JP2011037536A - Fork-lift truck - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a fork-lift truck which enables an operator to check a load and the periphery of the load during pick-up and unloading of the load. <P>SOLUTION: The fork-lift truck includes a camera elevating/lowering together with a fork and photographing the front part of the fork from the above of the fork, and of which the photographing conditions including at least one of a photographing direction and a photographing angle of view can be changed, a monitor displaying an image of the camera, a fork stop height selecting part for selecting the stop height of the fork, a camera photographing condition storing part storing the photographing conditions including at least one of the photographing direction and the photographing angle of a view of the camera corresponding to each stop height of the fork, and a camera control unit changing the photographing conditions of the camera corresponding to the stop height of the fork selected by the fork stop height selecting part. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a forklift that performs cargo handling.

  In unloading work and unloading work using a forklift, an operator visually checks whether the load is a target load. Visual confirmation is sufficient when the load is close to the worker, but when the load is at a high place, the mast member standing in front of the vehicle may get in the way or the beam of the rack in which the load is stored will get in the way. As a result, visual confirmation cannot be performed sufficiently.

  Therefore, it is conceivable to attach a camera to the fork and check the image from the camera on the monitor screen attached to the driver's seat. As an example, there is a technique cited as Patent Document 1. In the technique of this patent document 1, the camera is at the height of the plate portion which is a horizontal portion of the fork, and is attached to the center of the left and right forks, and a monitor is attached to the driver's seat. Thereby, the operator can check the image of the front of the fork at the height of the plate portion of the fork on the monitor.

JP 2001-206683 A

  However, this conventional technique is a camera for confirming the positional relationship between the fork and the pallet mainly for inserting the fork into the pallet, because the camera is mounted at the height of the plate part which is a horizontal part of the fork. It was difficult to check the load on the pallet and the surroundings of the load. Also, if you want to accurately grasp the positional relationship between the fork and the pallet slot, this conventional technology eliminates the sense of depth because the camera is mounted at the height of the plate, which is the horizontal part of the fork. There was also a problem that it was difficult to grasp the feeling when the fork was inserted into the insertion port of the pallet.

  Therefore, the present invention aims to provide a technique for easily confirming the load and the surroundings of the load and also confirming the positional relationship between the fork and the pallet in the technique for confirming the image from the camera on the monitor screen. To do.

  In order to solve the above-described problems, the present invention provides a mast that is erected on a vehicle body, a fork that moves up and down along the mast, and that moves up and down with the fork. A camera that can change the shooting conditions including at least one of the shooting direction and the shooting angle of view, a monitor that displays the video shot by the camera, and a plurality of stop heights of the fork are preset and stored. A fork stop lift storage unit, a fork stop lift selection unit for selecting the fork stop lift, and a fork control unit for positioning the fork at the stop lift selected by the fork stop lift selection unit And a shooting condition including at least one of a shooting direction or a shooting angle of view of the camera corresponding to each stop lift of the fork stored in the fork stop lift storage unit A camera capturing condition storage unit that is characterized by comprising a camera control unit for changing the photographing conditions of the camera in accordance with the fork stop fork height selected by the fork stop fork height selection section.

  The present invention also provides a mast that is erected on the vehicle body, can be moved up and down along the mast, and can turn in the horizontal direction. A camera capable of photographing the front of the fork from above the fork and changing a photographing condition including at least one of a photographing direction or a field of view, a monitor for displaying an image photographed by the camera, and a stop height of the fork A plurality of fork stop / lift storage units that are preset and stored, a fork stop / lift selection unit for selecting the stop lift of the fork, a fork turning operation unit for turning the fork, A fork that positions the fork at the stop lift selected by the fork stop lift selection unit and positions the fork at the turning position operated by the fork turning operation unit. And at least one of a shooting direction or a shooting angle of view of the camera corresponding to each stop height of the fork stored in the control unit and the fork stop height storage unit, and corresponding to the turning position of the fork. The camera shooting condition storage unit that stores the shooting conditions including the camera, and the camera shooting condition is changed according to the stop height of the fork selected by the fork stop height selection unit and according to the turning position of the fork. And a camera control unit.

  The present invention also provides a mast that is erected on the vehicle body, can be moved up and down along the mast, swiveled in the horizontal direction, and shifted in the left and right direction, and can be lifted and lowered together with the fork. A camera capable of photographing the front of the fork from above the fork and changing a photographing condition including at least one of a photographing direction or a photographing angle of view, a monitor for displaying an image photographed by the camera, and stopping the fork A fork stop lifting height storage unit in which a plurality of lifting heights are set and stored in advance, a fork stop lifting height selection unit for selecting the stop lifting height of the fork, and a fork turning operation unit for turning the fork A fork shift operating section for shifting the fork and a fork positioned at the stop lifting height selected by the fork stop lifting height selecting section; and A fork control unit for positioning the fork at a turning position operated by the fork turning operation unit and positioning the fork at a shift position operated by the fork shift operation unit; A shooting condition including at least one of the shooting direction or the shooting angle of view of the camera corresponding to each stop lifting height of the fork, corresponding to the turning position of the fork, and corresponding to the shift position of the fork. The camera according to the stored camera photographing condition storage unit, the stop lift of the fork selected by the fork stop / lift selection unit, the swivel position of the fork, and the shift position of the fork And a camera control unit that changes the shooting conditions.

  Further, according to the present invention, when the fork stop lifting height is selected by the selection by the fork stop lifting height selection unit and the fork starts to be lifted, the camera control unit is configured to have a horizontal distance between the camera and the load. The shooting direction from the camera to the load is determined based on the height at which the load is placed, the height direction distance between the fork and the camera, and the current lifting height of the fork, and the camera constantly loads the load. The photographing direction is continuously changed while the fork is raised so as to continue photographing.

  According to the forklift according to the present invention, the load on the pallet can be looked down on by using a camera that captures the front of the fork from above the fork and a monitor that displays an image captured by the camera. In particular, when the load is placed at a high place, it is difficult for the operator to visually confirm the load. However, according to the present invention, the load at the high place can be seen on the monitor, and the image that can be seen is as follows. Since it is a bird's-eye view of the load, it is easy to check the load at a high place.

  Further, when the fork and the pallet can be looked down on and the positional relationship between the fork and the insertion port of the pallet is to be accurately grasped, the operator can grasp the fork and the pallet three-dimensionally through the monitor. Thereby, while confirming the load, the positional relationship between the fork and the pallet can be confirmed, and the state when the fork is inserted into the insertion port of the pallet can be confirmed accurately.

  Furthermore, the present invention is such that the photographing conditions of the camera can be changed in conjunction with the automatic lift stop function of the fork. The automatic lift stop device that exhibits this automatic lift stop function includes a fork stop lift storage unit in which a plurality of fork stop lifts are preset and stored, and a fork stop lift for selecting a stop lift fork. A high selection unit, and a fork control unit that positions the fork at the stop lifting height selected by the fork stop lifting height selection unit. The camera according to the lift of the fork is changed by changing the camera shooting conditions including at least one of the shooting direction or the shooting angle of view of the camera according to the stop lift of the fork selected by the fork stop / lift selection unit. The load is photographed under the shooting conditions, and the operator can check the load on the monitor. In other words, the worker can check the load under the photographing conditions of the camera corresponding to the lift height of the fork only by selecting how much the fork should be raised by the fork stop lift height selection section.

  Specifically, for example, a large load that covers the pallet is placed on the fifth level of the rack, and a small load that occupies a very small area compared to the area on the pallet is placed on the sixth level of the rack. If the load is set to the same shooting condition and the entire image of the large load is displayed on the monitor, the small load will be displayed only in a small area of the monitor and it will be difficult to check the load. Become. Therefore, when the fork is positioned at the fifth level of the rack, the shooting conditions are set so that the entire image of the large load is displayed over the entire display area of the monitor. When the fork is positioned at the sixth level of the rack, the entire image of the small load is displayed. Can be confirmed more accurately by setting the shooting conditions to display the full display area of the monitor.

  In addition to the configuration shown in claim 1, the invention of claim 2 of the present application is such that the fork also turns horizontally between the left and right sides of the vehicle body and the front, depending on the combination of the lift height of the fork and the turning position of the fork. This changes the shooting conditions of the camera. As a result, the load can be photographed under camera photographing conditions corresponding to the lifting height of the fork and the turning position of the fork, and the operator can check this photographed image on the monitor.

  In many types of forklifts in which the fork turns, forklifts are often moved between racks, and loads placed on racks located on both sides of the forklifts are often unloaded. In this case, the load is on the right side or the left side when viewed from the operator, and the work for checking the load is more difficult than when the load is viewed in front. Therefore, by photographing the load with a camera that can see the front of the fork that turns left and right as in the invention of claim 2 of the present application, the operator can view the load in the same manner as when viewing the load from the front. The load can be checked well.

  In addition to the structure shown in claim 2, the invention of claim 3 of the present application is a combination of the lift of the fork, the swivel position of the fork, and the shift position of the fork. The shooting conditions of the camera are changed according to the above. Thereby, the load can be photographed under camera photographing conditions corresponding to the lift height of the fork, the turning position of the fork, and the shift position of the fork, and the operator can check the photographed image on the monitor.

  In unloading and unloading operations, there are points such as what and where to pay attention to forks and loads. For example, when fork is shifted out when unloading, be aware that the fork is optimally inserted into the pallet slot, and when shifting fork when unloading, be sure that the load is not hitting the rack beam. And so on. These points can be confirmed when loading and unloading can be performed at a position where the operator can directly see, but cannot be confirmed directly at a high position. Therefore, as in the invention of claim 3 of the present application, by switching the shooting conditions by the camera focusing on these points according to the shift operation of the fork, etc., the operator performs confirmation work focusing on these points through the monitor. Can do.

  In the invention of claim 4 of the present application, when the stop lift height of the fork is selected by the selection by the fork stop lift height selection section and the lift of the fork is started, the fork continues to photograph the load from the beginning of the lift. As a result, the operator can continuously see through the monitor how the camera approaches the load as the fork rises, and can determine whether the load is the target load even while the fork is rising. By concentrating the load and shooting with the camera, there is no event that it is difficult to grasp for a moment what the image of the camera changes suddenly, and the load can be easily grasped. is there.

It is a perspective view of the forklift in the 1st example. It is a side view of the forklift in the 1st example. It is a figure of the fork stop lifting height selection part in the 1st example. It is a figure which shows the imaging conditions of the 5th rack in the 1st Example. It is a figure which shows the imaging conditions of the 6th rack of the rack in a 1st Example. It is a block diagram by the side of the fork control part in a 1st Example. It is a block diagram by the side of the camera control part in a 1st Example. It is the first half part of the flowchart of the fork control part in a 1st example. It is the second half part of the flowchart of the fork control part in a 1st Example. It is a flowchart of the camera control part in a 1st Example. It is a top view of the forklift in the 2nd example. It is a side view of the forklift in the 2nd example. It is a front view of the forklift in the 2nd example. It is a block diagram by the side of the fork control part in a 2nd Example. It is a flowchart of the camera control part in a 2nd Example. It is a flowchart of the camera control part at the time of fork turning in the modification of a 2nd Example. It is a flowchart of the camera control part in the modification of a 2nd Example. It is a figure which shows the initial setting of the imaging condition in a 3rd Example. It is a figure which shows the imaging conditions at the time of the cargo taking in a 3rd Example. It is a figure which shows the imaging conditions at the time of unloading in a 3rd Example. It is the first half part of the flowchart of the camera control part at the time of unloading in a 3rd Example. It is a latter half part of the flowchart of the camera control part at the time of the cargo pick-up in a 3rd Example. It is a simple figure in the 4th example.

Example 1
Hereinafter, a first embodiment of the present invention will be described with reference to FIGS. The forklift 10 is a type of reach forklift in which the fork 12 moves back and forth together with the mast 14.

  A forklift 10 according to the present invention shown in FIGS. 1 and 2 includes a vehicle body 11 and a mast 14 that stands in front of the vehicle body 11 and moves back and forth. A lift bracket is provided so as to be movable up and down with respect to the mast 14, and a backrest 16 that supports the load 34 from the back and a fork 12 on which the load 34 is mounted are attached to the lift bracket. The fork 12 is substantially L-shaped and includes a plate portion 12a extending in the horizontal direction and a shank portion 12b extending in the vertical direction. When the plate portion 12 a of the fork 12 is inserted into the insertion port 32 a of the pallet 32, the fork 12 lifts the pallet 32 and the load 34 on the pallet 32.

  A driver's seat 9 for standing and driving is provided on the right side of the vehicle body 11, and an operator who gets into the driver's seat 9 operates the steering handle 8 with his left hand while standing to operate the traveling direction of the forklift 10. An accelerator lever 7 is provided at the front portion of the driver's seat 9. When the accelerator lever 7 is tilted forward, the forklift 10 moves forward at a traveling speed corresponding to the tilted angle, and the accelerator lever 7 is tilted backward. Then, the forklift 10 moves backward at a traveling speed corresponding to the tilted angle. Similarly, a plurality of operation levers are provided in front of the driver's seat 9 and next to the accelerator lever 7. In this example, three operating levers are provided, each including a lift lever 6a for raising and lowering the fork 12, a tilt lever 6b for tilting the fork 12, and a reach lever 6c for moving the mast 14 back and forth. In addition, a head guard 5 is provided above the driver's seat 9 and is supported by two right and left legs 5 a extending upward from the vehicle body 11.

  The forklift 10 according to the present embodiment includes an automatic lift stop device. The automatic lift stop device includes a fork stop lift storage unit 44 in which a plurality of stop lifts of the fork 12 are stored in accordance with the height of the fork 12, and the fork 12 stored in the fork stop lift storage unit 44. A fork stop height selection unit 40 that selects which stop lift is to be positioned at each stop lift, a fork lift height detection unit 42 that detects the lift of the fork 12, and a fork stop height When the fork 12 is moved up and down to position the fork 12 at the stop height of the fork 12 selected by the selection unit 40 and the fork height detection unit 42 detects that the fork 12 has reached the specified stop height, And a fork control unit 43 that stops raising and lowering.

  More specifically, the fork stop lifting height selection unit 40 is provided within the reach of the operator who has entered the driver's seat 9. The fork stop / lift selection unit 40 is provided with switches having various functions. Referring to FIG. 3, the switch in which the numbers 1 to 6 are described is a stage number switch 40 a, which is pressed to indicate the number of stages of the rack 30 that automatically stops the lifting height of the fork 12. The stage number switch 40a on which the number 1 is written is a switch for designating the first stage of the rack 30, and the stage number switch 40a on which the number 2 is written is a switch for designating the second stage of the rack 30, Six types of stage number switches 40a up to the stage number switch 40a on which numbers are described are provided.

  The lift limit switch 40b is a switch to be pressed when using or canceling the automatic lift limit function of the fork 12. When pressed, the automatic lifting limit function of the fork 12 can be used, and when pressed again, the automatic lifting limit function of the fork 12 can be canceled. The memory switch 40c is a switch that is pressed when setting a lifting height that automatically stops the fork 12. When the memory switch 40c is pressed, the memory mode is entered. At this time, the lift lever 6a is manually operated to raise and lower the forks 12, and the forks 12 are stopped in accordance with the number of stages of the rack 30. By pressing the step number switch 40a, the pressed step number switch 40a and the lift height of the fork 12 at that time correspond to each other. When the memory switch 40c is pressed again, the memory mode is canceled. The stop lift of the fork 12 set by the memory switch 40c is stored in the fork stop lift storage unit 44 (see FIG. 6).

  The unloading start switch 40d is a switch that is pressed when the load 34 placed on the rack 30 is to be picked up. After the stage number switch 40a is pressed to indicate the number of stages, the unloading start switch 40d is pressed to take out the load. This switch automatically raises the fork 12 to the position. The unloading start switch 40g is a switch that is pressed when the load 34 is unloaded onto the rack 30, and after the stage number switch 40a is pressed to indicate the number of stages, the unloading start switch 40g is pressed to move the fork 12 to the unloading position. It is a switch that raises automatically. The stop lifting height of the fork 12 when the unloading start switch 40d is pressed differs from the stop lifting height of the fork 12 when the unloading start switch 40g is pressed even when the same stage number switch 40a is pressed. The stop lift of the fork 12 in the case of unloading is the height of the insertion port 32a of the pallet 32 placed on the rack 30, and the stop lift of the fork 12 in the case of unloading is mounted on the fork 12. Since it is necessary to unload the pallet 32 and the load 34 to the rack 30, the stop lifting height is slightly higher than the height in the case of loading. Accordingly, the fork stop / lift storage unit 44 stores, for each stage number switch 40a, two types, that is, the height when unloading and the height when unloading.

  The stop switch 40e is a switch for canceling the automatic elevation limit function. The fork level switch 40f is a switch for automatically leveling the fork 12.

  The automatic lift restriction device includes a fork lift detection unit 42 (see FIG. 6) that detects the lift of the fork 12. Specifically, the mast 14 is provided with a rotation sensor (not shown) that outputs a pulse signal corresponding to the rotation. This rotation sensor includes a reel wound with a wire and an encoder that detects the rotation of the reel. By connecting one end of the wire to the lift bracket, the reel rotates as the lift bracket moves up and down, and a pulse signal indicating the number of rotations is output, which is transmitted to the fork control unit 43.

  The fork control unit 43 receives a signal when any one of the plurality of stage number switches 40a among the plurality of stage number switches 40a of the fork stop / lift selection unit 40 is pressed, and which stage number switch 40a is pressed. And the lift of the fork 12 corresponding to the stage number switch 40a is acquired from the fork stop lift storage 44. Next, when the unloading start switch 40d is pushed, an operation command signal is issued to the elevating device 17 (see FIG. 6) for elevating the fork 12 to raise the fork 12. The lifting device 17 is a hydraulic device that includes a hydraulic motor that is driven to rotate according to the tilt angle of the lift lever 6a when the operator operates the lift lever 6a, and a hydraulic cylinder that extends and contracts by the hydraulic motor. is there. The other lifting device 17 includes an electric device that includes an electric motor that is driven to rotate by operating the lift lever 6a and a rack and pinion that is driven by the electric motor. While the fork 12 is raised, the fork 12 detected by the fork height detecting unit 42 is continuously acquired and compared with the raised height of the fork 12 corresponding to the pressed step number switch 40a. When the lift of the fork 12 reaches the lift of the fork 12 of the step number switch 40a, a stop command signal is issued to the lifting device 17 to stop the lift of the fork 12.

  The fork control unit 43 of the present embodiment starts the ascending of the fork 12 and automatically stops it by pressing the stage number switch 40a and then pressing the load pickup start switch 40d. Other configurations may be used. As an example, the fork control unit 43 may start raising the fork 12 and automatically stop it when the stage number switch 40a is pressed. As a second example, the fork control unit 43 starts to raise the fork 12 when the step switch 40a is pushed and then the lift lever 6a is tilted backward by the operator, and is designated by the step switch 40a. When the lifted fork 12 is lifted, the fork 12 may be automatically stopped rising even if the operator keeps the lift lever 6a tilted backward.

  The fork control unit 43 is also linked with a camera control unit 54 described later. The fork control unit 43 receives a signal corresponding to the pressed step number switch 40a when the predetermined step number switch 40a of the fork stop / lift selection unit 40 is pressed, and a signal corresponding to the pressed step number switch 40a. Is output to the camera control unit 54. By receiving this signal, the camera control unit 54 grasps which stage number switch 40a is pressed.

  Next, the camera 20 will be described in detail. The camera 20 is attached to the backrest 16 of the forklift 10 via a camera mounting bracket 21. The camera 20 is located at the center of the fork 12 in the left-right direction of the left vehicle body 11, and is located above the fork 12 in the up-down direction. Furthermore, the camera 20 is located at a position where the load 34 does not contact the camera 20 when the load 34 is placed on the fork 12, that is, referring to FIG. Located on the rear side. The camera 20 can be lifted and lowered together with the fork 12 by being attached to a backrest 16 attached to a lift bracket that moves up and down along the mast 14. Thereby, the camera 20 is in a position fixed to the fork 12, and the front of the fork 12 can be photographed from above the fork 12. Accordingly, the video from the camera 20 is an overhead view of the pallet 32 and the load 34.

  The camera 20 of the present embodiment is a dome type camera. A camera body (not shown) is accommodated in a hemispherical dome cover portion 22 made of polycarbonate. The camera body can be rotated 360 degrees horizontally in the dome cover portion 22 and can be tilted up and down, so that the photographing direction can be freely changed. In addition, the angle of view can be freely changed by zooming in and out. A coaxial cable (not shown) is extended from the camera 20 and connected to the camera control unit 54 inside the vehicle body 11. Moreover, you may equip the vicinity of the camera 20 with an illuminating device so that it can image | photograph in a dark place as needed. The camera 20 may be a camera 20 that can take an infrared image.

  The video imaged by the camera 20 is displayed on the monitor 25. As shown in FIGS. 1 and 2, the monitor 25 is attached to the left leg 5 a of the head guard 5 provided on the vehicle body 11 and is operated while standing in the driver's seat 9. The screen is directed toward the operator of the driver's seat 9. As described above, since the image taken by the camera 20 is obtained by photographing the front of the fork 12 from above the fork 12, the monitor 25 displays an image obtained by photographing the load 34 and the pallet 32 from obliquely above. It will be. As a result, the operator views the load 34 and the pallet 32 from the overhead through the monitor 25. The monitor 25 may be a color display or a monochrome display.

  Various shooting conditions for the camera 20 can be selected depending on the combination of the shooting direction and the shooting angle of view of the camera 20, and the shooting conditions of the camera 20 are automatically changed according to the height of the fork 12. In the present embodiment, the photographing condition of the camera 20 is changed corresponding to each stage of the rack 30 set in the automatic lifting stop device of the fork 12. That is, in the automatic lifting stop device, the lifting height at which the fork 12 stops is determined according to each stage in order to automatically stop the fork 12 at each stage of the rack 30, and the photographing condition of the camera 20 is the fork. 12 is automatically changed according to the lifting height at which it stops.

  The rack 30 has a plurality of stages (six stages in this embodiment) of load storage portions 30b formed by the beams 30a, and a pallet 32 on which loads 34 are placed is placed above each beam 30a. The loads 34 at each stage may all be the same load 34, or each stage may be a different load 34. In the present embodiment, it is assumed that each stage has a different load 34, and the description will be made by paying attention to the fifth stage and the sixth stage of the rack 30 in particular. In addition, when all the loads 34 of each stage are the same load 34, the imaging conditions by the camera 20 are also set to be the same in all stages.

  As shown in FIG. 4, a large load 34 is placed on the fifth level of the rack so as to cover the pallet 32. As shown in FIG. When a small load 34 that occupies only a small area is placed on the right side and in front of the pallet 32 toward the pallet 32, the entire image of the large load 34 is displayed on the monitor 25 under the same shooting conditions. If the shooting conditions are such that the display area is displayed in its entirety, the small load 34 is displayed only in a small range on the monitor 25 and it is difficult to check the load 34. Therefore, when the fork 12 is positioned at the fifth level of the rack 30, the photographing condition is set so that the entire image of the large load 34 is displayed in the entire display area of the monitor 25, and when the fork 12 is positioned at the sixth level of the rack 30. The imaging condition is such that the entire image of the small load 34 is displayed in the entire display area of the monitor 25.

  In order to realize this, referring to FIG. 7, a camera photographing condition storage unit 58, a camera driving unit 57, and a camera control unit 54 are provided. The camera shooting condition storage unit 58 sets and stores shooting conditions corresponding to each level according to the number of levels of the rack 30 (six levels in this embodiment). Specifically, referring to FIGS. 4 and 5, the fifth and sixth stages of the rack 30 will be described as an example. The fifth stage of the rack 30 is large enough to cover the pallet 32 as described above. A load 34 is placed. In order to photograph with the camera 20 so that the entire image of the large load 34 is displayed in the full display area of the monitor 25, the horizontal photographing direction is the front direction of the fork 12, and the vertical photographing direction is, for example, horizontal 0. The zoom-out shooting condition is 15 degrees downward from 15 degrees and the angle of view is wide. A shooting range based on the shooting conditions is a range A1 surrounded by a dotted line in FIG. On the monitor 25, the photographing range A1 is displayed over the display area of the monitor 25.

  Referring to FIG. 5, as described above, the sixth stage of the rack 30 is loaded with a small load 34 that occupies a very small area compared to the area on the pallet 32 on the right side and in front of the pallet 32. ing. In order to shoot with the camera 20 so that the entire image of the small load 34 is displayed in the entire display area of the monitor 25, the horizontal shooting direction is slightly to the right from the front direction of the fork 12, for example, 5 degrees to the right. For example, the zoom-in shooting condition is set to be 20 degrees downward and the angle of view to be narrow so that the shooting direction is in front of the palette 32. A shooting range based on the shooting conditions is a range A2 surrounded by a dotted line in FIG. On the monitor 25, the photographing range A2 is displayed in the full display area of the monitor 25.

  As described above, when the shooting condition corresponding to each stage of the rack 30 is determined, the shooting condition is set and stored in the camera shooting condition storage unit 58. In the camera photographing condition storage unit 58, photographing conditions corresponding to each stage number switch 40a of the fork stop / lift selection unit 40 of the automatic elevation restriction device are stored. Since the stop lift of the fork 12 is determined as described above according to each stage of the rack 30, in other words, it can be said that the photographing condition of the camera 20 is determined according to the stop lift of the fork 12.

  Referring to FIG. 7, the camera drive unit 57 is a general term for each drive part for changing the angle of view by turning the camera 20 horizontally in the horizontal direction, vertically tilting up and down, zooming in and zooming out. To turn left and right in the horizontal direction by the camera driving unit 57 means to turn the camera body left and right in the horizontal direction by the camera turning driving unit 57a that turns the camera body left and right in the horizontal direction. The vertical tilting means that the camera body is vertically tilted by the camera tilt driving unit 57b that vertically tilts the camera body, and the angle of view is changed by the camera driving unit 57. This means that the angle of view is changed by the camera angle-of-view driving unit 57c related to the aperture of the camera 20.

  The camera control unit 54 is linked to the fork control unit 43. When the predetermined step number switch 40a of the fork stop height selection unit 40 of the automatic lifting limit device is pushed, the fork control unit 43 of the automatic lifting limit device receives a signal from the pushed step number switch 40a, and A signal corresponding to the depressed step number switch 40 a is output to the camera control unit 54. The camera control unit 54 recognizes which stage number switch 40a is pressed by receiving this signal. Then, the camera control unit 54 reads out the shooting condition corresponding to the number of steps of the pressed step number switch 40 a from the camera shooting condition storage unit 58. The camera control unit 54 outputs a drive command signal for driving the camera drive unit 57 to the camera drive unit 57 in accordance with the shooting conditions read from the camera shooting condition storage unit 58. The camera drive unit 57 drives the camera 20 in response to the input of the drive command signal.

  Referring to FIG. 7, when outputting a drive command signal to the camera drive unit 57, the camera control unit 54 receives the current position signal of the camera 20 from the camera position detection unit 55, and based on the deviation, the camera drive unit The feedback control for outputting a drive command signal to 57 is performed. Here, the camera position detecting unit 55 detects the current position of the camera turning position detecting unit 55a for detecting the current position of the camera turning driving unit 57a for horizontally turning the camera body and the camera tilt driving unit 57b for tilting the camera body vertically. The camera tilt position detection unit 55b to detect, and the camera field angle detection unit 55c to detect the current position of the camera field angle drive unit 57c to change the field angle of the camera body.

  In the present embodiment, the camera control unit 54 receives the signal corresponding to the stage number switch 40a from the fork control unit 43, but is not limited thereto. For example, the fork control unit 43 of the automatic lifting limit device transmits stop lift data of the fork 12 read from the fork stop / lift storage unit 44 to the camera control unit 54, and the camera control unit 54 receives the received fork 12. The imaging conditions corresponding to the stop height data may be read from the camera imaging condition storage unit 58 and a drive command signal may be output to the camera driving unit 57.

  Next, the operation of the fork control unit 43 of the automatic lifting limit device will be described with reference to the flowcharts of FIGS. When the lift restriction switch 40b of the fork stop lift selection unit 40 of the automatic lift restriction device is pressed, the automatic lift restriction function is started (step 1). Next, it is determined whether or not the stage number switch 40a has been pressed (step 2). Next, if it is pushed, it will progress to the following step S3, and if it is not pushed, this step S2 will be repeated. Next, if it is determined in step 2 that the step number switch 40a has been pressed, which step number switch 40a has been pressed is stored in the fork-side temporary storage unit 47 (step 3). In this example, it is assumed that the number-of-stages switch 40a having a number “5” is pressed. Next, the camera control unit 54 is notified of which step number switch 40a has been pressed (step 4). Next, the stop lifting height of the fork 12 corresponding to the pushed step number switch 40a is acquired from the fork stop lifting storage unit 44 (step 5). Next, it is determined whether or not the unloading start switch 40d has been pressed (step 6). If the unloading start switch 40d is pressed, the process proceeds to the next step S7, and if not, this step S6 is repeated.

  Subsequently, referring to FIG. 9, a drive command for raising the fork 12 is issued to the elevating device 17 for raising the fork 12 (step 7). Next, the current lift height of the fork 12 is acquired from the fork lift height detection unit 42 (step 8). Next, the stop lift of the fork 12 acquired from the fork stop lift storage unit 44 is compared with the current lift of the fork 12 acquired from the fork lift detection unit 42 (step 9). Next, it is determined whether the stop lift of the fork 12 acquired from the fork stop lift storage unit 44 is the same as the current lift of the fork 12 acquired from the fork lift detection unit 42 (step). 10). If they are identical, the process proceeds to the next step S11. If they are not identical, steps 7, 8, 9, and 10 are repeated. Next, in order to stop the raising of the fork 12 when the lift heights become the same, a stop command is issued to the lifting device 17 that raises the fork 12 (step 11), and the process ends (step 12).

  On the other hand, the operation of the camera control unit 54 will be described with reference to the flowchart of FIG. When the information of the step number switch 40a is input from the fork control unit 43 to the camera control unit 54 through step 4 of the fork control unit 43 of the automatic lifting limit device, the control of the camera 20 is started (step 1). 40a is stored in the camera side temporary storage unit 56 (step 2). Next, the shooting condition corresponding to the pressed step number switch 40a is acquired from the camera shooting condition storage unit 58 (step 3). Next, a drive command is issued to the camera drive unit 57 (the drive units 57a, 57b, and 57c) so that the shooting conditions of the camera 20 are the acquired shooting conditions (step 4). Next, the current position of the camera drive unit 57 is acquired from detection by the camera position detection unit 55 (each detection unit 55a, 55b, 55c) (step 5). Next, the shooting condition from the camera shooting condition storage unit 58, that is, the movement amount of the camera driving unit 57 for setting the target shooting condition is compared with the current movement amount of the camera driving unit 57 (step 6). . Next, it is determined whether or not the amount of movement of the camera drive unit 57 has reached the amount of movement for achieving the target photographing condition (step 7). If the target shooting condition is reached, the process proceeds to the next step S8, and if not, steps 4, 5, 6, and 7 are repeated. Next, if the shooting conditions are met, a stop command is issued to the camera drive unit 57 (step 8), and the process ends (step 9).

  Next, a usage example of the present embodiment will be described with the above configuration. An operator who gets on and gets on the driver's seat 9 drives the forklift 10 to stop in front of the load storage portion 30b of the rack 30 where the target load 34 is located. At this time, the vehicle body 11 is opposed to the rack 30. Next, the operator presses the lift limit switch 40b of the fork stop / lift selection unit 40 of the automatic lift limit device with a finger to enable the automatic lift limit function. Next, the stage number switch 40a corresponding to the stage of the rack 30 with the target load 34 is pushed. Here, in order to take the load 34 in the fifth stage, the stage number switch 40a having the number “5” is pushed. Next, the loading start switch 40d is pushed. As a result, the fork 12 automatically rises to the fifth stage of the rack 30 and automatically stops when the fork 12 reaches the lifting height at which the fifth stage load 34 is taken. At this time, the fork 12 is located at the center of the insertion port 32a of the pallet 32 in the vertical direction.

  At this time, the camera 20 shoots the load 34 under shooting conditions for overlooking the entire fifth-stage load 34 and transmits the image to the monitor 25 of the driver's seat 9. The operator confirms whether or not the load 34 to be picked up is the target load 34 through the monitor 25. Next, the operator operates the reach lever 6c to move the mast 14 and the fork 12 forward (reach out). As the fork 12 advances, the fork 12 is inserted into the insertion port 32 a of the pallet 32. When the fork 12 is inserted to the base of the fork 12, the operator stops the operation of the reach lever 6c and stops the mast 14 from moving forward. Next, the operator operates the lift lever 6a to raise the fork 12 slightly. As the fork 12 is raised, the pallet 32 and the load 34 are lifted. Next, the operator operates the reach lever 6 c to retract the mast 14 and the fork 12 (reach-in), and draws the pallet 32 and the load 34 from the rack 30 toward the vehicle body 11. Next, the operator operates the lift lever 6a to lower the fork 12 and position the pallet 32 and the load 34 below the floor surface. In this state, the operator operates the forklift 10 again and transports the pallet 32 and the load 34 to the destination.

(Example 2)
Next, a second embodiment of the present invention will be described with reference to FIGS. In the present embodiment, only portions different from the first embodiment described above will be described, and portions having the same function or substantially the same function as the configuration of the first embodiment are attached to the drawings of the first embodiment. This will be described using reference numerals. The forklift 10 of this embodiment is a three-way stacking truck in which the fork 12 turns horizontally between the left and right and the front of the vehicle body 11 and the fork 12 moves (shifts) in the left and right direction of the vehicle body 11. is there.

  A plurality of operation levers are provided next to the accelerator lever 7 of the driver's seat 9. In this example, three operating levers are provided, a lift lever 6a for moving the fork 12 up and down, a shift lever 6d for shifting the fork 12 to the left and right of the vehicle body 11, and a turning operation of the fork 12 in the horizontal direction. Rotating lever 6e is provided (see FIG. 14). The shift lever 6d is a fork shift operation unit described in the claims. The rotate lever 6e is a fork turning operation portion described in the claims.

  An elevating carriage 15 is provided to be movable up and down with respect to the mast 14, and a head portion 13 is provided to be movable in the left-right direction of the vehicle body 11 with respect to the elevating carriage 15. The head portion 13 is provided with two forks 12 that can turn in the horizontal direction across the left and right and front of the vehicle body 11. Referring to FIG. 11, the left direction of the forklift 10 is indicated by a symbol x1, the right direction is indicated by a symbol x2, and the front direction of the forklift 10 is indicated by a symbol y. Referring to FIG. 12, the vertical direction of the forklift 10 is indicated by the symbol z. The fork turning drive 46 (see FIG. 14) is driven by the operator's operation of the rotate lever 6e, and the fork 12 turns. Further, the fork shift drive unit 48 (see FIG. 14) is driven by the operator's operation of the shift lever 6d, and the fork 12 is shifted.

  The camera 20 changes the turning position of the camera 20 according to the turning position of the fork 12. For example, when the turning position of the fork 12 is turned to the left direction x1, that is, the position of 90 degrees to the left, the camera 20 is also turned to the left direction x1, that is, the position of 90 degrees to the left. Similarly, when the turning position of the fork 12 turns to the right direction x2, that is, the position of 90 degrees to the right, the camera 20 also turns to the right direction x2, that is, the position of 90 degrees to the right. For this purpose, the forklift 10 acquires a fork turning position detection unit 45 that detects the turning position of the fork 12 and a signal from the fork turning position detection unit 45 so that the turning angle of the fork 12 and the turning angle of the camera 20 are determined. The camera control unit 54 that issues a drive command to the camera drive unit 57 so as to be the same. In other words, the camera control unit 54 in this embodiment is responsible for both the control of the automatic lifting limit function and the turning control of the fork 12.

  In the camera shooting condition storage unit 58 of the first embodiment, the shooting conditions are set and stored according to the type of the stage number switch 40a, in other words, only by the lifting height of the fork 12, but the camera of the second embodiment is stored. The imaging condition storage unit 58 sets and stores imaging conditions according to the type of the stage number switch 40 a, in other words, a combination of the lift height of the fork 12 and the turning position of the fork 12. Specifically, in the forklift 10 of the present embodiment, the fork 12 is swung in three directions, and the actual forklift allows the forklift 10 to enter the passage between the racks 30 and the racks positioned on the left side and the right side of the forklift 10. The operation is to take the load 34 from 30. For this reason, the fork 12 is turned 90 degrees to the left, or is turned 90 degrees to the right. Therefore, the element of the turning position of the fork 12 is also taken into the shooting conditions set in the camera shooting condition storage unit 58.

  Specifically, the imaging conditions will be described on the assumption that the load 34 shown in FIG. 4 in the first embodiment is on the fifth stage of the rack 30 on the right side when viewed from the worker on the forklift 10. . The shooting conditions in this case are as follows: the horizontal shooting direction of the camera 20, that is, the turning position of the camera 20 is 90 degrees to the right, the vertical shooting direction is, for example, 15 degrees downward from the horizontal direction, and the angle of view is wide. The zoom-out shooting condition is set and stored in the camera shooting condition storage unit 58. Further, the imaging conditions when the load 34 shown in FIG. 5 in the first embodiment is assumed to be on the sixth stage of the rack 30 on the right side when viewed from the operator of the forklift 10 are as follows. The zoom-in shooting conditions are, for example, 20 degrees downward and the angle of view is narrow so that the shooting direction of the direction, that is, the turning position of the camera 20 is 95 degrees to the right and the vertical shooting direction is in front of the palette 32. This is set and stored in the camera photographing condition storage unit 58.

  When the turning position of the fork 12 is 90 degrees to the right and the number step switch 40a of 5 is selected, the turning position of the camera 20 is 90 degrees to the right and the vertical shooting direction is downward. The photographing condition with a zoom angle of 15 degrees and a wide angle of view is read from the camera photographing condition storage unit 58 by the camera control unit 54. Further, when the turning position of the fork 12 is 90 degrees to the right, and the 6-stage switch 40a is selected, the turning position of the camera 20 is 95 degrees to the right and the vertical shooting direction is downward. The camera condition that has been zoomed in so that the angle of view becomes 20 degrees is read from the camera condition storage unit 58 by the camera control unit 54.

  Next, the operation of the camera control unit 54 in the second embodiment will be described with reference to the flowchart of FIG. After the step 4 (see FIG. 8) of the fork control unit 43 of the automatic lifting limit device, when the information of the stage number switch 40a is input from the fork control unit 43 of the automatic lifting limit device to the camera control unit 54, the camera 20 Control is started (step 1), and information indicating the type of the stage number switch 40a is stored in the camera side temporary storage unit 56 (step 2). Next, the fork turning position detector 45 acquires whether the fork 12 is turning 90 degrees to the right or 90 degrees to the left (step 3). Next, from the camera photographing condition storage unit 58, photographing conditions corresponding to the depressed step number switch 40a and corresponding to the turning position of the fork 12 are acquired (step 4). The subsequent steps 5 to 10 in FIG. 15 are substantially the same as steps 4 to 9 in FIG.

  If the fork 12 has not turned 90 degrees to the right or 90 degrees to the left in step 3 of the flowchart of FIG. 15, that is, if the operator has forgotten to turn the fork 12, An error warning may be given.

  In the control of the camera 20 with reference to the flowchart of FIG. 15, the camera 20 does not rotate until the step number switch 40a is pressed. Therefore, when the fork 12 is turned, the camera 20 may be turned. The flowchart of FIG. 16 shows the operation of the camera control unit 54 for controlling the camera 20. First, when the rotate lever 6e is operated by the operator, the camera control unit 54 starts controlling the camera 20 (step 1), and acquires the turning position of the fork 12 (step 2). The turning position of the fork 12 is acquired as the turning angle of the fork 12. Next, the turning position of the camera 20 is acquired (step 3). The turning position of the camera 20 is acquired as the turning angle of the camera 20. Next, the obtained turning position of the fork 12 is compared with the turning position of the camera 20 (step 4). Next, a turning drive command is issued to the camera drive unit 57 so that the camera 20 turns by the difference of the comparison calculation result (step 5). Next, it is determined whether the turning position of the camera 20 is the turning position of the fork 12 (step 6). If the turning position of the camera 20 is the turning position of the fork 12, the process proceeds to the next step 7. If not, the steps 2, 3, 4, 5, and 6 are repeated. Next, when the turning position of the camera 20 becomes the turning position of the fork 12, a stop command is issued to the camera drive unit 57 (step 7). Next, the camera 20 is turned in the turning direction of the fork 12, that is, the turning position of the camera 20 is stored in the camera side temporary storage unit 56 (step 8), and the process is ended (step 9).

  In the control of the camera 20 by this method, the turning position of the fork 12 may be detected continuously while the fork 12 is turning, and the camera 20 may be turned in synchronization with the turning of the fork 12. The camera 20 may be turned after the end and turning 90 degrees to the left or 90 degrees to the right.

  Next, the control of the camera 20 described with reference to the flowchart of FIG. 16, that is, the control by the camera control unit 54 when the step number switch 40a is pressed after the fork 12 is turned and the camera 20 is also turned. Will be described with reference to FIG. First, after step 4 (see FIG. 8) of the fork control unit 43 of the automatic lifting limit device, when the information of the stage number switch 40a is input from the fork control unit 43 of the automatic lifting limit device to the camera control unit 54, the camera 20 is started (step 1), and the stage number switch 40a is stored in the camera side temporary storage unit 56 (step 2). Next, the fork turning position detector 45 acquires whether the fork 12 is turning 90 degrees to the right or 90 degrees to the left (step 3). Next, from the camera photographing condition storage unit 58, photographing conditions corresponding to the depressed step number switch 40a and corresponding to the turning position of the fork 12 are acquired (step 4). Next, the turning position of the camera 20 is acquired from the camera side temporary storage unit 56 (step 5). Next, the imaging condition acquired from the camera imaging condition storage unit 58 in step 4 is compared with the turning position of the camera 20 acquired from the camera side temporary storage unit 56 in step 5 (step 6).

  For example, when the turning position of the camera 20 is 90 degrees to the right among the photographing conditions acquired in step 4, the comparison calculation in step 6 is performed when the turning position of the camera 20 acquired in step 5 is right. In this case, since the camera 20 already satisfies the turning position in the photographing conditions, the final turning position of the camera 20 is maintained at the current right 90 degrees. To do. The vertical tilt position in the vertical direction and the angle of view, which are other shooting conditions, are determined as values read from the camera shooting condition storage unit 58. Next, a drive command is issued to the camera drive unit 57 so as to satisfy these finally determined shooting conditions (step 7). Steps 8 to 12 in FIG. 17 are substantially the same as steps 6 to 10 in FIG. In order to optimally photograph the load 34 shown in FIG. 5, when the turning position in the photographing conditions is set to 95 degrees to the right, the turning position of the camera 20 already turning is 90 degrees to the right. In this case, since the difference is 5 degrees to the right, the angle at which the camera 20 is finally driven to turn is 5 degrees to the right.

  Next, the operation of this embodiment will be described. An operator who gets on and gets on the driver's seat 9 drives the forklift 10 to stop in front of the load storage portion 30b of the rack 30 where the target load 34 is located. In this example, the forklift 10 enters the passage in which the racks 30 are erected on the left and right, and picks up goods (see FIG. 13). Next, the operator operates a rotation lever 6e for turning the fork 12 among the operation levers to drive the fork 12 to turn. In this example, the fork 12 is turned in the right x2 direction of the vehicle body 11. Next, the operator presses the lift limit switch 40b of the fork stop / lift selection unit 40 of the automatic lift limit device with a finger to enable the automatic lift limit function. Next, the stage number switch 40a corresponding to the stage of the rack 30 with the target load 34 is pushed. Here, in order to take the load 34 in the fifth stage, the stage number switch 40a having the number “5” is pushed. Next, the loading start switch 40d is pushed. As a result, the fork 12 rises to the fifth stage of the rack 30 and automatically stops when the fork 12 reaches the lifting height at which the fifth stage load 34 is taken. At this time, the fork 12 is located at the center of the insertion port 32a of the pallet 32 in the vertical direction.

  At this time, the camera 20 shoots the load 34 under a shooting condition for overlooking the entire fifth-stage load 34 and transmits the image to the monitor 25 near the driver's seat 9. The operator confirms whether or not the load 34 to be picked up is the target load 34 through the monitor 25. Next, the operator operates a shift lever 6d that shifts the fork 12 together with the head portion 13 among the operation levers to shift the fork 12 in the right x2 direction. The fork 12 is inserted into the insertion port 32a of the pallet 32 by shifting the fork 12 to the right. When the fork 12 is inserted to the base of the fork 12, the operator stops the operation of the shift lever 6d and stops the shift of the entire head portion 13 in the right direction. Next, the operator operates the lift lever 6a to raise the fork 12 together with the head portion 13 slightly. As the fork 12 is raised, the pallet 32 and the load 34 are lifted. Next, the operator operates the shift lever 6 d to shift the fork 12 together with the head portion 13 in the left x1 direction, and pulls the pallet 32 and the load 34 from the rack 30 to the front side of the vehicle body 11. Next, the operator operates the lift lever 6a to lower the fork 12 so that the pallet 32 and the load 34 are positioned below the floor surface. In this state, the operator operates the forklift 10 again and transports the pallet 32 and the load 34 to the destination.

(Example 3)
Next, a third embodiment of the present invention will be described with reference to FIGS. In the present embodiment, description of parts that are substantially the same as those in the first and second embodiments described above will be omitted, and only different parts will be described. In this embodiment, the direction of the camera 20 is controlled more finely than in the second embodiment described above. In the second embodiment, when the lifting height of the fork 12 and the turning position of the fork 12 are determined, the camera 20 determines one shooting condition corresponding thereto. In this embodiment, the shooting conditions of the camera 20 are further developed from the one shooting condition.

  In the automatic lifting restriction device of the second embodiment, when the load start switch 40d of the fork stop lifting height selection unit 40 is pushed, the fork 12 automatically rises to a predetermined lifting height and automatically It was something to stop. On the other hand, in the automatic lifting restriction device according to the third embodiment, when the unloading start switch 40d of the fork stop lifting height selection unit 40 is pushed for the first time, the fork 12 is automatically turned up to a predetermined lifting height. To automatically stop. Thereafter, the operator manually shifts the fork 12 toward the pallet 32 (hereinafter referred to as shift-out), and inserts the fork 12 into the insertion port 32 a of the pallet 32. Next, when the unloading start switch 40d is pushed for the second time, the fork 12 automatically rises by a small height, and the pallet 32 is lifted by the fork 12. Subsequently, the fork 12 is automatically shifted from the rack 30 to the front side of the vehicle body 11 (hereinafter referred to as shift-in), and then the fork 12 is automatically lowered. That is, of the raising of the fork 12, the shifting out of the fork 12, the slight raising of the fork 12, the shifting in of the fork 12, and the lowering of the fork 12, only the shifting out is performed manually, and the others are performed automatically. This is an automatic lifting limit device of the third embodiment. In the present embodiment, at the time of unloading, the shooting conditions when the fork 12 is raised, the shooting conditions when the fork 12 is shifted out, the shooting conditions when the fork 12 is slightly lifted, and the shooting conditions when the fork 12 is shifted in Each of the conditions and the shooting conditions when the fork 12 is lowered are set in the camera shooting condition storage unit 58 in advance. Each operation of the fork 12 is performed according to a preset program.

  Further, in the automatic lifting limit device of the third embodiment, when the unloading start switch 40g of the fork stop lifting height selection unit 40 is pushed, the fork 12 mounts the pallet 32 and the load 34 to the determined lifting height. Rises automatically and stops automatically. Thereafter, the operator manually shifts out the fork 12 toward the load storage portion 30b of the rack 30 and positions the fork 12 within the load storage portion 30b of the rack 30. Next, when the unloading start switch 40g is pushed again, the fork 12 is automatically lowered by a small height, and the pallet 32 is placed on the beam 30a of the rack 30. When the descending of the pallet 32 stops, only the fork 12 continues to descend, and stops near the center of the vertical height of the insertion port 32a of the pallet 32. Next, the fork 12 is automatically shifted and stopped after being shifted in, and then the fork 12 is automatically lowered. That is, the fork 12 is lifted up, the fork 12 is shifted out, the fork 12 is slightly lowered, the fork 12 is shifted in, and the fork 12 is lowered only manually, and the others are automatically performed. This is an automatic lifting limit device of the third embodiment. In this embodiment, when unloading, the shooting condition when the fork 12 is raised, the shooting condition when the fork 12 is shifted out, the shooting condition when the fork 12 is slightly lowered, and the shooting condition when the fork 12 is shifted in Each of the conditions and the shooting conditions when the fork 12 is lowered are set in the camera shooting condition storage unit 58 in advance. Each operation of the fork 12 is performed according to a preset program.

  Referring to FIG. 18, the horizontal turning position of the camera 20 in the horizontal direction is the turning position of the vehicle body 11 in the left direction x1, the turning position of the vehicle body 11 in the forward direction y, and the turning position of the vehicle body 11 in the right direction x2. It is initially set to be either, and is stored in the camera photographing condition storage unit 58. The vertical tilt position of the camera 20 in the vertical direction is initially set to be 0 degree in the horizontal direction, 15 degrees downward from the horizontal direction 0 degrees, or 30 degrees downward from the horizontal direction 0 degrees. Are stored in the camera photographing condition storage unit 58. Also, the angle of view is initially set to be one of an angle of view zoomed in on the object to be photographed, a standard angle of view, or an angle of view zoomed out from the object to be photographed, and is stored in the camera photographing condition storage unit 58. Has been.

  Next, with reference to FIG. 19, photographing conditions at the time of unloading operation when using the automatic lifting limit device of the third embodiment will be described. When the unloading operation is classified, the fork 12 is lifted, the fork 12 is shifted out, the fork 12 is slightly lifted, the fork 12 is shifted in, and the fork 12 is lowered. . Here, in FIG. 13, description will be made assuming that the load 34 is taken out from the rack 30 on the right side of the forklift 10.

  First, the shooting condition when the fork 12 is raised is a combination in which the left-right turning position of the camera 20 is 90 degrees to the right, the vertical tilt position of the camera 20 is 15 degrees downward from the horizontal angle, and the angle of view of the camera 20 is zoomed out. is there. The reason why the left and right turning position of the camera 20 is 90 degrees to the right is that the load 34 to be taken is on the right side when viewed from the forklift 10. This is the same in the following operation sections. The reason why the vertical tilt position of the camera 20 is 15 degrees below is because the distance between the load 34 and the camera 20 is still before the fork 12 is shifted out, and the entire load 34 can be photographed at a slight tilt position. The angle of view of the camera 20 is zoomed out in order to make it easier to grasp the general overview and surroundings of the load 34 to be taken.

  Next, the shooting conditions when the fork 12 is shifted out include a combination in which the left / right turning position of the camera 20 is 90 degrees to the right, the vertical tilt position of the camera 20 is 0 to 30 degrees below the horizontal angle, and the angle of view of the camera 20 is zoomed in. It is. The vertical tilt position of the camera 20 is 30 degrees below because the fork 12 shifts out and the distance between the load 34 and the camera 20 approaches, so the load 34 viewed from the camera 20 is further below the camera 20. Because. Thereby, while making it easy to confirm the load 34, the positional relationship between the insertion port 32a of the pallet 32 and the fork 12 is confirmed. The angle of view of the camera 20 is zoomed in in order to make it easier to confirm by increasing the appearance of the load 34 and to more easily confirm the positional relationship between the insertion port 32a of the pallet 32 and the fork 12. is there.

  Next, the shooting conditions when the fork 12 is slightly raised are a combination of the camera 20 turning right and left 90 degrees, the vertical tilt position of the camera 20 from the horizontal angle 0 degrees to the bottom 15 degrees, and the angle of view of the camera 20 being a standard combination. It is. The reason why the vertical tilt position of the camera 20 is 15 degrees below is that the pallet 32 and the load 34 rise as the fork 12 rises, so that the upper side of the load 34 can also be confirmed safely. The angle of view of the camera 20 is standard because the load 34 has been zoomed in in the previous operation and the load 34 has been firmly confirmed, and the load 34 is pulled once to see the load 34.

  Next, the shift-in shooting conditions of the fork 12 are a combination of the camera 20 turning right and left 90 degrees, the vertical tilt position of the camera 20 being down 15 degrees from the horizontal angle, and the angle of view of the camera 20 being zoomed in. is there. The vertical tilt position of the camera 20 is below 15 degrees because the movement direction of the pallet 32 and the load 34 changes due to the shift-in of the fork 12 and is taken out from the rack 30. This is to confirm the interference between the load 34 and the beam 30a of the rack 30. The angle of view of the camera 20 is zoomed in in order to confirm the interference between the load 34 in the shift-in operation and the beam 30a of the rack 30.

  Next, the shooting conditions when the fork 12 is lowered are a combination in which the left / right turning position of the camera 20 is 90 degrees to the right, the vertical tilt position of the camera 20 is 15 degrees downward from the horizontal angle, and the angle of view of the camera 20 is zoomed out. It is. The reason why the vertical tilt position of the camera 20 is 15 degrees below is to allow viewing at a familiar tilt position by maintaining the tilt position in the previous motion section. The angle of view of the camera 20 is zoomed out so that the entire load 34 can be easily confirmed.

  Next, imaging conditions during the unloading operation when using the automatic lifting limit device of the third embodiment will be described with reference to the table of FIG. When the unloading operation is classified, the fork 12 is lifted up, the fork 12 is shifted out, the fork 12 is slightly lowered, the fork 12 is shifted in, and the fork 12 is lowered. . Here, in FIG. 13, description will be made assuming that the load 34 is placed on the rack 30 on the right side of the forklift 10.

  First, the shooting condition when the fork 12 is raised is a combination in which the left-right turning position of the camera 20 is 90 degrees to the right, the vertical tilt position of the camera 20 is 15 degrees downward from the horizontal angle, and the angle of view of the camera 20 is zoomed out. is there. The reason why the left and right turning position of the camera 20 is 90 degrees to the right is that the load 34 to be lowered to the rack 30 is on the right side when viewed from the forklift 10. This is the same in the following operation sections. The reason why the vertical tilt position of the camera 20 is 15 degrees below is because the distance between the load 34 and the camera 20 is still before the fork 12 is shifted out, and the entire load 34 can be photographed at a slight tilt position. The angle of view of the camera 20 is zoomed out in order to make it easier to grasp the general overview and surroundings of the load 34 to be lowered.

  Next, the shooting conditions when the fork 12 is shifted out include a combination in which the left / right turning position of the camera 20 is 90 degrees to the right, the vertical tilt position of the camera 20 is 15 degrees downward from the horizontal angle, and the angle of view of the camera 20 is zoomed in. It is. The reason why the vertical tilt position of the camera 20 is 15 degrees below is to confirm safety of the interference between the load 34 on the pallet 32 and the beam 30a of the rack 30 on the load 34 because the fork 12 shifts out. . The angle of view of the camera 20 is zoomed in in order to make the load 34 visible and to make it easier to confirm safety.

  Next, the shooting conditions when the fork 12 is slightly lowered are as follows: the camera 20 is turned 90 degrees to the right, the camera 20 tilts up and down at a horizontal angle of 0 degrees to 15 degrees, and the camera 20 has a standard angle of view. It is. The reason why the vertical tilt position of the camera 20 is 15 degrees downward is to maintain the appearance of the load 34 at the time of shift-out and make the load 34 easier to see. The angle of view of the camera 20 is standard because the load 34 has been zoomed in in the previous operation and the load 34 has been firmly confirmed, and the load 34 is pulled once to see the load 34.

  Next, the shift-in shooting conditions of the fork 12 are combinations in which the left / right turning position of the camera 20 is 90 degrees to the right, the vertical tilt position of the camera 20 is 0 to 30 degrees below the horizontal angle, and the angle of view of the camera 20 is zoomed in. is there. The reason why the vertical tilt position of the camera 20 is 30 degrees below is to confirm the insertion port 32a of the pallet 32 and the fork 12 when the fork 12 is pulled out from the pallet 32. The angle of view of the camera 20 is zoomed in in order to make it easier to confirm the insertion port 32a of the pallet 32 and the fork 12.

  Next, the shooting conditions when the fork 12 is lowered are a combination in which the left / right turning position of the camera 20 is 90 degrees to the right, the vertical tilt position of the camera 20 is 15 degrees downward from the horizontal angle, and the angle of view of the camera 20 is zoomed out. It is. The vertical tilt position of the camera 20 is 15 degrees below, because the fork 12 has been removed from the pallet 32, and the confirmation of interference between the fork 12 and the insertion port 32a of the pallet 32 has been completed. This is to make it easier. The angle of view of the camera 20 is zoomed out so that the entire load 34 can be easily confirmed.

  The switching of the photographing during each operation at the time of unloading and unloading is performed simultaneously with the start of each operation. As a specific configuration of the present embodiment, the camera control unit 54 of the present embodiment can directly receive a signal from the load pickup start switch 40d. Further, the camera control unit 54 of the present embodiment can directly receive a signal from the stage number switch 40a. When the first signal from the unloading start switch 40d enters the camera control unit 54, the photographing condition when the fork 12 is raised is obtained. Next, when the manual shift-out of the fork 12 is completed, when the second signal from the cargo take-off start switch 40d enters the camera control unit 54, the photographing condition for slightly lowering the fork 12 is obtained. When the next shift-in program operation of the fork 12 is started, a signal informing the shift from the fork control unit 43 to the shift-in of the fork 12 enters the camera control unit 54, and the fork 12 shift-in shooting condition is set. . When the program operation for lowering the fork 12 is started, a signal notifying that the fork 12 has shifted to the lowering of the fork 12 enters the camera control unit 54, and the shooting condition for lowering the fork 12 is set. These configurations and operations are substantially the same when unloading.

  Next, the control of the camera control unit 54 of the present embodiment will be described as an example with reference to the flowcharts of FIGS. 21 and 22. First, referring to FIG. 21, when the elevation limit switch 40b is pushed and the automatic elevation limitation function is enabled, the camera control unit 54 starts control (step 1). When the step number switch 40a is pressed, the signal is directly input to the camera control unit 54 and stored in the camera side temporary storage unit 56 (step 2). Next, the fork turning position detector 45 acquires whether the fork 12 is turning 90 degrees to the right or 90 degrees to the left (step 3). Next, from the camera photographing condition storage unit 58, photographing conditions corresponding to the depressed step number switch 40a and corresponding to the turning position of the fork 12 are acquired (step 4). Next, the turning position of the camera 20 acquired in advance is acquired from the camera-side temporary storage unit 56 (step 5). Next, the imaging condition acquired from the camera imaging condition storage unit 58 in step 4 is compared with the turning position of the camera 20 acquired from the camera side temporary storage unit 56 in step 5 (step 6). Next, when the unloading start switch 40d is pressed, the signal is directly input to the camera control unit 54 (step 7). Upon receiving this signal, the camera control unit 54 issues a drive command signal to the camera drive unit 57 (step 8). Steps 9 to 12 below are the same as steps 8 to 11 in FIG.

  Next, description will be made with reference to FIG. When the unloading start switch 40d is pushed, the fork 12 starts to rise, and at the same time, the camera 20 passes through the steps from step 7 to step 12 shown in FIG. It becomes. The fork 12 goes through the steps shown in FIGS. 8 and 9 and then stops after being raised to the raised height of the pushed step number switch 40a. When the raising of the fork 12 stops, the operator then operates the shift lever 6d to shift out the fork 12. The camera control unit 54 acquires a command for this shift-out (step 13). As a method of acquiring a shift-out command, a method of detecting the movement of the shift lever 6d by an operator, or a method of acquiring a signal from the fork control unit 43 that shifts out the fork 12 in response to an operation of the shift lever 6d. Etc. The camera control unit 54 that has acquired the shift-out command acquires the shooting conditions when the fork 12 shown in FIG. 19 is shifted out from the camera shooting condition storage unit 58 (step 14). Next, a drive command is issued to the camera 20 in the same manner as in steps 8 to 12 in FIG. 22, and then stopped (step 15).

  When the shift of the fork 12 is finished and the worker presses the second load take-off start switch 40d, the signal is directly input to the camera control unit 54 (step 16). The camera control unit 54 is shown in FIG. The photographing conditions when the fork 12 is slightly raised are acquired (step 17). Next, a drive command is issued to the camera 20 in the same manner as in steps 8 to 12 in FIG. 22, and then stopped (step 18). When the slight rise of the fork 12 is completed, the fork control unit 43 next performs a shift-in operation of the fork 12 according to the program. When the camera control unit 54 acquires a signal indicating that the shift-in operation has been started from the fork control unit 43 (step 19), the camera control unit 54 acquires the shooting conditions at the time of shift-in of the fork 12 shown in FIG. 19 from the camera shooting condition storage unit 58 (step 19). 20). Next, a drive command is issued to the camera 20 and stopped (step 21). When the shift-in of the fork 12 is completed, the fork control unit 43 next performs the lowering operation of the fork 12 according to the program. When the camera control unit 54 acquires a signal for starting the lowering operation from the fork control unit 43 (step 22), the camera control unit 54 acquires the shooting conditions when the fork 12 shown in FIG. 19 is lowered from the camera shooting condition storage unit 58 (step 23). . Next, a drive command is issued to the camera 20 and stopped (step 24), and the process is terminated (step 25).

  In the unloading and unloading operations, there are points such as what and where to pay attention to fork 12 and load 34. For example, when the fork 12 is shifted out during loading, it is noted that the fork 12 is inserted into the insertion port 32a of the pallet 32 without interference, and when the fork 12 is shifted in during loading, the load 34 is loaded. Is careful not to hit the beam 30a of the rack 30. These points can be confirmed when loading and unloading can be performed at a position where the operator can directly see, but cannot be confirmed directly at a high position. Therefore, as in the third embodiment, according to each operation of the fork 12, by focusing on these points and switching the shooting conditions by the camera 20, the operator performs confirmation work focusing on these points through the monitor 25. Is something that can be done.

  As described above, in the third embodiment, not only the shooting conditions are set based on the stopping and lifting height of the fork 12, but also the shooting conditions are determined depending on each operation after the fork 12 stops at the predetermined lifting height. Is set. In other words, the photographing conditions are set by the stop lifting height of the fork 12, the turning position of the fork 12, and the shift position of the fork 12. Thus, the shooting conditions can be changed optimally according to each operation of the fork 12, and the operator can view an optimal image corresponding to each operation of the fork 12 while looking at the monitor 25. Thereby, the worker can perform the unloading operation and the unloading operation more safely and reliably.

Example 4
Next, a fourth embodiment will be described with reference to FIG. The fourth embodiment is a technique that can be applied to any of the first to third embodiments, and relates to the shooting conditions of the camera 20 when the fork 12 is raised during loading. In other words, when the stage number switch 40a of the automatic lifting limit device is pushed and the cargo take-off start switch 40d is pushed, the fork 12 starts to rise. As a shooting condition, the load 34 in the pressed number of steps is always shot.

  For this purpose, the camera photographing condition storage in which the horizontal distance A between the camera 20 and the load 34, the height B of the load 34 for each stage number, and the distance D in the height direction between the fork 12 and the camera 20 are stored. Part 58 is provided. Further, a fork lift height detection unit 42 that detects the current lift height C of the fork 12 is provided. In addition, a camera drive unit 57 that drives the camera body of the camera 20 is provided. Further, from the distance A between the camera 20 and the load 34, the height B of the load 34 for each stage, the distance D in the height direction between the fork 12 and the camera 20, and the current lift height C of the fork 12. A camera control unit 54 is provided that calculates a tilt angle Θ for directing the camera 20 toward the load 34 having a specified number of stages and issues a drive command to the camera drive unit 57. As an arithmetic expression by the camera control unit 54, for example, the tilt angle Θ can be obtained from tan Θ = (B− (C + D) / A.

  Next, the operation will be described. When the unloading start switch 40d is pressed after the stage number switch 40a is pressed, the control by the camera control unit 54 is started, and the vertical tilt angle Θ of the camera 20 is continuously calculated. The operator constantly photographs the load 34 and the operator continues to view the load 34 through the monitor 25.

  As a result, the operator can continuously see through the monitor 25 how the camera 20 approaches the load 34 as the fork 12 is raised, and can grasp whether or not it is the target load 34 even while the fork 12 is raised. In addition, by concentrating and photographing one load 34 with the camera 20, there is no event that it is difficult to grasp what image is instantaneously as when the image of the camera 20 is suddenly switched. Can be easily grasped.

  As described above, the operator can check the load 34 and the surroundings of the load 34 while looking at the screen of the monitor 25. Even if the fork 12 is automatically operating, if the unloading or unloading cannot be normally performed due to an unexpected cause, the operator can check on the monitor 25. The operation of the fork 12 can be stopped by pressing the stop switch 40e. Moreover, even if the automatic lifting limit function is working, when manual operation by the operator is entered, switching to manual operation is possible so that the operator can directly operate the fork 12. As a result, it is possible to recover from a state where normal loading and unloading cannot be performed.

  As mentioned above, although embodiment was described about this invention, this invention is not limited to said embodiment. The present invention can be implemented in variously modified, modified, and modified forms based on the knowledge of those skilled in the art without departing from the spirit of the present invention.

6d: Fork shift operation part (shift lever)
6e: Fork turning operation part (rotate lever)
10: Forklift 11: Vehicle body 12: Fork 14: Mast 20: Camera 25: Monitor 34: Load 40: Fork stop lifting height selection unit 43: Fork control unit 44: Fork stop height storage unit 54: Camera control unit 58: Camera Shooting condition storage

Claims (4)

A mast standing on the vehicle body,
A fork that moves up and down along the mast and carries a load;
A camera capable of moving up and down with the fork, photographing the front of the fork from above the fork and changing photographing conditions including at least one of a photographing direction or a photographing angle of view;
A monitor that displays video captured by the camera;
A plurality of fork stop and lift storage units in which a plurality of stop lifts of the fork are set and stored in advance;
A fork stop lift selection unit for selecting the stop lift of the fork;
A fork control unit for positioning the fork at the stop lifting height selected by the fork stop lifting height selection unit;
A camera shooting condition storage unit that stores shooting conditions including at least one of a shooting direction or a shooting angle of view of the camera corresponding to each stop lift of the fork stored in the fork stop lifting storage unit;
A camera control unit that changes the shooting condition of the camera according to the stop lift of the fork selected by the fork stop lift selection unit;
A forklift characterized by comprising: A mast standing on the vehicle body,
A fork capable of moving up and down along the mast and capable of turning in a horizontal direction,
A camera capable of moving up and down with the fork, photographing the front of the fork from above the fork, and changing photographing conditions including at least one of a photographing direction or a field angle
A monitor that displays video captured by the camera;
A plurality of fork stop and lift storage units in which a plurality of stop lifts of the fork are set and stored in advance;
A fork stop lift selection unit for selecting the stop lift of the fork;
A fork turning operation unit for turning the fork;
A fork control unit that positions the fork at the stop lifting height selected by the fork stop lifting height selection unit and positions the fork at a turning position operated by the fork turning operation unit;
A shooting condition that includes at least one of the shooting direction or the shooting angle of view of the camera corresponding to each stop lifting height of the fork stored in the fork stop lifting height storage unit and corresponding to the turning position of the fork. A stored camera shooting condition storage unit;
A camera control unit that changes a shooting condition of the camera according to the stop lift of the fork selected by the fork stop lift selection unit and according to the turning position of the fork;
A forklift characterized by comprising: A mast standing on the vehicle body,
A fork for carrying a load, capable of moving up and down along the mast, turning in the horizontal direction, and shifting in the left-right direction;
A camera capable of moving up and down with the fork, photographing the front of the fork from above the fork, and changing photographing conditions including at least one of a photographing direction or a field angle
A monitor that displays video captured by the camera;
A plurality of fork stop and lift storage units in which a plurality of stop lifts of the fork are set and stored in advance;
A fork stop lift selection unit for selecting the stop lift of the fork;
A fork turning operation unit for turning the fork;
A fork shift operating section for shifting the fork;
A shift position where the fork is positioned at the stop height selected by the fork stop / lift selection unit, the fork is positioned at the turning position operated by the fork turning operation unit, and operated by the fork shift operation unit A fork control unit for positioning the fork
The shooting direction or shooting of the camera corresponding to each stop lift of the fork stored in the fork stop lift storage unit, corresponding to the turning position of the fork, and corresponding to the shift position of the fork A camera shooting condition storage unit that stores shooting conditions including at least one of the angles of view;
A camera control unit that changes a photographing condition of the camera according to the stop lift of the fork selected by the fork stop / lift selection unit, according to the turning position of the fork, and according to the shift position of the fork; ,
A forklift characterized by comprising:   When the fork stop lifting height is selected by the selection by the fork stop lifting height selection unit and the fork starts to be lifted, the horizontal distance between the camera and the load is set. The shooting direction from the camera to the load is determined based on the height, the distance in the height direction of the fork and the camera, and the current lifting height of the fork, so that the camera keeps shooting the load at all times. The forklift according to any one of claims 1 to 3, wherein the photographing direction is continuously changed while the fork is raised.

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