JP2003212493A - Marker selection device for industrial vehicle and industrial vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a marker selection device for an industrial vehicle and the industrial vehicle capable of setting one of markers, even though multiply, placed on side of an object to be handled as a mark for positioning a cargo handling apparatus when comprising a position control function for automatically positioning the cargo handling apparatus. <P>SOLUTION: A forklift internally contains a controller 45 and the controller 45 comprises an image control section 46. The image control section 46 comprises a distance calculation section 83 between two coordinates and a target determination section 84. The distance calculation section 83 calculates a distance between the mark and a moving target point displayed on a screen of a display device 25. When the mark is displayed on the screen of the display device 25, the target determination section 84 recognizes as a target the mark nearest to the moving target point on the screen. <P>COPYRIGHT: (C)2003,JPO

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an industrial vehicle sign selecting device and an industrial vehicle.

[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 loading lever (lift lever) to slide and extend a multi-stage mast by hydraulically driving a loading device such as a fork. 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 operates the cargo handling lever while looking up at a high place (for example, 3 to 6 meters) and visually checking whether the fork is aligned with the pallet hole or a position slightly above the shelf surface. There is a need. However, it is difficult to visually judge whether the fork and the pallet or the like are aligned in the horizontal direction while looking up at a high place from below, and even a skilled person has a problem that this alignment takes time.

Conventionally, in the field of industrial vehicles such as forklifts, systems have been developed for assisting the alignment of forks located at high places. As one type of this system, for example, US Pat. No. 5,586,620 discloses a technique in which a camera is attached to a carriage that supports a fork, and an image captured by the camera can be viewed from a driver's seat through a screen of a display device. In this case, the image of the high position photographed by the camera can be viewed through the screen of the display device, so that the driver can relatively easily and accurately perform the fork alignment work even during the cargo handling work at the high place.

[0005]

By the way, in connection with a system equipped with a camera, a fork position control function for automatically positioning a fork located at a high place for the purpose of further improving the support for positioning the fork. It is also possible to equip. In this type of fork position control function, there may be a plurality of landmarks that are the target of the fork movement. Therefore, in order to use the fork position control function, it is necessary to determine which of these plural marks is set as a target. Further, even if one of a plurality of marks is set as a target, it is necessary that the setting method is not troublesome and can be easily performed.

The present invention has been made in view of the above-mentioned problems, and an object thereof is to provide a marker provided on the cargo-handling target side when it has a position control function for automatically aligning the cargo-handling equipment. An object of the present invention is to provide an industrial vehicle sign selection device and an industrial vehicle that can set one of the signs as a mark when aligning the cargo handling equipment even if there are a plurality of signs.

[0007]

In order to solve the above-mentioned problems, the invention according to claim 1 is an apparatus for selecting marks for industrial vehicles having a position control function for automatically aligning the positions of cargo handling equipment. And a position on the screen coordinates of a sign that serves as a mark for automatically aligning the cargo-handling equipment is detected based on image-taking means for photographing the cargo-handling target of the cargo-handling equipment and image data taken by the photographing means. The position of the movement target point on the screen coordinates on the basis of the image data taken by the photographing means, with the marker position detecting means and the position where the sign should be when performing automatic alignment as the movement target point. Based on the coordinate position obtained by the moving target point calculating means for calculating, and the marker position detecting means and the moving target point calculating means, the inter-coordinate distance between the marker and the moving target point is calculated. When a plurality of the signs are photographed by the distance calculating means and the photographing means, the sign having the shortest inter-coordinate distance between the two coordinates obtained by the distance calculating means is selected from the signs when the cargo handling equipment is aligned. And target setting means for setting as a mark of the.

According to the present invention, the marker position detecting means detects the marker position, and the moving target point calculating means calculates the position of the moving target point. Then, the distance calculation means calculates the distance between the marker position and the movement target point position, and the marker closest to the movement target point is set by the target setting means as a mark when aligning the cargo handling equipment. When the position control function of the cargo handling equipment is executed, the cargo handling equipment is aligned with the mark set by the target setting means as a mark. Therefore, when a plurality of signs are photographed by the photographing means, the one closest to the cargo handling equipment is set as a mark for alignment, and even when there are a plurality of signs, one of them is set. One can be set as a mark for alignment. Further, as a method of setting the sign, the operator can intentionally select an arbitrary sign by operating the operation means for moving the cargo handling equipment.

According to a second aspect of the present invention, in the first aspect of the present invention, the distance calculating means calculates an inter-ordinate distance between the moving target point and the sign on screen coordinates, The target setting means sets a marker located closest to the coordinate position of the movement target point in the ordinate as the alignment target of the cargo handling equipment.

According to the present invention, in addition to the operation of the invention described in claim 1, even if a plurality of markers are photographed by the photographing means, the marker whose ordinate is closest to the movement target point is aligned with the cargo handling equipment. Set as the goal of. By the way, the most frequent operation performed by the driver as the cargo handling operation of the cargo handling equipment is the vertical operation. Therefore, as the sign setting method, the sign whose ordinate is the closest to the cargo handling equipment is set as the target, so that the operation for setting the alignment target of the cargo handling equipment can be performed smoothly.

According to a third aspect of the present invention, in the first aspect of the present invention, the distance calculating means calculates an actual inter-coordinate distance between the movement target point and the sign on screen coordinates, The target setting means sets a marker located closest in real coordinates to the coordinate position of the movement target point as a target for alignment of the cargo handling equipment.

According to the present invention, in addition to the operation of the first aspect of the invention, even if a plurality of markers are photographed by the photographing means, the marker which has the shortest inter-coordinate distance between the moving target point and the marker is loaded. Set as a target for device alignment.
Therefore, it is possible to set a sign whose actual distance is closest to the cargo handling equipment on the screen coordinates as a target when aligning the cargo handling equipment.

According to the invention described in claim 4, claims 1 to 3
In the invention described in any one of the above, based on the image data captured by the image capturing means, a marker size detecting means for detecting the size of the marker on the screen coordinates is provided, and the movement target point calculating means is The position of the moving target point on the screen coordinates is calculated based on the size of the sign on the screen coordinates obtained by the sign size detection means and a predetermined known value.

According to the present invention, in addition to the operation of the invention described in any one of claims 1 to 3, the size of the marker on the screen coordinates is detected by the marker size detecting means. Then, the position of the moving target point is calculated by the moving target point calculating means based on the size of the marker on the screen coordinates.

According to the invention described in claim 5, claims 1 to 4 are provided.
In the invention described in any one of the above, the display means for displaying the image photographed by the photographing means and the movement target point obtained from the movement target point calculation means are displayed as a drawing on the screen of the display means. The distance calculation means calculates an inter-coordinate distance between the marker displayed on the screen of the display means and the drawing displayed by the drawing means, and sets the target. Means, the coordinate distance between the coordinate position of the drawing is the shortest,
It is set as a target for alignment of the cargo handling equipment.

According to the present invention, in addition to the operation of the invention described in any one of claims 1 to 4, a drawing indicating the position of the movement target point on the screen coordinates is displayed on the display means by the drawing means. It Then, the inter-coordinate distance between the sign displayed on the display means and the drawing is calculated by the distance calculating means, and the sign having the shortest inter-coordinate distance is set as the alignment target by the target setting means.

According to the invention described in claim 6,
In the invention according to any one of 4 and 5, the distance calculation means may be arranged such that a distance between ordinates, a distance between actual coordinates, and a distance between abscissas are between the movement target point on the screen coordinates and the sign. The distance is calculated, and as one of the setting conditions when setting one of the plurality of signs as a mark when aligning the cargo handling equipment, the distance between the ordinates, the distance between the actual coordinates, and the distance between the abscissas are set. The target setting means sets a marker at the inter-coordinate distance of the priority side set by the priority setting means, and if the priority side is the same, the target setting means sets the priority order. The sign setting process is performed according to the distance between coordinates.

According to the present invention, in addition to the action of the invention described in any one of claims 1, 4 and 5, a marker is provided between the distance between ordinates, the distance between actual coordinates and the distance between abscissas. The priority order used when setting is set by the priority order setting means. Since the target setting means uses the priority order as a condition when setting the markers in order from the side having the highest priority, the marker setting can be performed based on the priority order.

In the invention described in claim 7, claims 1 to 6 are provided.
In the invention described in any one of the above, work state detecting means for detecting a work state of the cargo handling work, and work mode setting means for setting a work mode of the cargo handling work based on a detection result of the work state detecting means. The sign position detecting means detects a sign based on the work mode set by the work mode setting means among the plurality of signs.

According to the present invention, in addition to the operation of the invention described in any one of claims 1 to 6, the work state of the cargo handling work is detected by the work state detecting means, and the work is performed based on the detection result. The work mode is set by the mode setting means. Then, the marker position detecting means detects only the marker corresponding to the set work mode. Therefore, even if a sign exists for each work mode, only the sign corresponding to the work mode can be recognized.

In the invention described in claim 8, claims 1 to 7 are provided.
In the invention described in any one of the above, the position of the cargo handling equipment on real coordinates based on at least one actuator driven to move the cargo handling equipment and image data taken by the photographing means. And calculate
A shift amount calculating means for calculating a distance to move the cargo handling equipment with respect to a target position, and moving the cargo handling equipment by the distance calculated by the shift amount calculating means so that the cargo handling equipment is located at the target position. It is a gist that the control means for driving the actuator is provided in order to do so.

According to the present invention, in addition to the operation of the invention described in any one of claims 1 to 7, the shift amount calculation means calculates the position of the cargo handling equipment on the real coordinates, and the shift amount calculation means calculates the position with respect to the target position. Calculate the distance that the cargo handling equipment should move. Then, the control means drives the actuator to move the cargo handling equipment by the distance calculated by the shift amount calculating means so that the cargo handling equipment is located at the target position, whereby the cargo handling equipment is automatically aligned.

In the invention described in claim 9, claims 1 to 8 are provided.
An industrial vehicle equipped with the sign selecting device according to any one of the above. According to this invention, the same operation as that described in any one of claims 1 to 8 can be obtained.

[0024]

BEST MODE FOR CARRYING OUT THE INVENTION (First Embodiment) A first embodiment of an industrial vehicle sign selecting device embodying the present invention will be described below with reference to FIGS.

FIG. 1 is a perspective view of a forklift.
A reach type forklift truck (hereinafter simply referred to as a forklift) 1 as an industrial vehicle includes a pair of left and right reach legs 3 on the front side of a vehicle body 2, and a mast device 4 can move in the front-back direction along the reach legs 3 (reach operation). Has become. A reach cylinder 5 is arranged on the vehicle body 2, and the mast device 4 is reached by the reach cylinder 5. The mast device 4 includes a fork 6 as a cargo handling device, and the position of the fork 6 is adjusted in the front-rear direction according to the reach operation of the mast device 4.

The mast device 4 is provided with a carriage 7, and a multistage (three stages in this example) mast 9 slides and expands and contracts when a pair of left and right lift cylinders 8 (only one side is shown) of the carriage 7 are driven. Use to move up and down.
The fork 6 is attached to the carriage 7, and its position is adjusted in the vertical direction as the mast 9 slides. A side shifter 10 is arranged on the carriage 7, and the side shifter 10 can be moved in the left-right direction by driving a side shift cylinder 11 (see FIG. 7). The position of the fork 6 is adjusted in the left-right direction according to the side shift of the side shifter 10. Further, a tilt cylinder 12 (see FIG. 7) is connected to the carriage 7, and the tilting angle of the fork 6 is adjusted by tilting the tilt cylinder 12. In addition, various cylinders 5, 8, 11,
12 constitutes an actuator.

Each reach leg 3 has front wheels (driven wheels) 13a attached to its tip, and rear wheels (driving wheels) mounted on the vehicle body 2.
13b is attached. The rear wheels 13b also serve as steered wheels, and are driven to travel by the power of a traveling motor 14 driven by the battery 2a provided in the vehicle body 2 as a power source. In the right rear part of the vehicle body 2, a standing seat type driver's seat 1
5 is provided, and the rear wheel 13 can be operated by operating the handle 16.
b is steered.

The forklift 1 includes a cargo handling operation support device (fork positioning operation support device) 17 for assisting the alignment operation of the fork 6 in a high place (high lift range).
The cargo handling operation support device 17 is provided with a camera lifting device 18 mounted on the center of the front surface of the side shifter 10.
Is equipped with. The camera elevating device 18 includes a camera unit 20 having a camera (CCD camera) 19 as a photographing means built therein. The camera unit 20 is stored in a housing 21 assembled in the center of the front surface of the carriage 7, and a storage position. It is adapted to move up and down between a lower position that projects from the lower end of the housing 21. When the fork 6 is at a high place, the camera unit 20 is at the retracted position when the load (pallet) is taken out and at the lowered position when the load placed on the fork 6 is placed at a predetermined position. The position is adjusted so that it is located at.

The camera unit 20 is capable of taking an image of the cargo handling work area in front of the fork 6 from the image taking section (lens) 22 of the camera 19. A photographing window 23 is formed in the lower front portion of the housing 21. Through the photographing window 23, it is possible to photograph the cargo work area even from the storage position. That is, the camera 19 can photograph the front (front) of the fork 6 from two positions, the storage position and the lowered position. Further, when the side shifter 10 is side-shifted, the camera lifting device 18 also moves in the left-right direction together with the fork 6.

A display device (liquid crystal display device) 25 as a display means is attached to a roof 24 that covers the upper part of the vehicle body 2 at a position that can be easily seen by a driver standing in the driver's seat 15. On the screen of the display device 25, an image of the area in front of the fork 6 captured by the camera 19 during the cargo handling work is displayed. The driver can carry out the cargo handling work while looking at the screen of the display device 25.

FIG. 2 is a schematic side view of the forklift 1 equipped with the camera 19 for cargo handling work. Load 26
The cargo handling work is carried out while being placed on the pallet 27. Further, the shelf 28 on which the load 26 is placed has a multi-stage structure, and there are some shelves whose total height is at least twice the height of the forklift 1. When the total length of the shelves 28 is high as described above, when carrying out cargo handling work on the shelves 29 located at high places,
There are cases where the driver cannot see the cargo handling work from the driver's seat 15. In order to eliminate this, in the forklift 1 equipped with the camera 19, the camera 19 photographs the area in front of the fork 6, and the fork 6 is automatically aligned based on the photographed image. Supports cargo handling work.

FIG. 3 is a perspective view of the multi-lever, and FIG.
[Fig. 3] is a side view of the lever. An operation lever (multi-lever) 31 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 has a lever main body 33 (see FIG. 4) that tilts in the front-back direction along a slot 32 formed at a predetermined position on the instrument panel, and this lever main body 33 is provided on the panel surface when not operated. On the other hand, it returns to a neutral position which is substantially vertical to it 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.

A substantially cylindrical knob 35 is provided at the left end of the grip 34 so as to be rotatable in the direction of the arrow in FIG.
Further, the seesaw switch 3 is provided on the front edge of the left portion of the grip 34.
6 is a cross switch 37 on the rear surface of the left portion of the grip 34.
However, the operation switches 38 are provided on the front surface of the left portion of the grip 34, respectively. The grip 34 is gripped by the right hand of the driver with the right elbow attached. While holding the grip 34, the thumb can operate the knob 35 and the cross switch 37, and the index finger can operate the seesaw switch 36.
The operation switch 38 can be operated with the middle finger.

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 thumb 35 pushes the protrusion 35a formed on the knob upward to rotate the knob 35 upward, the fork 6 moves upward, and when the thumb pushes the protrusion 35a downward to rotate the knob 35 downward, the fork 6 moves downward. When the front end 36a of the seesaw switch 36 is pushed with the index finger, the mast device 4 moves forward, and when the rear end 36b of the seesaw switch 36 is pushed with the index finger, the mast device 4 moves backward.

The cross switch 37 can be operated in four directions of up, down, left and right. The tilt of the mast 9 is operated by the up and down operation, and the side shift is operated by the left and right operation. When the thumb pushes the upper end 37a of the cross switch 37, the mast 9 tilts forward, and when the lower end 37b of the cross switch 37 pushes, the mast 9 tilts backward. With your thumb, cross switch 3
When the right end of 7 is pushed, the fork 6 moves to the right, and when the left end 37c of the cross switch 37 is pushed, the fork 6 moves to the left.

FIG. 5 is an explanatory view of automatic fork position control for automatically positioning the forks. The pallets 27 and the shelves 28 are provided with marks M1 and M2 as markers for obtaining the relative positions of the forks 6 with respect to the pallets 27 and the shelves 28. That is, palette 2
On the side surface (front surface) of 7, a mark M1 is provided at the center between the two insertion holes 27a. On the other hand, the shelf portion 29 of the shelf 28 has a mark M2 at the center of the front surface. Here, the mark M1 on the pallet 27 and the mark M2 on the shelf 28 have the same figure, but black and white are reversed. When the fork automatic position control for automatically aligning the forks 6 is executed, the forks 6 are automatically aligned with the marks M1 and M2 as targets.

In short, in the unloading mode for carrying out unloading work, the mark M1 on the pallet 27 is targeted and the fork 6 is automatically aligned so as to face the insertion hole 27a of the pallet 27. Be seen. Further, in the loading mode in which loading work is performed, the mark M attached to the shelf 28 is used.
Aiming at 2, the fork 6 has a predetermined height above the shelf surface (loading surface) 29a of the shelf portion 29 (for example, 10 from the shelf surface 29a).
It is positioned at a height of up to 20 cm), and the two forks 6 are automatically aligned so that the midpoint of the two forks 6 is substantially the same position as the mark M2 in the left-right direction. The fork 6 is aligned by driving the lift cylinder 8 in the vertical direction (z direction in the figure) and by driving the side shift cylinder 11 in the horizontal direction (y direction in the figure). Be seen.

FIGS. 6A and 6B are screen views of the display device 25 on which the image photographed by the camera 19 is displayed. FIG. 6A is before the fork 6 is aligned, and FIG. 6B is after the aligned. It should be noted that the figure shows the case of the work of picking up the pallets 27 placed on the shelves 28, but the work of putting the load is also performed in the same procedure. During the automatic fork position control, the mark M1, M2 displayed on the screen 40, which is set as a target for the alignment of the fork 6, is emphasized by drawing a substantially cross-shaped target line 41. Is displayed.
In FIG. 6, which is the unloading mode, the mark M1 is highlighted by the target line 41.

On the screen 40, a moving target point 42 indicating the position where the marks M1 and M2 should be is drawn.
Then, when the operation switch 38 of the operation lever 31 is pressed to execute the automatic fork position control, the automatic position adjustment of the fork 6 is executed based on the image taken by the camera 19. That is, with the mark M1 highlighted on the screen 40 by the target line 41 as the target, the fork 6 is automatically shifted vertically and horizontally so that the movement target point 42 matches the mark M1. After this shift operation, when the movement target point 42 and the mark M1 coincide with each other, the fork 6 is placed in a suitable position. Note that the mark M2 and the movement target point 42 coincide with each other during the load placing work.

FIG. 7 is an electrical block diagram of the cargo handling operation support device 17. The cargo handling operation support device 17 is 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 cargo handling control unit 47 includes an upper limit position detection switch 52, a lower limit position detection switch 53, potentiometers 54 and 55 of the multi-lever 31, switches 38, 56 and 57, a lift sensor 59, and a load sensor as a work state detection unit. 60, tilt angle sensor 70
Etc. are connected. Further, an electric actuator 61 and a cargo handling motor (electric motor) 62 are connected to the cargo handling control unit 47 via drive circuits 48 and 49, respectively, and are attached to an oil control valve 65 via a solenoid drive circuit 50. Various electromagnetic switching valves 66-6
Nine solenoids are connected. The cargo handling control unit 4
7 constitutes work mode setting means and control means.

The cargo handling control unit 47 controls the potentiometers 5
4, 55 and the switches 56, 57 are used to control the current values of the electromagnetic switching valves 66 to 69 and drive the cargo handling motor 62. The cargo handling pump (hydraulic pump) 71 is driven by the operation of the cargo handling motor 62, so that the operating oil is supplied to the oil control valve 65. Based on the operation signal of the multi-lever 31, each electromagnetic switching valve 66-
By controlling the switching of 69, the lift cylinder 8, the reach cylinder 5, the side shift cylinder 11, and the tilt cylinder 12 are hydraulically controlled, and the lifting operation, the reach operation, the side shift operation, and the tilt operation of the fork 6 are possible. There is.

The cargo handling control unit 47 controls the lifting and lowering control of the camera unit 20 and the automatic fork position control in addition to the cargo handling control at the time of operating the multi-lever. Fork automatic position control,
The fork 6 is for supporting the cargo handling work at a high place performed by raising the fork 6 to a certain height or more, and the lift of the fork 6 detected by the lift sensor 59 is a set lift (for example, about 2).
It is performed only when it is more than m).

The lift sensor 59 detects whether or not the fork 6 is at a height higher than the set lift (lift), and is composed of, for example, a lift switch that is switched on and off at the set lift. . The lift sensor 59 may be a sensor capable of continuously detecting the lift of the fork 6. For example, as the lift sensor 59, a reel-type lift sensor that detects the amount of rotation of the reel on which the wire is fed and wound as the carriage 7 moves up and down, or an ultrasonic wave that propagates in the oil in the lift cylinder 8 is a piston. It is possible to employ an ultrasonic type elevation sensor that detects the cylinder stroke by measuring the time until it reflects and returns.

The load sensor 60 detects the weight (load) of the load loaded on the fork 6, and is a pressure sensor for detecting the hydraulic pressure in the lift cylinder 8 in this embodiment. The load sensor 60 outputs a detection signal of a voltage value according to the weight of the load on the fork 6. The tilt angle sensor 70 detects a tilt angle based on an angle (horizontal angle) when the fork 6 is in a horizontal posture, and is composed of, for example, a potentiometer.

The cargo handling control unit 47 sets the working mode of the automatic fork position control to one of the unloading mode and the unloading mode based on the detection value from the load sensor 60. That is, when the load obtained from the detection value of the load sensor 60 is less than or equal to the set value (load W ≦ set value W0), the cargo handling control unit 47 determines that the load is not placed on the fork 6 and “no load”. Set the work mode to "unloading mode". On the other hand, when the load obtained from the detection value of the load sensor 60 exceeds the set value (load W> set value W0), the cargo handling control unit 47 determines that the load is placed on the fork 6 as “there is a load”. Set the work mode to "loading mode". Thereby, the work mode is automatically set based on the load on the fork 6 regardless of the operation of the operator.

The value detected by the load sensor 60 indicates the carriage 7
Since the weights such as the above are also included, the set value W0 is set to the detected value when there is no load or a value with a slight margin to the detected value. For example, it is desirable to set a set value W0 that can be determined as "with load" when only the pallets 27 are loaded. The work mode setting process is executed at regular intervals (for example, every several tens of msec.).

The cargo handling control unit 47 also controls the raising and lowering of the camera unit 20, and arranges the camera unit 20 in the storage position in the unloading mode in which there is no load on the fork 6, and in the loading mode in which there is a load on the fork 6. The camera unit 20 is placed in the lowered position. The electric actuator 61 driven to raise and lower the camera unit 20 operates when the camera unit 20 reaches the upper limit position and the upper limit position detection switch 52 turns on, and when the camera unit 20 reaches the lower limit position and the lower limit position detection switch 53 operates. Driving is stopped when it is turned on.

On the other hand, the camera 19 is connected to the input side of the image control section 46, and the display device 25 and the speaker 51 are connected to the output side thereof. The image control unit 46 causes the display device 25 to display the image captured by the camera 19 and causes the speaker 51 to notify a predetermined sound. Further, the image control unit 46 controls the fork 6 during automatic fork alignment.
In order to obtain the shift amount of the image, image processing is executed based on the image data captured by the camera 19.

The image control unit 46 includes a display processing unit 75, an image processing unit 76, a drawing display unit 77 as drawing means, 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 19 to the display device 25 so that the image captured by the camera 19 is displayed on the screen. The image processing unit 76 inputs image data from the display processing unit 75, performs image recognition processing based on the image data, and displays it on the screen 40 of the display device 25 (see FIG. 6).
The coordinate positions of the marks M1 and M2 in the screen coordinate system shown in (a) are calculated.

Based on the processing result of the image processing unit 76, the drawing display unit 77 displays the target line 41 and the movement target point 4 on the screen 40 as the drawing data stored in the drawing data storage unit 78.
2 (see both FIGS. 8 and 9) and the like are displayed.
The drawing display unit 77 displays the “loading mode” on the screen 40 when the work mode is the load mode, and the “loading mode” when the work mode is the load mode.
Further, the voice synthesizing unit 79 performs a voice synthesizing process for a voice announcement and outputs a voice signal to the speaker 51.

The image processing section 76 includes an image recognition processing section 80,
A template storage unit 81, a screen coordinate position calculation unit 82, a two-coordinate distance calculation unit 83 as a distance calculation unit, and a target determination unit 84 as a target setting unit are provided.
Of these, the screen coordinate position calculation unit 82 includes a mark position calculation unit 85 that calculates the mark position on the screen 40 and a movement target point calculation unit 8 that calculates the position of the movement target point 42 on the screen 40.
It consists of 6 and 6. The mark position calculation unit 85 constitutes the marker position detection unit and the marker size detection unit, and the movement target point calculation unit 86 corresponds to the movement target point calculation unit.

On the other hand, the cargo handling control section 47 includes an actual coordinate position calculation section 87 and a deviation amount calculation section 88. Hereinafter, the image control unit 46 and the cargo handling control unit 4 during automatic fork position control
The processing contents performed by No. 7 will be described with reference to FIGS. The actual coordinate position calculation unit 87 and the shift amount calculation unit 88 form a shift amount calculation unit.

The mark M1 is stored in the template memory 81.
A template T1 for the mark and a template T2 for the mark M2 are stored. That is, as shown in FIG. 8, the mark M1 is formed by arranging two patterns P1 and P1 shown in FIG. 8B, and the mark M2 is the pattern P shown in FIG.
Two P2s and two P2s are arranged side by side. The mark refers to the entire pattern, and the pattern refers to the two patterns that make up the mark. Template T1, used for pattern matching processing
T2 has the same pattern as the patterns P1 and P2.

Each pattern P of the two marks M1 and M2
1 and P2 have a pattern in which white and black are reversed from each other. Each of the patterns P1 and P2 is 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 the center. Each pattern P1, P of this embodiment
2 is a pattern in which four regions 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.

By using this kind of pattern for the patterns P1 and P2, the screen 4 can be displayed according to the difference in the distance between the mark and the camera.
Even if the sizes of the marks M1 and M2 displayed on the screen 0 change, a pattern of the same size as the templates T1 and T2 always exists in the center of the photographed patterns P1 and P2. Therefore, the image processing unit 76 can recognize the marks M1 and M2 by the pattern matching process using only one template T1 and T2. Templates T1 and T1 are marks M1 and M
2 is set to a predetermined size that must be recognized, and all marks M1 and M2 taken within a predetermined distance can be recognized.

FIG. 10A is a screen diagram showing a screen coordinate system set on the screen. In the screen coordinate system, coordinates are handled in pixel units. Further, H in the figure is the number of horizontal pixels of the screen 40 of the display device 25, and V
Is the number of pixels in the vertical direction of the screen 40. On the other hand, FIG.
Is a display diagram showing an actual coordinate system, and has a similarity relationship with the screen diagram of FIG.

Based on the image data captured by the camera 19, the image recognition processing unit 80 uses the template T1 in the loading mode and the template T2 in the loading mode to generate each pattern P1 as shown in FIG. Image recognition processing (pattern matching processing) is performed at two points P1.
Then, the image recognition processing unit 80 displays the screen 40 of the display device 25.
The marks M1 and M2 are recognized on the top, that is, in the screen coordinate system.

In other words, as shown in FIG. 10A, when the work mode is the pick-up mode and the mark M1 is recognized, the image recognition processing section 80 applies the template T1 to the two patterns P1 and P1 forming the mark M1. Thus, the patterns P1 and P1 are recognized by matching at two points. In the case where the work mode is the loading mode, similarly, the two patterns P2 and P2 forming the mark M2 are matched to each pattern P by the template T2 at two points.
2, P2 is recognized.

After the pattern recognition, the mark position calculation unit 85 calculates the coordinates (I1, J1), (I2, J2) of the center points (radiation center points) of the patterns P1, P1 in the screen coordinate system. Then, the mark position calculation unit 85 calculates the barycentric coordinates (I, J) of the mark M2 based on these two coordinate values, and also calculates the center-to-center distance D of the patterns P1 and P1. Even when the work mode is the loading mode, the barycentric coordinates of the mark M2 and the center-to-center distance of the patterns P2 and P2 are calculated in the same procedure as the mark M1.

The real coordinate position calculation unit 87 performs geometric transformation using the barycentric coordinates (I, J) of the screen coordinate system and the value of the center-to-center distance D, and the real coordinate system (XYZ coordinate system shown in FIG. 6B). ), The three-dimensional relative position coordinates (Xc, Yc, Zc) of the camera 19 with respect to the mark M are calculated. The coordinates (Xc, Yc, Zc) of the camera 19 are calculated by the following equation. Xc == − Hd / (2Dtan α) (1) Yc = d / D (I−H / 2) (2) Zc = d / D (J−V / 2) (3) Here, “ “A” is a half of the horizontal angle of view of the camera 19 shown in FIG. 11, and d is the center-to-center distance between the two patterns P1 and P1 of the mark M1 in the real coordinate system. H, V, α, d
Since the value is a known value, if I, J, D values are calculated,
Three-dimensional relative position coordinates (Xc, Yc, Zc) of the camera 19
Is required. After that, the shift amount calculation unit 88 uses the above (1) to
Relative position coordinates of the camera 19 (X
The position shift amount of the fork 6 is calculated based on (c, Yc, Zc). Then, when executing the automatic fork position control, the cargo handling control unit 47 drives the lift cylinder 8 and the side shift cylinder 11 based on the shift amount calculated by the shift amount calculation unit 88 to perform the position alignment of the fork 6.

FIG. 12 is a screen view of the display device 25 when the mark of the same pattern is displayed on the screen 40. In this figure, the work mode is set to the unloading mode. In the figure, the work mode is set to the unloading mode. On the screen 40 of the display device 25, two pallets 89, 90 are displayed on the same screen, and the mark Ma attached to the pallet 89 located at the upper part of the screen 40 and the pallet 90 located at the lower part of the screen 40. The marked marks Mb are displayed.

When a plurality of marks having the same pattern are displayed as shown in the figure, the image recognition processing section 80 recognizes all the marks having the same pattern displayed on the screen 40. In this example, the image recognition processing unit 80 performs pattern matching processing on two marks Ma and Mb to recognize each mark Ma and Mb. Then, after the pattern matching processing, the mark position calculation unit 85
Calculates the barycentric coordinates (p, q) of the mark Ma and the barycentric coordinates (r, s) of Mb.

At this time, the movement target point calculation unit 8 shown in FIG.
6 is the center coordinate of the movement target point 42 on the screen 40 (I
t, Jt) is calculated. The calculation method will be described below, where the camera position C, the fork position F, the pallet position P, and the mark center of gravity position (origin) O are set as shown in FIG. Considering the vector FP when the fork position F is aligned with the pallet position P which is the target position during the unloading work, there is a relation of vector FP = vector OP-vector OC-vector CF between them. Here, it is assumed that the points C and F and the points O and P are 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, Zcf) respectively, the coordinates (It, Jt) of the movement target point displayed on the screen 40 as the position corresponding to the current position of the fork 6 can be obtained by the following equation. In addition, Yp,
Zp, Ycf, and Zcf are known values. It = H / 2 + (Yp−Ycf) × D / d (4) Jt = V / 2 + (Zp−Zcf) × D / d (5) Similarly, considering the loading operation, the fork 6 is Shelf 2
A predetermined distance (1
When the upper position (0 to 20 cm) is set as the loading position R, the vectors CF and OR become known information. The vector OR corresponds to the distance between the mark center of gravity position O and the loading position R. For this known information, the components of the vector OR (Xr, Yr, Z
r) and the components of the vector CF (Xcf, Ycf, Zcf) respectively, the coordinates of the target point to move the mark M2 on the screen 40 to align the fork 6 with the loading position R (It, Jt) is calculated by the following equation. In addition,
Yr, Zr, Ycf, and Zcf are known values. It = H / 2 + (Yr-Ycf) * D / d (6) Jt = V / 2 + (Zr-Zcf) * D / d (7) Then, the center coordinates (It, Jt) of the movement target point 42. Is calculated using the above equations (4) to (7). Further, the movement target point calculation unit 86 determines the center coordinates (It, J) of the movement target point 42.
Calculate the center coordinates of t) according to Eqs. (4) and (5) using the data D value during unloading work and according to Eqs. (6) and (7) using the data D value during unloading work. . Movement target point 42
When the center coordinates (It, Jt) of the
Draws the movement target point 42 shown in FIGS. 6 and 12 at the position of the center coordinates (It, Jt) on the image of the screen 40. The movement target point 42 is displayed on the screen 40 as a figure 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 is the center coordinate (I
t, Jt).

As described above, when the barycentric coordinates of the marks Ma and Mb and the center coordinates (It, Jt) of the movement target point 42 are obtained, the two-coordinate distance calculation unit 83 determines the barycentric coordinates (p, q) of the mark Ma. ) And the center coordinates (It, Jt) of the movement target point 42
And the vertical distances H1 and H2 in the screen coordinates between the barycentric coordinates (r, s) of the mark Mb and the center coordinates (It, Jt) of the movement target point 42, respectively.
Then, the target determination unit 84 determines the vertical distances H1 and H2.
Of the marks having the shorter distance, that is, the marks Ma and M
Among b, the mark whose ordinate is closest to the movement target point 42 is determined as the target of the fork automatic position control. Note that the mark Mb is recognized as the target because the relationship of H1 <H2 is satisfied in FIG.

After the target is determined, the actual coordinate position calculation unit 87
Is a three-dimensional relative position coordinate of the camera 19 in the actual coordinate system with respect to the mark Mb in the actual coordinate system by performing geometric transformation using the barycentric coordinate (r, s) in the screen coordinate system and the value of the center-to-center distance D of the mark Mb recognized as the target. (Xc, Yc, Z
Calculate c). The shift amount calculation unit 88 then calculates the relative position coordinates (Xc, Yc,
Based on Zc), the position shift amount of the fork 6, that is, the vector FP (the vector FR at the time of loading) is obtained. Then, the cargo handling control unit 47 outputs to the solenoid drive circuit 50 a control amount command value such that the vector FP (FR) becomes “0”.

However, in this embodiment, the automatic position control is performed only in the up-down direction and the left-right direction of the fork 6, and the front-rear direction (reach direction) is left to manual operation by the driver. Therefore, the cargo handling control unit 47 determines that the vector F
A value corresponding to each vertical and horizontal shift amount of the fork 6 calculated so that the YZ component of P (FR) is "0" is set as the control amount command value to the solenoid drive circuit 50.
Output to. As a result, the fork 6 is automatically aligned in the up-down direction and the left-right direction, and the moving target point 42 and the mark Mb match on the screen 40.

Therefore, in the mark displayed on the screen 40 of the display device 25, the one whose ordinate on the screen 40 is the closest to the movement target point 42 is determined as the target, and a plurality of marks are displayed on the screen 40. Even if the mark is displayed, the target can be determined. That is,
Even if a plurality of marks are displayed on the screen 40, the screen 40
In the above, one mark is set as a target, and when a plurality of marks are displayed on the same screen, the problem that the target cannot be determined does not occur.

Further, the fork 6 is moved to operate the camera 1.
As 9 moves, the target sequentially moves to the mark corresponding to the moving destination of the camera 19. In this example, as the target determination method, the mark closest to the moving target point 42 in the ordinate is determined as the target. Therefore, the cargo handling lever is operated to operate the fork 6
By moving the up and down direction, the driver can intentionally select an arbitrary mark. Furthermore, since the fork operation most frequently performed by the driver as the position adjustment of the fork 6 is the vertical operation, the target position alignment operation can be performed smoothly.

Therefore, the following effects can be obtained in this embodiment. (1) Among the marks displayed on the screen 40 of the display device 25, the one whose ordinate on the screen 40 is the closest to the movement target point 42 is determined as the target. Therefore, a plurality of marks are displayed on the screen 40. Even if displayed, one of them can be automatically determined as a target for fork alignment.

(2) As the target determining method, the method of determining the mark closest to the moving target point 42 in the ordinate as the target is used.
By operating to move the fork 6 up and down,
The driver can intentionally select any mark. In particular, since the fork operation that the driver most frequently performs as the loading and unloading work of the fork 6 is the up-and-down operation, by setting the mark closest to the movement target point 42 in the ordinate on the screen coordinate as the target, the mark is smoothly marked. You can choose.

(3) Moving target point 42 of the plurality of marks
Since the target closest to is automatically set as the target, it is not necessary to accurately align the mark to be set as the target, and the target can be easily determined without feeling any trouble.

(Second Embodiment) Next, a second embodiment will be described with reference to FIG. In this embodiment, the determination conditions for determining one of a plurality of marks as a target are different from those in the above-described embodiment, and other configurations are the same, and therefore, the same components are denoted by the same reference numerals. Therefore, detailed description will be omitted and only different parts will be described.

FIG. 14 is a screen view of the display device 25 when a mark having the same pattern is displayed on the screen 40. In FIG. 14, the same display as in FIG. 13 is displayed. The two-coordinate distance calculation unit 83 calculates the distance between the barycentric coordinates (p, q) of the mark Ma and the center coordinates (It, Jt) of the moving target point 42, and the barycentric coordinates (r, s) of the mark Mb and the moving target point. Actual distance R on screen coordinates between the center coordinates (It, Jt) of 42
1 and R2 are calculated respectively. Then, the target determination unit 84 sets the mark on the shorter distance side of the actual distances R1 and R2, that is, the mark having the closest coordinate distance to the movement target point 42 among the marks Ma and Mb as the target of the fork automatic position control. decide. Note that in FIG. 14, R1
Since the relationship is <R2, the mark Mb is recognized as the target.

After the target is determined, the actual coordinate position calculation unit 87
Is geometrically transformed using the barycentric coordinates (r, s) in the screen coordinate system of the mark Mb recognized as the target and the value of the center-to-center distance D, and the real coordinate system (XY) shown in FIG.
Three-dimensional relative position coordinates (Xc, Yc, Zc) with respect to the mark M of the camera 19 in the Z coordinate system) are calculated. Then, the shift amount calculation unit 88 uses the camera 1 obtained in this real coordinate system.
The position deviation amount of the fork 6 is calculated based on the relative position coordinates (Xc, Yc, Zc) of 9, and the fork automatic position control is executed so that the mark Mb and the movement target point 42 match on the screen 40.

Also in this configuration, (1) of the first embodiment
One of a plurality of marks can be set as a target, (2) the driver can arbitrarily select the mark by operating the cargo handling lever, and (3) similar effects such as facilitating target determination can be obtained. In addition, the following effects can be obtained.

(4) As the target determining method, the mark having the closest inter-coordinate distance to the moving target point 42 is used as the target. Therefore, the mark substantially close to the moving target point is used as the target. You can decide.

The embodiment is not limited to the above, and may be modified into the following modes, for example. In each of the above-described embodiments, the determination method when determining one of the plurality of marks as the target is a method in which the mark having the closest ordinate or actual coordinate to the movement target point 42 is set as the target. Not limited. For example,
As shown in FIG. 15, a mark having a shorter distance among the lateral distances K1 and K2, that is, a mark having the closest abscissa to the movement target point 42 of the marks Ma and Mb may be set as a target. . In this case, the mark whose abscissa is closest to the moving target point can be determined as the target.

In each of the above embodiments, when determining one of the plurality of marks as the target, it is not limited to using only one of the ordinate, the actual coordinate, and the abscissa as the criterion. For example, the priority order is set in advance between the ordinate, the real coordinate, and the abscissa, and if the inter-coordinate distance with the high priority is the same when determining the target, the inter-coordinate distance is calculated with the next one. As in the calculation, the inter-coordinate distance may be calculated in descending order of priority. In this case, if one coordinate distance is used for determination, a problem occurs when the distances are the same, but it can be dealt with by using the priority order. Further, as the combination, any one of ordinate and real coordinate, ordinate and abscissa, real coordinate and abscissa, all three of these may be adopted. The cargo handling control unit 47 corresponds to the priority setting means.

In each of the above embodiments, the signs are not limited to the marks M1 and M2, and other patterns may be used. In each of the embodiments, the movement target point 42 displayed on the screen 40 as the position of the fork 6 is based on the barycentric coordinates of the mark on the screen 40 and the center-to-center distance D of the two patterns (4). ~ It is not limited to the expression (7). For example, the drive amount of each cylinder 5, 8, 11, 12 may be calculated, and the movement target point 42 may be calculated by obtaining the position of the fork 6 based on the calculated drive amount.

In each of the above embodiments, the movement target point 42 does not necessarily have to be displayed on the screen 40, and the movement target point 42 may not be displayed. In each of the above-described embodiments, the work state detection means is not limited to the load sensor 60 that outputs a detection value according to the load, and may be a sensor that detects the presence or absence of a load, such as a limit switch or a proximity switch.

In each of the above-described embodiments, the work mode is not limited to the unloading mode and the laying mode, and any mode may be used as long as it is a mode required for various kinds of work such as cargo handling work and transportation work.

In each of the above-mentioned embodiments, one operation lever is used for reach operation, lift operation, side shift operation,
The invention is not limited to the multi-lever capable of performing the tilt operation, and a reach lever, a lift lever, a side shift lever, and a tilt lever may be provided for each function.

In each of the above-described embodiments, the fork automatic position control is not limited to the one in which the lift cylinder 8 and the side shift cylinder 11 are driven to perform position adjustment in the vertical and horizontal directions. That is, the reach cylinder 5 and the tilt cylinder 12 are driven to move the fork 6 in the front-rear direction and the tilting direction.
May be automatically aligned.

In each of the above-described embodiments, the actuator is not limited to the various cylinders 5, 8, 11, and 12, and other drive sources such as a motor may be adopted. In each of the above-mentioned embodiments, the industrial vehicle is not limited to the reach type forklift truck 1 and may be a counterbalance type forklift. Further, the cargo handling equipment is not limited to the fork 6, and other equipment such as a roll clamp may be adopted.

The technical ideas that can be understood from the above-described embodiment and other examples will be described below along with their effects. (1) In Claims 1-8, the image recognition processing means (80) for performing image recognition processing of the sign based on the image data taken by the image taking means is provided, and the sign position detecting means is provided for the image recognition. Based on the processing result of the processing, calculates the coordinate position of the sign on the screen coordinates, the movement target point calculating means, based on the processing result of the image recognition processing,
The coordinate position of the movement target point on the screen coordinates is calculated.

(2) In any one of claims 1 to 8, the distance calculating means calculates a distance between ordinates and a distance between actual coordinates between the cargo handling equipment and the sign on the screen coordinates, and a plurality of the distances are calculated. As a setting condition when setting one of the signs as a mark when aligning the cargo handling equipment, a priority setting means for setting a priority between the ordinate distance and the actual coordinate distance is provided, The target setting means performs the marker setting with the inter-coordinate distance on the priority side set by the priority setting means, and performs the marker setting process with the inter-coordinate distance on the non-priority side if the priorities are the same. In this case, the sign setting process can be executed based on the priority order set between the ordinate distance and the actual coordinate distance.

[0088]

As described above in detail, according to the present invention, when a position control function for automatically positioning the cargo handling equipment is provided, even if there are a plurality of markers provided on the cargo handling target side. , One of them can be set as a mark when aligning the cargo handling equipment.

[Brief description of drawings]

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

FIG. 2 is a schematic side view when carrying out cargo handling work with a forklift.

FIG. 3 is a perspective view of a multi lever.

FIG. 4 is a side view of the multi lever.

FIG. 5 is an explanatory diagram of automatic fork position control.

FIG. 6 is a screen view of the display device, in which (a) is before the fork alignment and (b) is after the alignment.

FIG. 7 is an electrical configuration diagram of the cargo handling operation support device.

8A and 8C are marks, and FIGS. 8B and 8D are front views of the template.

FIG. 9 is an explanatory diagram of two-point matching.

FIG. 10A is a screen diagram showing a screen coordinate system set on the screen. (B) is a display diagram showing an actual coordinate system.

FIG. 11 is an explanatory diagram for explaining a calculation method when obtaining a camera position.

FIG. 12 is a screen diagram of the display device when marks having the same pattern are displayed.

FIG. 13 is an explanatory diagram of a calculation formula for calculating a movement target point.

FIG. 14 is a screen view of the display device when marks of the same pattern are displayed in the second embodiment.

FIG. 15 is a screen view of the display device when a mark having the same pattern is displayed in another example.

[Explanation of symbols]

1 ... Forklift as an industrial vehicle, 5, 8, 11,
12 ... Various cylinders constituting actuator, 6 ... Fork as cargo handling device, 19 ... CC as photographing means
D camera, 25 ... Display device as display means, 40 ... Screen, 42 ... Moving target point, 47 ... Work mode setting means, priority order setting means, cargo handling control section constituting control means, 60
... load sensor as working state detecting means, 77 ... drawing display section as drawing means, 83 ... two-coordinate distance calculating section as distance calculating means, 84 ... target determining section as target setting means, 85 ... sign position detection Means and mark size detecting means, mark position calculating section, 86 ... moving target point calculating section as moving target point calculating means, 87 ... actual coordinate position calculating section forming shift amount calculating means, 88 ... shift amount calculating section , M1, M2, Ma, Mb ...
Marks as markers, H ... ordinate distance, R ... actual coordinate distance, K ... abscissa distance.

Continued front page    F term (reference) 3F333 AA02 AE02 BA02 BA08 BB05                       BD02 BE02 CA21 CA24 FA23                       FA27 FA36 FD03 FD08 FD12                       FE05 FE09

Claims (9)

[Claims] 1. A sign selecting device for an industrial vehicle having a position control function for automatically aligning the cargo handling equipment, the photographing means photographing a cargo handling target of the cargo handling equipment, and the photographing means. Mark position detecting means for detecting the position on the screen coordinates of a mark that serves as a mark for automatically aligning the cargo handling device based on image data, and moving the position where the mark should be when performing automatic alignment As a target point, a moving target point calculating means for calculating the position of the moving target point on the screen coordinates based on the image data photographed by the photographing means, and a marker position detecting means and a moving target point calculating means. Based on the obtained coordinate position, distance calculating means for calculating the inter-coordinate distance between the sign and the movement target point, when a plurality of the signs are photographed by the photographing means,
A marker selecting device for an industrial vehicle, comprising: a marker having the shortest inter-coordinate distance between the two coordinates obtained by the distance calculating means as a marker when aligning the cargo handling equipment. 2. The distance calculation means calculates an inter-ordinate coordinate distance between the movement target point and the marker on screen coordinates, and the target setting means calculates the coordinate position of the movement target point with respect to the coordinate position. The sign selecting device for an industrial vehicle according to claim 1, wherein a sign located closest to the ordinate is set as a target for alignment of the cargo handling equipment. 3. The distance calculation means calculates an actual inter-coordinate distance between the movement target point and the marker on the screen coordinates, and the target setting means determines the coordinate position of the movement target point. The sign selecting device for an industrial vehicle according to claim 1, wherein a sign located closest in real coordinates is set as a target for alignment of the cargo handling equipment. 4. A marker size detecting means for detecting the size of the marker on the screen coordinates based on the image data photographed by the photographing means, and the movement target point calculating means is provided from the marker size detecting means. The industrial vehicle according to any one of claims 1 to 3, wherein the position of the movement target point on the screen coordinate is calculated based on the size of the sign on the screen coordinate and a predetermined known value. Sign selection device. 5. A display means for displaying the image photographed by the photographing means, and a drawing means for displaying the movement target point obtained by the movement target point calculation means on the screen of the display means as a drawing. The distance calculation means calculates an inter-coordinate distance between the sign displayed on the screen of the display means and the drawing displayed by the drawing means, and the target setting means sets the coordinate of the drawing. The sign selecting device for an industrial vehicle according to any one of claims 1 to 4, wherein a sign having the shortest inter-coordinate distance with respect to a position is set as a target for alignment of the cargo handling equipment. 6. The distance calculation means, between the movement target point on the screen coordinates and the sign, the distance between the ordinates,
The ordinate-to-ordinate coordinate distance and the actual-to-actual coordinate distance are set as the setting conditions for calculating the distance between the real coordinates and the distance between the abscissas and setting one of the plurality of signs as a mark when aligning the cargo handling equipment. And a priority setting means for setting a priority between the distances between the abscissas, the target setting means performs the marker setting at the inter-coordinate distance of the priority side set by the priority setting means, and the priority side is The sign selecting device for an industrial vehicle according to any one of claims 1, 4 and 5, wherein, if they are the same, the sign setting process is performed by the distance between the coordinates on the non-priority side. 7. A work state detecting means for detecting a work state of the cargo handling work, and a work mode setting means for setting a work mode of the cargo handling work based on a detection result of the work state detecting means. 7. The sign selecting device for an industrial vehicle according to claim 1, wherein the detecting unit detects a sign based on the work mode set by the work mode setting unit from among the plurality of signs. 8. The position of the cargo-handling equipment on actual coordinates is calculated based on at least one actuator driven to move the cargo-handling equipment, and image data taken by the photographing means, and the target position is calculated. On the other hand, a shift amount calculating means for calculating a distance to move the cargo handling equipment, and to move the cargo handling equipment by the distance calculated by the shift amount calculating means so that the cargo handling equipment is located at the target position. The industrial vehicle sign selection device according to any one of claims 1 to 7, further comprising: a control unit that drives an actuator. 9. An industrial vehicle equipped with the sign selecting device according to claim 1.