a part of the pattern. Screen 2 depending on the distance between the mark and the camera
Even if the sizes of the marks M1 and M2 displayed on the 8A change, a pattern of the same size as the templates T1 and T2 always exists in the center portion of the photographed patterns P1 and P2, so that one template T1 , M2, T2 by pattern matching process
2 can be recognized. Template T1,
T1 is set to a predetermined size (size equal to or smaller than the mark size at the time of shooting at the predetermined distance) such that all marks M1 and M2 shot within a predetermined distance from the camera 24 can be recognized. .

The template storage section 82 shown in FIG.
Data of two templates T1 and T2 are stored. The image recognition processing unit 81 uses the template T1 if the cargo handling mode notified from the cargo handling control unit 47 is the "unloading mode", and the template T1 if it is the "loading mode".
Use 2. That is, the pattern matching process for recognizing the pallet position detection mark M1 is performed in the loading mode, and the shelf position detection mark M is performed in the loading mode.
A pattern matching process for recognizing 2 is performed.

FIG. 6A shows a screen coordinate system set on the screen. In the screen coordinate system, the coordinates are handled in units of pixels, and in the screen 28A in FIG. 7A, the horizontal pixel number is H and the vertical pixel number is V. Here is the mark M2
Will be described as an example. As shown in FIG. 2B, the image recognition processing unit 81 uses the template T2 for the two patterns P2 and P2 forming the mark M2 on the image data.
Thus, the patterns P2 and P2 are recognized by matching at two points. The image calculation unit 83 calculates the coordinates (I1, J1) and (I2, J2) of the center points (radiation center points) of the two patterns P2 and P2 recognized by the image recognition processing unit 81, respectively, and calculates these two values. Based on the coordinate values, the center of gravity (I, J) of the mark M2 and the center distance D of the patterns P2 and P2 are obtained. The method for obtaining the I, J, and D values for the mark M1 is the same.

FIG. 7 shows a real coordinate system. In the real coordinate system, the center (center of gravity) of the mark M is set to the origin O as shown in FIG. It is assumed that the three-dimensional coordinates have the Y axis in the rotated direction and the Z axis in the vertical direction (upward direction). Then, the relative coordinate (relative position) (Xc, Yc, Zc) of the camera 24 is obtained in this real coordinate system, and the position shift amount of the fork 2 is calculated based on this relative coordinate. Using the data I, J, and D calculated in the screen coordinate system shown in FIG. 6, geometric transformation is performed and relative coordinates (Xc, Yc, Z) in the real coordinate system are used.
c) is calculated.

A method of calculating relative coordinates (Xc, Yc, Zc) in the actual coordinate system of the camera 24 from the I, J, D values will be described below. FIG. 8 shows a view from above of the camera and marks in the real coordinate system. Further, FIG. 9 shows that the real coordinate system and the screen coordinate system have a similar relationship. The left side of the figure shows the YZ plane of the real coordinate system photographed by the camera 24, and the right side of the figure shows the IJ plane in the screen coordinate system of the image photographed by the camera 24. If the image distortion is not taken into consideration, these two images are in a similar relationship.

As shown in FIGS. 8 and 9, the horizontal width of the photographing range in the real coordinate system is represented by 2L · tan α, which is the horizontal pixel number H of the screen 28A in the screen coordinate system. Here, the angle “α” is one half of the horizontal angle of view of the camera 24 as shown in FIG. L is the distance between the camera 24 and the YZ plane and is equal to | Xc | (L = | Xc
|). Further, the center-to-center distance d between the two patterns P and P in the mark M in the real coordinate system is the center-to-center distance D in the screen coordinate system. In other words, the similarity ratio between the real coordinate system and the screen coordinate system is
d: It becomes D. Regarding the abscissa from the origin O to the center of the image, Yc of the real coordinate system and I-H / of the screen coordinate system are used.
There is a correspondence relationship with 2. Regarding the ordinate from the origin O to the center of the image, Zc in the real coordinate system and J in the screen coordinate system.
-V / 2 has a correspondence relationship.

By using the coordinates (I, J) of the screen coordinate system and the value of the distance D, geometric transformation using the similarity relationship of FIG. 9 is performed.
The camera 2 in the real coordinate system (XYZ coordinate system) shown in FIG.
The relative coordinates (Xc, Yc, Zc) of 4 are calculated by the following equation. Xc = -L = -Hd / (2Dtan α) (1) Yc = d / D (I-H / 2) (2) Zc = d / D (J-V / 2) (3) where , H, V, α, d values are known values, so I,
The coordinates (Xc, Yc, Zc) can be obtained by calculating the J and D values.

The cargo handling control unit 47 includes a relative coordinate calculation unit 85.
Also, a control amount calculation unit 86 is provided. The relative coordinate calculation unit 85 calculates the relative coordinate OC (Xc, Yc, Zc) of the camera 24 in the actual coordinate system based on the data I, J, D sent from the image control unit 46 to the cargo handling control unit 47. . The control amount calculation unit 86, based on the relative coordinates (relative position) (Xc, Yc, Zc) of the camera 24 obtained in this real coordinate system, the fork 2 and the target position when aligning the fork 2 with the cargo handling target. Calculate the amount of positional deviation between and. That is, the moving distances in the X, Y, and Z directions required when positioning the fork 2 on the cargo handling target are calculated.

FIG. 11 illustrates the flow of control processing from image recognition processing to fork automatic alignment control. First, when the image data is acquired, the image recognition processing unit 8
1 reads the template T from the template storage unit 82 and performs pattern matching processing. Image calculation unit 83
Calculates the barycentric coordinates (I, J) of the mark M and the pattern center distance D on the screen coordinate system (pixel level) based on the position of the pattern recognized by the image recognition processing unit 81. The data I, J, D calculated here are sent to the display position determination unit 84. The display position determination unit 84 uses the data I, J, and D to load the fork 2 as a cargo target (the pallet 41 or the shelf 4).
Screen 28A (screen coordinate system) when aligning with 2)
The coordinates of the movement target point of the mark M at are calculated.

Here, as shown in FIG. 10, the camera position C, the fork position F, the pallet position P, and the mark center of gravity position (origin) O are set so that the fork position F is aligned with the pallet position P during the loading operation. Considering the vector FP when doing, vector FP = vector OP−vector OC−
There is a relationship of vector CF. Here, point C, point F, and point O
And the point P are located on the same vertical line. The vectors CF and OP correspond to the distance between the camera position C and the fork position F and the distance between the mark center of gravity position O and the pallet position P, respectively, and are known information.

Regarding this known information, the components of the vector OP (Xp, Yp, Zp) and the components of the vector CF (Xcf, Y)
cf and Zcf) respectively, fork 2 and pallet 4
The coordinates (It, Jt) of the movement target point on which the mark M1 is to be moved on the screen 28A in order to align with 1 are given by the following equation. It = H / 2 + (Yp-Ycf) * D / d (4) Jt = V / 2 + (Zp-Zcf) * D / d (5) Here, Yp, Zp, Ycf, and Zcf are known. It is a value.

Similarly, considering the loading operation, if the loading position R is a position above the shelf surface 42A for aligning the fork 2 with the shelf 42 by a predetermined distance (10 to 20 cm), the vector CF, OR becomes known information. Vector O
R corresponds to the distance between the mark center of gravity position O and the loading position R. The components (Xr,
Yr, Zr), vector CF components (Xcf, Ycf, Zc
f) respectively, the coordinates (It, Jt) of the movement target point to move the mark M2 on the screen 28A for aligning the fork 2 with the loading position R are given by the following equation. It = H / 2 + (Yr-Ycf) * D / d (6) Jt = V / 2 + (Zr-Zcf) * D / d (7) Here, Yr, Zr, Ycf, and Zcf are known. It is a value.
How to obtain each of the equations (4) to (7) will be described later. The coordinates of the movement target point calculated by the display position determination unit 84 (I
t, Jt) is sent to the drawing display unit 77, and a drawing process for drawing the moving target point mark 87 shown in FIG. 13 at the position of the moving target point on the image of the screen 28A is performed. The movement target point mark 87 is composed of figures in which four triangles are arranged at equal angular intervals with their vertices as their centers, and the center point surrounded by the four vertices indicates the movement target point.

Further, the data I, J, D are sent to the cargo handling control unit 47. The relative coordinate calculation unit 85 uses the data I, J, and D to calculate the relative coordinate OC (X
c, Yc, Zc) is calculated. The control amount calculation unit 86 uses the known information (vectors CF and OP) based on the relative coordinates (Xc, Yc, Zc) of the camera 24 and the fork 2 and the target position when aligning the fork 2 with the cargo handling target. The amount of positional deviation between (and each component of the vector FP) is calculated. That is,
X required for positioning the fork 2 on the cargo handling target,
The moving distance in the Y and Z directions is calculated.

The vector FP is expressed by the following equation. Vector FP = -Vector CF-Vector OC + Vector OP Therefore, the amount of positional deviation during the pickup operation (Xfp, Yfp, Zfp)
Is (Xfp, Yfp, Zfp) = (Xcf-Xc + Xp, Ycf-Yc
+ Yp, Zcf-Zc + Zp) The amount of displacement (Xfr, Yfr, Zfr) during the loading operation is (Xfr, Yfr, Zfr) = (Xcf-Xc + Xr, Ycf-Yc
+ Yr, Zcf-Zc + Zr).

The data of this positional deviation amount is used as the image control unit 46.
The drawing display unit 77 reads the text data indicating the numerical values of the respective distances in the X, Y, and Z directions, which is the data of the positional deviation amount, from the drawing data storage unit 78, and displays it on the screen 28A.
Drawing is performed in the upper character information display area as shown in FIG. As a result, the respective movement distances in the X, Y, and Z directions of the fork 2 necessary for aligning the fork 2 with the cargo handling target are drawn. Here, "distance" is the distance to the cargo handling target (moving distance in the front-back direction), "sideways" is the moving distance in the left-right direction (right is positive), and "height" is the moving distance in up-down direction (upward is positive). ) Is shown.

For example, positioning information such as "distance Xfp", "horizontal Yfp", and "height Zfp" is drawn as character information during the loading operation, and "distance Xfr", "horizontal Yfr" during the loading operation. Positioning information of "height Zfr" is drawn as character information. Therefore, by looking at the distances displayed in the character information on the screen 28A in the respective directions, it is possible to easily understand in which direction and by what distance the fork 2 should be moved.

Then, the cargo handling control unit 47 determines that the vector FP
The control amount command value such that the value becomes “0” is output to the solenoid drive circuit 50. However, in the present embodiment, the fork 2
The automatic position control is performed only in the up-down direction and the left-right direction, and the front-back direction (reach direction) is left to manual operation by the driver. Therefore, the cargo handling control unit 47
The solenoid drive circuit 50 uses, as a control amount command value, a value corresponding to each vertical and horizontal shift amount of the fork 2 calculated so that the YZ component of the vector FP is set to "0".
Output to. As a result, the fork 2 is automatically aligned in the vertical direction and the horizontal direction. As a result,
The fork 2 has the insertion hole 41 of the pallet 41 in the loading mode.
It is positioned at A and is aligned with a target position that is a predetermined distance above the shelf 42 in the loading mode. After this alignment, the reach operation is performed to reach the mast 13 to perform the work of picking up or placing the work. The reach operation of the fork 2 may be automatically controlled.

Next, referring to FIG.
2 (a) and 2 (b) will be described. Here, in FIG.
(A) is an actual coordinate system, and (b) is a screen coordinate system. As shown in FIG. 12A, consider a virtual plane (YZ plane) G including the mark M in the real coordinate system. This virtual plane G
Is equivalent to a photographing region photographed by the camera 24 and displayed on the screen 28A, and is assumed to move together with the movement of the camera 24. Considering the time of the loading operation, in order to align the fork 2 with the pallet 41, the camera 24 is parallel to the virtual plane G and the vector FP (X
If it moves, the virtual plane G moves together with the camera 24 at this time, so that the mark M moves toward the movement target point mark 87 on the virtual plane G and the origin O becomes the movement target point T. Match. Therefore, the vector OT = −vector FP (8)

Further, as shown in FIG. 7B, the screen coordinates of the movement target point T are set to (It, Jt). The component (Xc, Yc, Zc) of the vector OC, which is obtained by looking at the camera position C from the origin O (screen coordinates (I, J)) in the real coordinate system, uses the screen coordinates (I, J) to obtain the above (2). , (3). Therefore, the component (Xtc, Ytc, Z) of the vector TC when the camera position C is viewed from the movement target point T (screen coordinates (It, Jt)).
Also for tc), since the relationships of the equations (2) and (3) are similarly established using the screen coordinates (It, Jt), they are expressed as follows. Ytc = d / D (It-H / 2) (9) Ztc = d / D (Jt-V / 2) (10) Further, from the relation of vector TC = vector OC-vector OT (11), Substituting the equation (8) into the equation (11), vector TC = vector OC + vector FP (12) Here, vector FP = vector OP−vector CF−vector OC ... (13) Equation (13) Substituting into equation (12), vector TC = vector OP-vector CF (14) Here, the components (Xp, Yp, Zp) of the vector OP and the components (Xcf, Ycf, Zcf) of the vector CF. Assuming that the mark M has been replaced by the movement target point T, the method of obtaining the coordinates (It, Jt) of the movement target point is the same as in (2) and (3) above.
In the equation (3), the calculation may be performed by substituting the components of the vector OC → the components of the vector TC with I → It and J → Jt.
The components (Xtc, Ytc, Ztc) of the vector TC are expressed by (Xtc, Ytc, Ztc) = (Xp, Yp, Zp)-(Xcf, Ycf, Zcf) = (Xp- Xcf, Yp-Ycf, Zp-Zcf) (15) Therefore, from the equations (9) and (15), Yp-Ycf = d / D (It-H / 2) (16) Further, (10), From the equation (15), Zp-Zcf = d / D (Jt-V / 2) (17) When the equations (16) and (17) are solved for It and Jt, respectively, the moving target at the time of the pickup operation is obtained. Coordinates of point T (It, J
t) is obtained as in the equations (4) and (5).

Similarly, considering the loading operation, since the fork 2 is aligned with the loading position R which is a predetermined distance (10 to 20 cm) above the shelf 42, the camera 24 makes a vector parallel to the virtual plane G. If FR (not considering the X component) is moved, the virtual plane G moves together with the camera 24 at this time, so that the mark M2 moves toward the movement target point mark 87 on the virtual plane G and the origin O moves. Match point T. Therefore, the vector OT = −vector FR (18) Substituting this equation (18) into equation (11), vector TC = vector OC + vector FR (19) Here, vector FR = vector OR-vector CF-vector OC (20) Furthermore, the relationship of equation (20) To the equation (19), vector TC = vector OR-vector CF (21) where the components of the vector OR (Xr, Yr, Zr) and the components of the vector CF (Xcf, Ycf, Zcf). . Assuming that the mark M has been replaced by the movement target point T, the method of obtaining the coordinates (It, Jt) of the movement target point is the same as in (2) and (3) above.
In the formula, the calculation may be performed by substituting the components of the vector OC → the components of the vector TC with I → It and J → Jt.
The components (Xtc, Ytc, Ztc) of the vector TC are (Xtc, Ytc, Ztc) = (Xr, Yr, Zr) − (Xcf, Ycf, Zcf) = (Xr−) by using the relation of the equation (21). Xcf, Yr-Ycf, Zr-Zcf) (22) What is finally desired is the screen coordinates when the mark M is at the final reaching point. Therefore, in the above equations (2) and (3), (22) ) Substituting the relationship of the equation and solving for the coordinates (It, Jt) of the moving target point, the coordinates of the moving target point T during the loading operation are
It can be obtained as in Eqs. (6) and (7).

Next, the automatic fork alignment control and the drawing process of the moving target point mark 87 will be described. First, when the fork 2 is at a lift higher than the set lift, image recognition processing (mark recognition processing) for recognizing the image of the mark M is performed based on the image data taken by the camera 24. That is, the template T1 in the pickup mode
Is used to perform the image processing for recognizing the mark M1, and in the loading mode, the template T2 is used to perform the image processing for recognizing the mark M2. Then, the mark M that has been image-recognized
The position data I, J, D values on the screen are calculated.

The display position determining section 84 calculates the coordinates (It, Jt) of the movement target point T using the data D value among them. That is, during the loading operation, the coordinates (It, Jt) of the moving target point T are calculated according to the equations (4) and (5) using the data D value.
Is calculated, and at the time of loading work, using the data D value, equation (6),
The coordinates (It, Jt) of the movement target point T are calculated according to (7). This coordinate data (It, Jt) is displayed in the drawing display unit 77.
Sent to. The drawing display unit 77 reads the graphic data for the display mark from the drawing data storage unit 78 according to the instruction from the display position determination unit 84, and superimposes the moving target point mark 87 as shown in FIG. 13A on the image. Is displayed at the coordinate (It, Jt) position.

The fork 2 is displayed on the screen 28A during the pickup work.
When the mark is aligned with the pallet 41, a moving target point mark 87 indicating the moving target point T that the mark M1 should finally reach is displayed. On the other hand, screen 28A during loading work
A moving target point mark 87 indicating the moving target point T that the mark M2 should finally reach when the fork 2 is positioned above the shelf 42 by a predetermined distance is displayed on the screen.

When the operation switch 38 of the multi-lever 31 is operated, the fork automatic positioning control is started.
In the cargo handling control section 47, based on the position data I, J, D values, the relative position coordinates (X
c, Yc, Zc) is calculated. And the vector FP
A control amount that makes both the Yc and Zc values zero so as to zero is obtained. Based on this control amount, the cargo handling control unit 47 causes the solenoid drive circuit 44 to operate the lift solenoid proportional valves 65, 66.
Current control of the side shift solenoid proportional valve 68 and the lift cylinders 15A and 15B and the side shift cylinder 71.
The fork 2 is aligned by controlling the drive of the fork 2 as required. As a result, the fork 2 moves by −Zc in the vertical direction and by −Yc in the horizontal direction.

When the fork 2 is moved, for example, at the time of a load collecting work, as shown in FIG. 13B, the mark M1 is placed on the moving target point T which is the center point of the moving target point mark 87.
Of the fork 2 are aligned with each other, and the fork 2 is positioned at a loading position that is aligned with the insertion hole 41A. On the other hand, during loading work,
The movement target point T which is the center point of the movement target point mark 87
The center point of the mark M2 coincides with, and the fork 2 has a shelf surface 42.
It is positioned at a loading position about 10 to 20 cm above A.

In this way, since the moving target point T to which the mark M should move can be seen on the screen 28A, the mark M
By confirming that the center points of the movement target point mark 87 coincide with each other, it is possible to easily visually recognize whether or not the fork 2 is positioned. It is also possible to judge whether or not the fork 2 is properly aligned with the cargo handling target intended by the worker during the cargo handling work.

In this embodiment, the following effects can be obtained. (1) When the fork automatic alignment control is performed, a moving target point mark 87 indicating the moving target point of the mark M attached to the cargo handling target is drawn on the screen 28A on the image. Therefore, from the drawing position of the moving target point mark 87 on the screen 28A, the moving target point to which the mark M should be moved when the fork 2 is aligned with the cargo handling target can be visually recognized from the screen 28A at a glance. Therefore, from the process in which the mark M attached to the cargo handling target intended by the driver moves on the screen 28A toward the movement target point mark 87, it is possible to confirm how the forks 2 are aligned. Then, the fact that the marks M and 87 match on the screen 28A makes it possible to know through the screen 28A that the automatic alignment control of the fork 2 has been completed.

(2) Since the position detection mark M (image recognition target) attached to the cargo handling target is selected and the mark 87 is drawn at the moving target point, it is displayed or drawn on the screen 28A. Focusing on the two marks M and 87, the positional alignment of the fork 2 can be easily understood from the positional relationship between them.

(3) Whether the alignment of the fork 2 has succeeded or missed is checked on the screen 28A by checking whether the mark M which coincides with the movement target point mark 87 belongs to the pallet 41 or the shelf 42. You can easily find it through the image.

(4) Since the deviation amounts of the fork 2 and the cargo handling objects 41, 42 in the three directions (X, Y, Z directions) are drawn numerically on the screen 28A, which direction of the fork 2 is determined. The driver can know whether or not to move the distance.

(5) In the automatic fork alignment control, the driver can know how long the control will end, the sense of security that the control is proceeding smoothly, and the next operation at the end of the control. You can get a timely attitude.

(6) Since the moving target point mark 87 is drawn by distinguishing between the loading mode and the loading mode, either loading mode can be supported. (7) The camera 24 (camera unit 23) is of a lifting type that moves up and down with respect to the carriage 14, and the camera 24 is moved to two positions, a storage position and a lowered position, according to the type of cargo handling work (loading work / loading work). I arranged it. As a result, at the time of picking up work with no load on the fork 2, the work area can be photographed from the substantially same height as the fork 2 by the camera 24 arranged at the storage position, while the work for placing a load on the fork 2 can be performed. At times, the work area can be photographed by the camera 24 arranged in the lowered position without being blocked by the load. Therefore, the shooting angle of the image displayed on the screen 28A is convenient for aligning the fork 2.

(8) A moving target serving as a mark for visually recognizing the moving target point on the screen 28A of the display device 28 by using the camera 24 and the display device 28 provided to support the cargo handling work at a high place. The point mark 87 is drawn. That is, the position of the mark M is determined by the image recognition process using the image data captured by the camera 24, and the position data (I, J, D) of the mark M obtained for the automatic fork alignment control is used. Then, the coordinates of the moving target point are calculated to obtain the drawing position of the moving target point mark 87. Therefore,
A small amount of calculation processing is added only for calculating the position of the moving target point, and even if the drawing processing for drawing the moving target point mark 87 on the screen 28A is added, the processing of the CPU for the automatic fork position adjustment control is performed. It does not have to increase the burden.

(Second Embodiment) In this embodiment, a camera-fixing type cargo handling work support device in which a camera is fixed to a component member of a mast is adopted.

As shown in FIG. 14, the mast 13 is composed of an outer mast 91, a middle mast 92 and an inner mast 93 in order from the outside. Inner Must 93
A beam 94 is laterally provided at a position slightly higher than the center in the height direction, and a camera 95 is fixed to the beam 94 below the beam 94. The camera 95 is arranged so as to face forward so that the work area of the fork 2 can be photographed by the photographing section 95A.

FIG. 15 is a front view of the upper portion of the cargo handling device (mast device). The carriage 14 is disposed at the uppermost position of the inner mast 13C. In a state where the carriage 14 is arranged at the uppermost position of the inner mast 93, the camera 95 is positioned below the fork 2 by a predetermined distance,
The carriage 14 is positioned on the center line between the pair of forks 2 in the left-right direction (vehicle width direction) in a state where the carriage 14 is not side-shifted. As for the mast 13, the carriage 14 has an inner mast 9
It is a telescopic type (full free type) that starts sliding extension only after reaching the uppermost position of 3. Therefore, when the mast extends after the carriage 14 reaches the uppermost position of the inner mast 93, that is, when the carriage 14 reaches the uppermost position of the inner mast 93 and the lift is equal to or higher than a predetermined lift, the positions of the fork 2 and the camera 95 are increased. The relationship is always kept constant in the vertical direction.

The position of the camera 95 in FIG. 15 substantially corresponds to the position of the fork 2 when the camera is lowered in the first embodiment, and is used during a loading operation in which a load is loaded on the fork 2. Shelf 4 that is also the target of cargo handling at that time
The mark M2 attached to 2 can be photographed. Of course, when the load is not loaded on the fork 2, the mark M1 attached to the pallet 41 that is the target of the load handling at that time can be photographed. In this way, the camera 95 is fixed to the inner mast 93 only in the difference from the first embodiment.
The controller 45 electrically connected to is responsible for image processing and cargo handling control using image data captured by the camera 95, as in the first embodiment.

The side shift cylinder 71 is provided with a stroke sensor 73, and the stroke sensor 73 detects the stroke amount of the side shift cylinder 71. The side shift amount of the fork 2 is grasped by the detection result of the stroke sensor 73, and the fork 2 and the camera 9 are detected.
The relative positional relationship with the right and left direction (Y direction) with respect to 5, that is, the shift amount of the camera 95 and the fork 2 in the Y direction is grasped.

FIG. 16 shows an electrical block of the cargo handling operation support device 20. As shown in the figure, the cargo handling operation support device 20 has basically the same electrical configuration as that of the first embodiment, and instead of a lifting type camera, an inner mast 93 is used.
The only difference is the use of a fixed camera 95 fixed to. Therefore, as compared with the electrical configuration of the first embodiment, the sensors and actuators for the camera lifting device are eliminated. In this embodiment,
The camera 9 obtained from the measurement value of the stroke sensor 73
The displacement amount in the Y direction between the fork 5 and the fork 2 is used to calculate the displacement amount in the X, Y, and Z directions between the movement target point and the target for cargo handling.

Next, a method of calculating the moving target point in this embodiment in which the camera 24 is fixed to the inner mast 13C will be described. Fork 2 is placed on the pallet 41 during the loading operation
The coordinates (It, Jt) of the movement target point for moving the mark M1 on the screen 28A for the purpose of aligning the position are given by the following equations as in the first embodiment. It = H / 2 + (Yp-Ycf) * D / d (4) Jt = V / 2 + (Zp-Zcf) * D / d (5) where It is the abscissa of the moving target point on the screen, Jt is the ordinate of the movement target point on the screen, H is the number of pixels in the horizontal direction of the screen, V is the number of pixels in the vertical direction of the screen, Yp is the abscissa of the movement target point at the left and right center of the fork root seen from the mark M1, and Zp is The ordinate of the movement target point of the center of the fork root, which is seen from the mark M1,
Ycf is the abscissa of the center of the fork root as seen from the camera,
Ycf is the ordinate of the left and right center of the fork as seen from the camera,
d is the actual mark distance, D is the mark size [pixel] acquired by image processing, and Ycf is measured and calculated using the stroke sensor 73. Yp, Zp, Ycf, Zcf are
It is a known value.

Further, at the time of loading operation, the mark M2 should be moved on the screen 28A in order to align the fork 2 with the loading position R above the shelf 42 by a predetermined distance (10 to 20 cm) from the shelf surface 42A. Coordinates of target point (It, J
t) is given by the following equation. It = H / 2 + (Yr-Ycf) * D / d (6) Jt = V / 2 + (Zr-Zcf) * D / d (7) where Yr is the movement target point of the fork root left and right center. The abscissa as viewed from the mark M2 and Zr are ordinates as viewed from the mark M2 of the movement target point of the fork root left and right center, and both are known values.

In the first embodiment, since the camera 24 is attached to the side shifter 16 and moves with the fork 2, Ycf has a fixed value, but in the present embodiment, the side shift causes the fork 2 to move laterally. Since the camera 24 does not move, Ycf is a variable that changes depending on the side shift state. Therefore, in the above equations (4) and (6), Ycf is measured and obtained by the stroke sensor 73, for example.

The stroke sensor 73 measures the amount of contraction ΔY from the state where the side shift cylinder 76 is fully extended, and when Ycf when ΔY = 0 is Ycf0, Ycf
Is expressed by the following equation. Ycf = Ycf0 + ΔY (23) The following formula is obtained by substituting the formula (23) into the formula for calculating the “It” value of the formulas (4) and (6). It = H / 2 + (Yp-Ycf0-ΔY) * D / d (24) It = H / 2 + (Yr-Ycf0-ΔY) * D / d (25) where Ycf0 is the side shift cylinder 71. Is the abscissa of the center of the fork root when viewed from the camera 24 when fully extended, ΔY is the amount of contraction (measured by the stroke sensor 73) after the side shift cylinder 71 is fully extended, and Zcf is the fork root. It is the ordinate of the horizontal center as seen from the camera.

According to the second embodiment, the following effects can be obtained. (9) Since the camera 24 is fixed to the inner mast 93, the camera lifting device adopted in the first embodiment can be dispensed with, and the photographing system having the camera 24 can be realized with a simple structure and at low cost. . Moreover, screen 2
By drawing the moving target point mark 87 on 8A, the driver can move the mark 8 drawn on the image on the screen 28A.
The movement target point to move the fork 2 from 7 can be visually recognized at a glance. Therefore, the effects (1) to (6) and (8) described in the first embodiment can be obtained similarly.

(Third Embodiment) This embodiment is different from the above-mentioned embodiments in that the automatic control for automatically aligning the forks is not adopted. FIG. 17 shows an electrical block of the cargo handling operation support device. The camera 95 is a fixed type fixed to the inner mast 93 as in the second embodiment.

Since the cargo handling control unit 47 does not perform the automatic alignment control, the relative coordinate calculation unit 85 and the control amount calculation unit 86 are eliminated. The cargo handling control unit 47 includes a driver's seat 9
Sensors 101 to 104 and sensors 58 to 60 for detecting operations of the cargo handling levers provided on the instrument panel, that is, the lift lever 96, the reach lever 97, the side shift lever 98, and the tilt lever 99.
96 is electrically connected. The cargo handling control unit 47 controls the solenoids 65 to 69 of the solenoid proportional valves via the solenoid drive circuit 50 based on the signals from the sensors 101 to 104, and controls the current values of the solenoids 65 to 69. The drive control of 15A, 15B, 71, 72 is carried out. The levers 96 and 98 constitute a manual operation means.

As described above, the manual operation type in which the lever is manually operated to control the drive of the cylinder is used. However, the image taken by the camera 95 in the high lift work area is displayed on the screen 2 of the display device 28.
It is displayed on 8A. The image control unit 46 has the same configuration as that of each of the above-described embodiments, and based on the image data captured by the camera 95, the mark image recognition process, the mark position data calculation process, and the movement target point calculation process. , Controls drawing processing of positioning information such as moving target point mark.

Therefore, the moving target point mark 87 for notifying the moving target point of the fork 2 is drawn on the screen 28A when the lift is higher than the predetermined lift. Therefore, an image of the work area at a high place captured at high lift is displayed on the screen 28A of the display device 28, and when the fork 2 is manually adjusted while watching the screen 28A, the movement target point Can be visually recognized from the mark 87. Also, the fork 2 and the cargo handling target 4 are displayed on the screen 28A.
The amount of shift in the X, Y, and Z directions with respect to 1, 42 is also drawn. Therefore, the effects (2), (4) to
(6) can be obtained.

(10) If the driver carries out the cargo handling operation so that the displacement amount (moving distance) between the fork 2 and the cargo handling objects 41 and 42 drawn on the screen 28A in the three directions becomes "0", the fork 2 Can be reliably positioned on the cargo handling objects 41 and 42. Therefore, it is possible to improve the cargo handling work efficiency at a position where it is difficult to visually recognize such as high lift.

The embodiment is not limited to the above, and can be implemented in the following modes. In each of the above-described embodiments, whether the contents of the cargo handling work is a unloading work or a laying work is determined based on the detection value of the load sensor, and the target mark M is determined according to the determined type of the cargo handling work. It is configured to decide whether the cargo handling target is a pallet or a shelf. On the other hand, for example, it is possible to adopt a method in which a button to be operated for designating the cargo handling work is provided on the instrument panel of the driver's seat and the driver himself / herself specifies the type of the cargo handling work to the controller by operating the button.

The target (image recognition target) for which the image recognition processing is performed based on the image data captured by the camera is not limited to the marks M1 and M2 attached to the cargo handling target. For example, a method of performing image recognition processing using the shape of the pallet 41 or the shelves 42 as a pattern to determine the position of the cargo handling target can be adopted.

○ The design of the moving target point mark 87 is
The present invention is not limited to the above embodiments. A shape that can specify the movement target point is sufficient. For example, a directional graphic such as an arrow graphic indicating a movement target point can be adopted. Further, a mark having a predetermined shape such as a circle, a triangle, a square, or a polygon may be drawn so that the center of gravity coincides with the movement target point. The mark displayed on the screen as the mark indicating the movement target point can be any design or figure.
For example, "cross", "dot", "line", etc. may be used. For example, in the case of a cross line, it is only necessary to perform alignment so that the center of gravity of the mark M coincides with the two vertical and horizontal lines that form the cross line. Therefore, in the case of the manual operation method, the fork alignment operation is easy. . Further, radial figures and other diagrams and illustrations may be used. However, it is preferable to use a figure having the property of point object as used in each of the above-described embodiments, since it is easy to specify one point. The mark (target point mark) is
The moving image (animation) is not limited to the still image. Further, the mark may be blinked, and the color of the mark may change over time. Since the position range in which the fork can be inserted into the hole of the pallet can be regarded as the alignment range, the indicator color of the mark is used to visually inform the driver when the fork is aligned within this alignment range. May be changed.

The mark is not necessarily limited to being displayed at the position of the moving target point as long as the driver can be visually notified of the moving target point. For example, I of the movement target point
On the screen 28, there are two marks that individually indicate the coordinates and the J coordinate.
It is also possible to adopt a method in which the movement target point is specified on the screen by drawing along the vertical and horizontal two sides of A and specifying the I coordinate and the J coordinate from both marks.

Although a radial figure is adopted as the image recognition mark, the invention is not limited to such a figure. It may be a simple figure such as a square (■) or triangle (▲). Although it is necessary to prepare a large number of templates by pattern matching and it takes time for the image recognition processing, the position of the cargo handling target can be detected. An image recognition method other than pattern matching may be adopted to detect the position of the cargo handling target. Furthermore, it is also possible to adopt a method of obtaining the coordinates of the moving target point using a method other than image recognition.
For example, it is possible to employ a method of detecting the position of the cargo handling target by detecting a detected portion attached to the cargo handling target such as a pallet or a shelf.

The positioning information is sufficient if it is information that indicates the direction and the amount of deviation when the cargo handling device is positioned on the cargo handling target. That is, the distance itself for shifting the fork 2 for positioning need not be the same as in the above embodiment. For example, if the screen scale is 100, YZ
A gauge indicating a relative shift amount for directional positioning may be drawn.

The movement target point mark 87 in each of the above embodiments is the movement target point of the mark M on the screen 28A, but it does not necessarily have to be the movement target point of the mark M. For example, a hole 41A on one side (for example, the right side) of the pallet 41 may be used as a reference, and a moving target point mark indicating the moving target point of the hole 41A may be drawn. In short, decide a convenient reference point somewhere when aligning the cargo handling equipment with the cargo handling target, and draw a mark that indicates the movement target point that should move the reference point when aligning the cargo handling equipment with the cargo handling target. It's enough. This reference point may be set anywhere other than the vehicle as long as it can play its role, and it may be attached to a part of the cargo handling target, a specific location around the cargo handling target (for example, a specific location on the shelf), or these parts or locations. It can also be a marked mark. When the reference point is used as a mark (mark), it is not always necessary to use the mark for image recognition as the mark, and the mark for the reference point may be provided separately from the marks M1 and M2.

In each of the above-described embodiments, the fork 2 can be positioned in the vertical direction and the horizontal direction by the moving target point mark. However, the moving target point mark that can be positioned only in one of the vertical and horizontal directions is displayed on the screen. May be.

When the fork is manually aligned as in the third embodiment, it is necessary to operate the fork in the vertical and horizontal directions. At this time, the vertical and horizontal movements are performed. When the positions are matched in the direction, a method of visually indicating that the positions are matched is used or a method of notifying by voice is adopted.

In the second and third embodiments, the camera 24 may be provided on the inner mast 93 so as to be vertically movable. That is, in the relative positional relationship between the camera 24 and the fork 2, the camera 24 is attached to the beam of the inner mast 93 so as to be able to move up and down in two positions corresponding to the retracted position and the retracted position in the first embodiment. The image is taken by the camera 24 arranged at the storage position during the loading operation and by the camera 24 arranged at the descending position during the loading operation.

The detecting means for obtaining the position information of the cargo handling object is not limited to the one based on the image processing of the captured image data of the camera. For example, a method of measuring the position of the cargo handling target from the detected value using an ultrasonic sensor, a proximity sensor, a laser sensor, etc., and calculating the shift amount or the movement target point can also be adopted. In this case, the cargo handling target may be marked with the mark as the detected target, and the movement target point of this mark may be adopted as the drawing position of the movement target point mark. When a position detection method using a sensor other than image processing is adopted, the cameras may be coexisting or may be abolished. For example, when the camera is abolished, it is possible to display only the numerical values in the XYZ directions on the screen of the display device or to draw only the mark that shows the positional relationship between the cargo handling target and the movement target point. Also, even if there is a camera, the captured image is used only for detecting the position of the cargo handling object, similarly, only the numerical value is displayed on the screen,
Alternatively, only the mark may be drawn.

In each of the above-described embodiments, the mark M attached to the object of cargo handling and the movement target point mark 87 are made to coincide on the screen as a method of assisting fork positioning. On the other hand, instead of the photographed mark, a mark indicating the current fork position is drawn at an appropriate position on the screen, and another mark is drawn at the movement target point for this mark,
It is also possible to adopt a method of assisting the positioning of the fork based on the positional relationship between the two drawing marks.

In each of the above embodiments, three directions (XYZ
Although the shift amount (movement distance) of the (direction) is displayed, only the YZ direction or only the Z direction may be displayed. ○ It is not limited to an industrial vehicle in which a fork (cargo handling equipment) is provided so as to be movable in the vehicle width direction. For example, it can be applied to a forklift without a side shift function.

The cargo handling device is not limited to the fork.
Attachments other than forks may be used. A clamp device for gripping a load or a bucket for scooping the load may be used. Further, a cargo handling device that grips a load by magnetic attachment may be used.

The industrial vehicle is not limited to the reach type forklift. A counterbalanced forklift may be used. Further, industrial vehicles are not limited to forklifts.
For example, a power shovel may be used. The cargo to be handled by the cargo handling work is not limited to the pallet or the cargo handled by the pallet, but may be any object such as logs, roll paper, containers, and fluid such as earth and sand that the industrial vehicle handles. It also includes load-carrying members other than pallets and load storage boxes.

The technical idea understood from the above embodiment and other examples will be described below. (1) In the invention of claim 11 or 12, the mast expands and contracts by sliding a multi-stage component member, and the cargo handling equipment is moved and arranged at the uppermost stage of the inner mast among the component members. The mast is a telescopic type multi-stage mast having a mechanism for sliding and extending for the first time, and the camera is fixed to the inner mast.

(2) In the above technical concept (1), the camera is arranged at a position corresponding to approximately the center in the width direction of the cargo handling device in a state of being fixed to the beam of the inner mast.

(3) In any one of claims 1 to 12, the cargo handling target is provided with a reference mark as a reference for alignment, and the computing means aligns the cargo handling equipment with the cargo handling target. At this time, the moving target point of the reference mark on the screen of the display means is position-calculated, and the drawing control means draws a mark indicating the moving target point of the reference mark on the image of the screen. Is characterized by. In each of the above-described embodiments, the marks M1 and M2, which are the image recognition targets, also serve as the reference marks. According to this configuration, if the cargo handling equipment is moved so that the reference mark matches the mark of the movement target point on the screen, it is possible to confirm that the cargo handling equipment is aligned with the cargo handling target while looking at the screen.

(4) In claim 12, the image recognition target is a mark attached to the cargo handling target to determine its position. (5) In Claims 7 to 13 and the above-mentioned technical idea (4), the image recognition means is based on image data captured by the imaging means with a mark attached to identify the position of the cargo handling target. Image recognition is performed to determine the position of the mark on the screen, and the calculating means positions the cargo handling equipment as a cargo handling target based on the position data of the mark calculated by the image recognition means. The position of the moving target point of the mark on the screen of the display means at the time of alignment is calculated, and the drawing control means draws a mark indicating the moving target point of the mark on the image of the screen. Is characterized by.

(6) In any one of claims 1 to 13 and technical ideas (1) to (5), the mark is a figure having the property of point object, and the mark has a point object point. It is drawn so as to coincide with the movement target point. According to this configuration, the movement target point indicated by the mark can be easily specified as one point from the shape of the graphic used as the mark.

(7) In any one of claims 1 to 13 and technical ideas (1) to (6), the object of cargo handling is a pallet or a shelf. Here, the shelf part is a part of the shelf which is a target (reference) of alignment of the cargo handling equipment during the cargo handling work for storing the load on the shelf.

[0119]

As described above in detail, according to the invention described in claims 1 to 14, the work area of the cargo handling equipment (the cargo handling target)
Since the positioning information for aligning the cargo handling equipment is displayed (drawn) on the image of the screen of the display means that displays the information, it is helpful when aligning the cargo handling equipment through the screen.

[Brief description of drawings]

FIG. 1 is a perspective view of a forklift according to a first embodiment.

FIG. 2 is a plan view of an operation lever.

FIG. 3 is a perspective view showing a state of cargo handling work on a shelf.

FIG. 4 is a block diagram showing an electrical configuration of a cargo handling operation support device.

FIG. 5 is a front view showing a mark and a template.

6A is a screen diagram illustrating a screen coordinate system, and FIG. 6B is a screen diagram.
Explanatory drawing of a matching method.

FIG. 7 is a schematic perspective view illustrating an actual coordinate system.

FIG. 8 is a plan view illustrating an actual coordinate system.

FIG. 9 is a correlation diagram showing the relationship between the real coordinate system and the screen coordinate system.

FIG. 10 is a schematic diagram illustrating alignment control.

FIG. 11 is a block diagram showing a flow of processing of alignment control.

FIG. 12 is a diagram illustrating a method of calculating a drawing position,
(A) is a schematic diagram which shows a real coordinate system and (b) shows a screen coordinate system, respectively.

FIG. 13 shows a screen in alignment control,
(A) is a screen diagram in which the movement target point mark is displayed,
(B) is a screen view at the end of alignment.

FIG. 14 is a perspective view of a forklift according to a second embodiment.

FIG. 15 is a schematic partial front view of a cargo handling device in which a camera is fixed to a mast.

FIG. 16 is a block diagram showing an electrical configuration of a cargo handling operation support device.

FIG. 17 is a block diagram showing an electrical configuration of a cargo handling operation support device according to a third embodiment.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Forklift as industrial vehicle, 2 ... Fork as cargo handling equipment, 3 ... Car body, 11 ... Cargo handling equipment, 13 ... Mast, 14 ... Carriage, 15 ... Lift cylinder as drive means, 20 ... As cargo handling work support apparatus Cargo handling operation support device 23, a camera unit constituting a photographing means,
24 ... Cameras constituting detecting means and photographing means, 28 ...
Display device as display means, 28A ... Screen, 31 ... Operation lever (multi-lever) as manual operation means, 40 ...
Shelf, 41 ... Pallet as cargo handling target, 42 ... Shelf portion as cargo handling target, 45 ... Controller as control means,
46 ... Display control unit, 47 ... Cargo handling control unit as control unit, as well as cargo handling control unit as control unit, 58 ... Lifting sensor as lifting height detecting unit, 59 ... Load sensor constituting judging unit, 61 ... As lifting drive unit Electric actuator,
71 ... Side shift cylinder as driving means, 73 ...
Stroke sensor, 76 ... Image processing unit, 77 ... Drawing display unit forming drawing control unit, 78 ... Drawing data storage unit forming drawing control unit, 81 ... Image recognition processing unit forming detection unit and image recognition unit, Reference numeral 82 ... Template storage unit constituting image recognition means, 83 ... Detection means, image calculation portion constituting image recognition means and calculation means, 84 ... Display position determination section as calculation means, 85 ... Relative as relative position calculation means Coordinate calculation unit, 87 ... Movement target point mark as mark, 93 ... Inner mast as constituent member of mast, 96 ... Lift lever as manual operation means, 98 ...
Side shift levers M1, M2 as manual operation means
... A mark as an image recognition target.

   ─────────────────────────────────────────────────── ─── Continued front page    F-term (reference) 3F333 AA02 AB13 BA04 BA08 BD02                       BE02 CA21 CA24 FA25 FA36                       FD03 FD12 FD14 FD15 FE09                 5B057 AA16 BA02 DA07 DB02 DB05                       DB08 DC32                 5C054 AA05 CA04 CC03 CE05 CE12                       CF07 FA02 FC12 FC15 FF07                       HA26

Claims (14)

[Claims] 1. A cargo handling device movably provided on a vehicle body for aligning with a cargo handling target, a display means, a detection means for detecting the position of the cargo handling target, and a position detection result detected by the detection means. A cargo handling work support apparatus for an industrial vehicle, comprising: display control means for displaying positioning information on the display means to help position the cargo handling equipment on the cargo handling target. 2. A cargo-handling device movably provided on a vehicle body for carrying out cargo-handling work, a photographing means for photographing a cargo-handling target to be a work target of the cargo-handling equipment, and an image photographed by the photographing means. Display means for displaying on the screen, detection means for detecting the position of the cargo handling target in the photographing area of the photographing means, and the cargo handling device is aligned with the cargo handling subject based on the position data detected by the detecting means. A cargo handling work support apparatus for an industrial vehicle, comprising: a computing unit that computes positioning information when performing the above-described operation; and a drawing control unit that draws positioning information when positioning the cargo handling device on a cargo handling target on a screen of the display unit. 3. A cargo-handling device movably provided on a vehicle body for carrying out cargo-handling work, a photographing means for photographing a cargo-handling target to be a work target of the cargo-handling equipment, and an image photographed by the photographing means. Display means for displaying on the screen, detecting means for detecting the position of the cargo handling target on the screen by image processing the image data photographed by the photographing means, and position data detected by the detecting means A calculation means for calculating a position of a movement target point on the screen of the display means when aligning the cargo handling device with a cargo handling target; and positioning for notifying the position of the movement target point on the image of the screen. A cargo handling work support apparatus for an industrial vehicle, comprising: a drawing control means for drawing information. 4. The cargo handling work support apparatus for an industrial vehicle according to claim 1, wherein the positioning information is information on a positional relationship between the cargo handling equipment and a cargo handling target. 5. The positioning information displayed on the display means is character information indicating a positional relationship between the cargo handling equipment and a cargo handling target in a direction and an amount, according to any one of claims 1 to 4. A cargo handling support device for industrial vehicles. 6. A cargo-handling device movably provided on a vehicle body for carrying out cargo-handling work, a photographing means for photographing a cargo-handling target to be a work target of the cargo-handling equipment, and an image photographed by the photographing means. Display means for displaying on the screen, detection means for detecting the position of the cargo handling target on the screen based on the image data photographed by the photographing means, and based on the position data detected by the detection means, Calculating means for calculating the position of the movement target point on the screen of the display means when aligning the cargo handling equipment with the cargo handling object, and drawing a mark for visually recognizing the position of the movement target point on the image of the screen. A cargo handling work support apparatus for an industrial vehicle, comprising a drawing control means. 7. The image recognition means for performing image recognition processing for determining the position of the cargo handling target on the screen based on the image data photographed by the photographing means. Item 1. A cargo handling work support device for an industrial vehicle according to item 1. 8. A cargo-handling device movably provided on a vehicle body for carrying out cargo-handling work, a photographing means for photographing a cargo-handling target to be a work target of the cargo-handling equipment, and an image photographed by the photographing means. Display means for displaying on a screen, calculating means for position-calculating a movement target point when aligning the cargo handling equipment with a mark attached to the cargo handling target on the screen of the display means, the screen And a drawing control means for drawing a mark for visually recognizing the movement target point on the image of FIG. 9. A manual operation means for performing a manual operation for moving the cargo handling equipment, and a control means for controlling a drive means for moving the cargo handling equipment according to a manual operation of the manual operation means, 9. The cargo handling in the industrial vehicle according to claim 2, wherein the calculation means calculates a movement target point on the screen of the display means when the cargo handling equipment is moved by the manual operation of the manual operation means. Work support device. 10. A discriminating means for discriminating whether a cargo handling operation by the cargo handling equipment is a picking up work or a loading work, and a camera constituting the photographing means is provided so as to be able to move up and down with respect to the cargo handling equipment. And an elevating and lowering drive unit that is driven to move and arrange the camera with respect to the cargo-handling equipment at a height according to the type of the cargo-handling work determined by the means. The cargo handling work support apparatus for an industrial vehicle according to any one of claims 2 to 9, which is set at a position where shooting of a work area is not hindered by a load taken by the device. 11. A camera constituting the photographing means is fixed to a component of a mast in which a carriage having the cargo handling equipment is provided so as to be able to move up and down, and the cargo handling equipment moves up and down above a predetermined lifting height. Sometimes, the cargo handling device is configured such that the carriage moves on the mast while maintaining a constant positional relationship between the cargo handling equipment and the camera at least in the height direction, and detects the lift of the cargo handling equipment. When the lift detected by the lift detecting means is equal to or higher than the predetermined lift, the drawing control means is based on the position data of the moving target point calculated by the calculating means. The cargo handling work support device for an industrial vehicle according to any one of claims 2 to 10, which executes a process of drawing a mark for visually recognizing the movement target point on the image of the screen. 12. An industrial vehicle in which a carriage having a cargo handling device is provided so as to be able to move up and down along a mast provided on a vehicle body, and a camera provided in a component member of the mast capable of photographing a work area of the cargo handling device. A display means for displaying an image taken by the camera on the screen, a discriminating means for discriminating whether the cargo handling work performed by the cargo handling equipment is a unloading work or a loading work, and the cargo handling work judged by the judging means. The object of cargo handling is determined according to the type of the object, and based on the image data taken by the camera, the image recognition target image recognition target for position detection of the object of cargo handling is subjected to image recognition processing, thereby Detecting means for detecting the position of the cargo handling target, and position calculation of the movement target point on the screen of the display means when aligning the cargo handling equipment with the cargo handling target That calculating means and, cargo handling assistance device in an industrial vehicle including a drawing control means for drawing the mark to visually recognize the moving target point on the image of said screen on the screen of the display means. 13. The detection means detects the position of the cargo handling object by distinguishing the cargo taking operation and the loading operation, and the display means displays the cargo handling object of the cargo handling object whose position is detected by the detecting means. The positioning information according to is displayed.
Item 12. A cargo handling work support device for an industrial vehicle according to any one of items 12. 14. An industrial vehicle provided with the cargo handling work support apparatus according to claim 1.