JP2020066505A - Remote operation system of forklift - Google Patents

Abstract

To provide a remote operation device of a forklift capable of increasing work efficiency of cargo handling operation through remote operation.SOLUTION: There is provided a remote operation system of a forklift, the system comprising an image recognition unit that performs image recognition on a palette based on a photographed image P1 photographed by a front camera and an image processing unit that superimposes, on the photographed image, a guideline L1 that extends forward longitudinally from a tip of a fork 29 based on the image recognition of the palette by the image recognition unit, and the image processing unit changes a display mode of the guideline L1 in a display unit depending on whether the guideline L1 is matched with respect to an insertion port 19.SELECTED DRAWING: Figure 7

Description

  The present invention relates to a remote control system for a forklift.

  As a conventional technique of a remote control system for a forklift, for example, a remote control system for a wireless operation type vehicle disclosed in Patent Document 1 is known. Patent Document 1 discloses a wirelessly operated forklift including a cargo handling camera. The cargo handling camera is arranged above the fork, and photographs the loaded object loaded on the fork. The image captured by the cargo handling camera is displayed on the display monitor provided on the operating device for the forklift. In addition to the cargo handling camera, the forklift of Patent Document 1 includes a front camera that captures the front of the vehicle, a rear camera that captures the rear of the vehicle, and a floor camera that captures the floor.

  As another conventional technique, for example, a work support device for a forklift disclosed in Patent Document 2 is known. The work support device for a forklift disclosed in Patent Document 2 is a camera image in which a front field of view including the tip of the fork is photographed, and an expected trajectory of the tip of the fork and a forward direction that represents three predetermined front distances. The distance reference line and a straight extension line in which the tips of the left and right forks are linearly extended forward along the length direction of the forks are superimposed and displayed on the screen of the monitor.

JP, 2014-11518, A JP, 2006-96457, A

  However, in the wireless operation type remote control system of Patent Document 1, it is difficult to determine from the camera image that the fork can be inserted into the insertion slot of the pallet. There is a problem of difficulty.

  On the other hand, in the work support device for a forklift of Patent Document 2, the expected trajectory of the fork, the forward distance reference line, and the straight extension line are superimposed and displayed on the screen of the monitor. However, there is a problem that it is difficult to carry out the cargo handling work as in Patent Document 1, because it is not known whether the fork is located at a position where the fork can be inserted into the pallet insertion port.

  The present invention has been made in view of the above problems, and an object of the present invention is to provide a remote control device for a forklift truck that can improve the work efficiency of cargo handling work by remote control.

In order to solve the above problems, the present invention provides a forklift including a cargo handling device on a vehicle body,
A remote control device for remotely controlling traveling of the forklift and cargo handling by the cargo handling device;
A remote control system for a forklift truck, comprising: a front camera, which is provided on the forklift, and which captures an image of the front of the fork; and a display unit, which is provided on the remote control device and displays a captured image captured by the front camera. An image recognition unit that recognizes an image of a pallet based on an image captured by the front camera, and extends forward from the tip of the fork in the longitudinal direction based on the image recognition of the pallet by the image recognition unit. An image processing unit that draws a guideline by superimposing the guideline on a captured image, the image processing unit in the display unit according to whether or not the guideline is aligned with an insertion port of the pallet. The display mode of the guideline is changed.

  According to the present invention, the guide line extending from the tip of the fork to the front in the longitudinal direction is superimposed and drawn on the captured image based on the image recognition of the palette by the image recognition unit. The display mode of the guideline on the display unit changes depending on whether or not the guideline is aligned with the insertion slot of the pallet. An operator who performs remote control can determine that the fork can be inserted into the pallet slot from the image in which the guideline is aligned with the slot displayed on the display, and the cargo handling work by remote control can be performed. The operability of is easy and the work efficiency is improved.

Further, in the above remote control system for a fork, the image processing unit causes at least a part of the guideline displayed on the display unit to disappear when the guideline is aligned with the insertion port. It may be configured.
In this case, the operator who performs the remote operation can determine that the fork can be inserted into the insertion slot of the pallet because at least a part of the guideline displayed on the display unit disappears. Further, since at least a part of the guideline disappears from the image, the guideline does not interfere with the remote operation when inserting the fork.

In the fork remote control system, the image processing unit may be configured to highlight the insertion slot when the guideline matches the insertion slot.
In this case, the operator performing the remote control can insert the fork into the pallet slot by highlighting the pallet slot when the guideline matches the slot. Can be determined. Further, by highlighting the palette insertion slot, the position of the palette insertion slot on the image can be reliably recognized.

  According to the present invention, it is possible to provide a remote operation device for a forklift truck that can improve the work efficiency of cargo handling work by remote operation.

It is a block diagram which shows the electric constitution of the remote control system of the forklift truck which concerns on embodiment of invention. It is a perspective view of the luggage rack concerning the embodiment of the invention. It is a side view of the reach type forklift truck concerning the embodiment of the invention. 1 is a perspective view of a reach type forklift according to an embodiment of the invention. It is explanatory drawing which shows the relationship between a fork and a guideline in a picked-up image. It is a flow chart which shows the procedure of control of guide line drawing by a remote operation device of a reach type forklift. It is explanatory drawing explaining drawing of the guideline in the captured image of a 1st camera. It is explanatory drawing explaining drawing of the guideline in the captured image of a 2nd camera. It is explanatory drawing explaining the drawing of the guideline in the captured image of the 1st camera which concerns on a modification.

  Hereinafter, a remote control system for a forklift according to an embodiment of the present invention will be described with reference to the drawings. As shown in FIG. 1, a remote control system 10 for a forklift truck includes a reach type forklift 11 and a remote control device 12 used to remotely control the reach type forklift 11. In this embodiment, the reach-type forklift 11 is arranged in the workplace E. The remote control device 12 is arranged in an operation room R provided separately from the work space E. Then, the operator can remotely operate the reach type forklift 11 in the workplace E from the operation room R by using the remote operation device 12.

  As shown in FIG. 2, a work rack E is provided with a luggage rack 13. The luggage rack 13 includes a plurality of columns 14, horizontal members 15 and 16 that connect the columns 14, and a shelf board 17 provided at an intermediate portion of the columns 14 as a loading section. On the luggage rack 13, a shelf 17 and a load W are placed below the shelf 17. All the loads W are placed on the pallet 18. The pallet 18 is provided with an insertion port 19 into which a fork is inserted. The operator remotely operates the reach-type forklift 11 to take out the load W from the load rack 13 or place the load W on the empty shelf plate 17.

  As shown in FIGS. 3 and 4, a vehicle body 20 of the reach type forklift 11 is provided with a pair of left and right reach legs 21. The pair of left and right reach legs 21 extends forward from the front portion of the vehicle body 20. Front wheels 22 are provided on the front portions of the pair of left and right reach legs 21, respectively. Rear wheels 23 and caster wheels (not shown) are provided at the rear of the vehicle body 20. The rear wheels 23 are steerable drive wheels.

  The reach type forklift 11 includes a cargo handling device 24. The cargo handling device 24 is located between the pair of left and right reach legs 21 in the front portion of the vehicle body 20. The cargo handling device 24 includes a pair of left and right outer masts 25 and an inner mast 26 that moves up and down with respect to the outer masts 25. Further, the cargo handling device 24 includes a lift cylinder 27 connected to the inner mast 26. The inner mast 26 moves up and down as the hydraulic oil is supplied to and discharged from the lift cylinder 27. A lift bracket 28 that can move up and down with respect to the inner mast 26 is provided. The lift bracket 28 is provided with a pair of left and right forks 29. The pair of left and right forks 29 can be tilted back and forth by a tilt cylinder (not shown).

  As shown in FIG. 4, a backrest 30 is attached to the lift bracket 28 so as to be located above the fork 29. The backrest 30 supports the rear surface of the load W when the load W is placed on the fork 29. The length of the backrest 30 in the left-right direction is set to a length smaller than the width of the vehicle body 20 but protruding to the outside of the outer mast 25.

  The vehicle body 20 is provided with a reach cylinder 31 connected to the cargo handling device 24 (see FIG. 2). The rod of the reach cylinder 31 advances and retracts in the front-rear direction by supplying and discharging hydraulic oil. By the operation of the reach cylinder 31, the cargo handling device 24 moves back and forth along the reach leg 21. The reach type forklift 11 includes a traveling motor 32 that drives the rear wheels 23 and a steering motor (not shown) that steers the rear wheels 23.

  As shown in FIG. 1, the reach type forklift 11 includes a wireless unit 40 as a vehicle communication unit, a vehicle control unit 41, an image signal processing unit 42, a first camera 43 for cargo handling, and a second cargo handling second camera 43. And a camera 44. The wireless unit 40 is for performing wireless communication with the remote control device 12 described below. The vehicle control unit 41 is connected to each unit of the reach type forklift 11, controls each unit connected to the vehicle control unit 41, and is also connected to the wireless unit 40. The image signal processing unit 42 processes the photographed images photographed by the first camera 43 and the second camera 44 so that they can communicate with each other. The first camera 43 and the second camera 44 photograph the tip of the fork 29 and the front of the fork 29, which are necessary for cargo handling work. That is, the first camera 43 and the second camera 44 are front cameras that photograph the front of the fork 29. Although not shown, the reach-type forklift 11 has a plurality of traveling cameras for photographing the front and rear for traveling and a plurality of obstacles for detecting obstacles in addition to the first camera 43 and the second camera 44. A sensor is provided.

  Next, the remote control device 12 will be described. The remote operation device 12 includes a wireless unit 45 as an operation device communication unit, a control unit 46, an operation unit 47, a display unit 48, and an image signal processing unit 49. The wireless unit 45 can wirelessly communicate with the wireless unit 40 of the reach type forklift 11. The control unit 46 is connected to the wireless unit 45, the operation unit 47, the display unit 48, and the image signal processing unit 49. A touch panel method, a mouse method, a joystick method, or the like is used as an operation method in the operation unit 47. The display unit 48 is an image monitor, and displays, for example, a captured image received through the wireless unit 45 and various information necessary for remote operation. The image signal processing unit 49 corresponds to an image recognizing unit and an image processing unit, and performs image recognition processing of captured images captured by the first camera 43 and the second camera 44, as well as capturing images displayed on the display unit 48. Editing and processing such as sorting.

When the operator operates the operation unit 47 of the remote control device 12, the control unit 46 sends the operation content to the reach type forklift 11 side via the wireless unit 45. In the reach type forklift 11, the radio unit 40 receives the operation content from the remote operation device, and the vehicle control unit 41 controls each unit of the reach type forklift 11 based on an instruction from the remote operation device 12 side. Specifically, the traveling drive system devices (the traveling motor 37, the steering motor, etc.) and the cargo handling system devices (the lift cylinder 27, the reach cylinder 36, the tilt cylinder, etc.) are driven based on a command from the vehicle control unit 41. . In this way, the remote control device 12 can remotely control traveling of the reach forklift 11 and cargo handling by the cargo handling device 24.
It is like this.

  By the way, the first camera 43 and the second camera 44 of the present embodiment are cameras for performing cargo handling work, but the first camera 43 is provided on the upper portion of the backrest 30 as shown in FIGS. 3 and 4. At the center, the lens is mounted so as to face obliquely forward and downward. Since the first camera 43 is attached at the center of the upper part of the backrest 30 so as to face obliquely downward and forward, the front end of the fork 29 and the front of the fork 29 can be photographed by the first camera 43. The tip of the fork 29 and the front of the fork 29 are areas that require operator confirmation in order to carry out cargo handling work by remote control. A photographed image photographed by the first camera 43 that faces obliquely forward and downward at the center of the upper portion of the backrest 30 shows the insertion direction of the fork 29 and the insertion port 19 of the pallet 18 in the plane direction (X-Y axis direction). It is easy to check whether or not is matched.

  As shown in FIGS. 3 and 4, the second camera 44 is attached such that the lens faces forward at the center between the forks 29 of the lift bracket 28. Therefore, the second camera 44 is located at the same height as the height of the fork 29. Since the second camera 44 is attached to the front of the lift bracket 28 at the center between the forks 29, the front of the fork 29 can be photographed by the second camera 44. The front of the fork 29 is an area that requires confirmation by an operator in order to perform cargo handling work by remote control. In the captured image captured by the second camera 44, it is easy to confirm whether or not the insertion direction of the fork 29 in the vertical direction (Z-axis direction) and the insertion port 19 of the pallet 18 are aligned.

  In the present embodiment, the image signal processing unit 49 draws the guideline L1 by superimposing the guideline L1 on the captured image P1 of the first camera 43 shown in FIG. 5A, and the second camera shown in FIG. 5B. The guideline L2 is superimposed and drawn on the captured image P2 of 44. The guideline L1 is a line extending from the outer ends of the pair of left and right forks 29 to the front in the longitudinal direction of the fork 29, and apparently extends in the obliquely vertical direction of the captured image P1 in FIG. 5A. The guideline L2 is a line extending forward in the longitudinal direction from the tips of the pair of left and right forks 29, and apparently extends horizontally in the vicinity of the center of the captured image P2 in FIG. 5B. Point A in FIG. 5B indicates the tip of the guideline L2. In this embodiment, the guide lines L1 and L2 are indicated by dotted lines.

  The image signal processing unit 49 changes the display mode of the guide lines L1 and L2 depending on whether or not the guide lines L1 and L2 are aligned with the insertion port 19 of the pallet 18. Specifically, the image signal processing unit 49 changes the display mode of the guidelines L1 and L2 according to the series of steps S01 to S05 shown in the flowchart of FIG.

  A series of steps S01 to S05 will be described. First, in step S01, the image signal processing unit 49 acquires a captured image P1 captured by the first camera 43 and a captured image P2 captured by the second camera 44. By acquiring the captured image P1 of the first camera 43 and the captured image P2 of the second camera 44, these captured images P1 and P2 are displayed on the display unit 48. The image signal processing unit 49 is capable of switching the images of the shot images P1 and P2, storing data, and editing the shot images P1 and P2. The guideline L1 is superimposed and drawn on the captured image P1 displayed on the display unit 48, and the guideline L2 is superimposed and drawn on the captured image P2.

  In the next step S02, when the captured images P1 and P2 include the pallet 18, the image signal processing unit 49 image-recognizes the insertion port 19 of the pallet 18. Since the characteristic points of the palette 18 are preset in the image signal processing unit 49, the image signal processing unit 49 can recognize the palette 18 and the insertion port 19 of the palette 18 in the captured images P1 and P2. is there. The image signal processing unit 49 draws the insertion port 19 by superimposing the insertion port 19 on the captured images P1 and P2 based on the image recognition of the palette 18 and the insertion port 19 of the palette 18. It is easy to understand whether or not the image recognition by the image signal processing unit 49 is correct by drawing by inserting the insertion port 19 on the captured images P1 and P2.

  In the next step S03, the image signal processing unit 49 determines whether or not the guidelines L1 and L2 are aligned with the insertion port 19. The alignment of the guide lines L1 and L2 with respect to the insertion port 19 refers to a state in which the fork 29 can be inserted into the insertion port 19 when the fork 29 is advanced toward the pallet 18. The states of the guide line L1 shown in FIG. 7A and the guide line L2 shown in FIG. 8A are states in which the fork 29 can be inserted into the insertion port 19 when the fork 29 is advanced toward the pallet 18. The guide lines L1 and L2 are aligned with the insertion port 19. When the guide lines L1 and L2 match the insertion port 19 in step S03, the process proceeds to step S04. When the guide lines L1 and L2 match the insertion port 19 in step S03, the process proceeds to step S05.

  In step S04, the image signal processing unit 49 erases and draws a part of the guide lines L1 and L2 that match the insertion port 19. For example, as shown in FIGS. 7 (a) and 8 (a), the front part from the position where the guide line L1 intersects the insertion port 19 of the pallet 18 disappears. When the process of step S04 ends, the process returns to step S01. In step S05, the image signal processing unit 49 draws the guidelines L1 and L2 that do not match the insertion port 19 without changing them. When step S05 ends, the process returns to step S01. In this way, the image signal processing unit 49 changes the display mode of the guide lines L1 and L2 depending on whether the guide lines L1 and L2 are aligned with the insertion port 19 of the pallet 18.

  Next, the operation of the remote operation system for the reach type forklift 11 according to the present embodiment will be described. A case will be described in which the reach-type forklift 11 faces the luggage rack 13 to load and unload the cargo W on the luggage rack 13.

  When loading and unloading the load W from the load rack 13 by the reach type forklift 11 by the remote operation of the operator, the first camera 43 and the second camera 44 simultaneously photograph the tip of the fork 29 and the front of the fork 29. The captured image P1 captured by the first camera 43 is transmitted to the remote control device 12 via the image signal processing unit 42 and the wireless unit 40. In the remote control device 12, the wireless unit 45 receives the captured image P1 from the reach type forklift 11, and the control unit 46 displays the captured image P1 on the display unit 48 via the image signal processing unit 49. The captured image P2 captured by the second camera 44 is transmitted to the remote control device 12. In the remote control device 12, the wireless unit 45 receives the captured image P2, and the control unit 46 displays the captured image P2 on the display unit 48 via the image signal processing unit 49. The guideline L1 is drawn on the captured image P1 on the display unit 48, and the guideline L2 is drawn on the captured image P2.

  The operator remotely operates the reach type forklift 11 while viewing the captured images P1 and P2 on the display unit 48. When the fork 29 and the luggage rack 13 face each other by the remote operation of the reach type forklift 11 by the operator, the pallet 18 is included in the captured image P1 of the first camera 43 and the captured image P2 of the second camera 44, respectively. When the captured images P1 and P2 include the pallet 18, the image signal processing unit 49 image-recognizes the pallet 18 and the insertion port 19 of the pallet 18 based on the preset feature points of the pallet 18.

  When the pallet 18 and the insertion port 19 of the pallet 18 are image-recognized in the photographed images P1 and P2, the image signal processing unit 49 determines whether the guide lines L1 and L2 are aligned with the insertion port 19. When the fork 29 is not directly facing the insertion port 19, as shown in FIGS. 7B and 7C, when the guide line L1 is inclined with respect to the insertion port 19, the plane direction (X, The insertion direction of the fork 29 in the Y direction) and the insertion port 19 of the pallet 18 are not aligned. Therefore, the guideline L1 is drawn without being changed so as to be superimposed on the captured image P1. Therefore, the operator remotely operates the reach type forklift 11 so that the inserting direction of the fork 29 in the plane direction (XY axis direction) and the inserting port 19 of the pallet 18 are aligned. In FIG. 7C, the guideline L1 corresponding to the right fork 29 is aligned with the right insertion slot 19, and the guideline L1 corresponding to the left fork 29 is aligned with the left insertion slot 19. Not aligned.

  As shown in FIG. 7A, when the guide line L1 faces the insertion opening 19, the insertion direction of the fork 29 and the insertion opening 19 of the pallet 18 are aligned in the plane direction (X-Y axis direction). is doing. Therefore, a part of the guideline L1 (front part from the insertion port 19) disappears. 7 (a) to 7 (c), for convenience of description, the captured image P1 is not displayed except for the pallet 18, but in reality, the display unit 48 displays the luggage rack 13, the floor surface, and the like. .

  On the other hand, in the photographed image P2, when the fork 29 is not directly facing the insertion port 19, the height of the guide line L2 is the same as the height of the insertion port 19 as shown in FIGS. 8B and 8C. Do not fit. That is, the inserting direction of the fork 29 in the vertical direction (Z-axis direction) and the inserting port 19 of the pallet 18 are not aligned. Therefore, the guideline L2 is drawn without being changed so as to be superimposed on the captured image P1. Therefore, the operator remotely operates the reach type forklift 11 so that the insertion direction of the fork 29 in the vertical direction (Z-axis direction) and the insertion port 19 of the pallet 18 are aligned.

  As shown in FIG. 8A, when the guide line L1 faces the insertion opening 19, the insertion direction of the fork 29 in the vertical direction (Z-axis direction) and the insertion opening 19 of the pallet 18 are aligned. There is. When the insertion direction of the fork 29 and the insertion port 19 of the pallet 18 are aligned, a part of the guideline L2 (a part forward from the insertion port 19) disappears. 8 (a) to 8 (c), for convenience of description, the captured image P2 is hidden except for the pallet 18, but in reality, the display section 48 displays the luggage rack 13, the floor surface, and the like. . Incidentally, a part of the guidelines L1 and L2 disappear at the same time.

  Then, the operator can recognize that the inserting direction of the fork 29 and the inserting port 19 of the pallet 18 are aligned by the disappearance of a part of the guide lines L1 and L2. When the reach type forklift 11 is moved forward, the fork 29 is inserted into the insertion port 19 of the pallet 18. It should be noted that, when the fork 29 is moved forward after the insertion direction of the fork 29 and the insertion port 19 of the pallet 18 are aligned, the insertion direction of the fork 29 and the insertion port 19 of the pallet 18 are not aligned for some reason. The disappearance of the guidelines L1 and L2 is canceled. In this case, the operator may remotely operate the reach type forklift 11 so that the insertion direction of the fork 29 and the insertion port 19 of the pallet 18 are aligned.

The remote control system for the reach type forklift according to the present embodiment has the following effects.
(1) The insertion port 19 of the pallet 18 is drawn based on the guide lines L1 and L2 extending from the tip of the fork 29 in the longitudinal direction and the image recognition of the pallet 18 by the image signal processing unit 49. The display mode of the guide lines L1 and L2 on the display unit 48 changes depending on whether or not the guide lines L1 and L2 are aligned with the insertion port 19 of the pallet 18. From the image in which the guide lines L1 and L2 are aligned with the insertion port 19 displayed on the display unit 48, the operator who performs the remote operation indicates that the fork 29 can be inserted into the insertion port 19 of the pallet 18. Can be determined. As a result, the operability of the cargo handling work by remote control is facilitated, and the work efficiency is improved.

(2) The operator who performs the remote operation determines that the fork 29 can be inserted into the insertion port 19 of the pallet 18 because the guide lines L1 and L2 displayed on the display unit 48 are partially erased. it can. Further, since the guide lines L1 and L2 are partially disappeared from the image on the display unit 48, the guide lines L1 and L2 do not hinder the remote operation by the operator when the fork 29 is inserted.

(3) The guideline L1 is drawn on the photographed image P1, and the guideline L2 is drawn on the photographed image P2. The operator confirms the photographed image P1 of the two first cameras 43 and the photographed image P2 of the second camera 44, which are provided at different positions in front of the fork 29 and in front of the fork 29, and performs remote control. Since the guideline L1 is drawn on the photographed image P1 and the guideline L2 is drawn on the photographed image P2, the positions of the fork 29 and the insertion port 19 can be easily confirmed. Therefore, it is possible to reliably grasp the degree of the front face of the insertion port 19 of the pallet 18 and the fork 29, the positional displacement of the fork 29 with respect to the insertion port 19 and the positional displacement of the fork 29 with respect to the insertion port 19 in the height direction. Further, the operator can recognize that the insertion direction of the fork 29 and the insertion port 19 of the pallet 18 are aligned due to the disappearance of a part of the guide lines L1 and L2. As a result, the operability of the cargo handling work by remote control is facilitated, and the work efficiency is improved.

(Modification)
Next, a modified example will be described. In the modified example, as shown in FIG. 9A, the image signal processing unit 49 takes an image when the insertion direction of the fork 29 in the plane direction (the XY axis direction) and the insertion port 19 of the pallet 18 are aligned. The guideline L1 drawn in the image P1 is completely erased. Further, the image signal processing unit 49 paints the insertion port 19 in a conspicuous color and draws it, and highlights the insertion port 19. As shown in FIG. 9B, when the inserting direction of the fork 29 and the inserting port 19 of the pallet 18 in the plane direction (X-Y axis direction) do not match, the image signal processing unit 49 draws the guideline L1. However, the insertion port 19 is not highlighted.

  According to this modification, when the insertion direction of the fork 29 and the insertion port 19 of the pallet 18 are aligned, the guide line L1 drawn on the captured image P1 disappears and the insertion port 19 is highlighted. Therefore, the operator can intuitively understand that the insertion direction of the fork 29 and the insertion port 19 of the pallet 18 are aligned. As for the captured image P2, when the insertion direction of the fork 29 and the insertion port 19 of the pallet 18 are aligned, the guide line L2 drawn on the captured image P2 is erased and the insertion port is similar to the captured image P1. Highlight 19.

  The present invention is not limited to the above-described embodiments (including modified examples), and various modifications can be made within the scope of the gist of the invention. For example, the following modifications may be made.

In the above-described embodiment (including the modified example), the second camera as the front camera is provided at the center between the forks in the lift bracket, but the present invention is not limited to this. The second camera as the front camera may be incorporated in the tip of the fork, for example. The front of the fork can be photographed by the second camera built in the tip of the fork.
In the above-described embodiment (including the modified example), the guideline of the captured image on the display unit is drawn by the dotted line, but the guideline is not limited to the dotted line. The guideline line type, line thickness, and line color are free.
In the above embodiment (including the modified example), if the insertion direction of the fork and the insertion opening of the pallet are aligned, part or all of the guideline drawn in the captured image is lost. Not limited. For example, when the insertion direction of the fork and the insertion port of the pallet are aligned, the color of the guideline may be changed or the guideline may be blinked. That is, the guideline may be changed to the display mode so that the guideline display mode is different from the guideline display mode when the fork insertion direction and the pallet insertion port are not aligned.
○ In the above modification, when the insertion direction of the fork and the insertion opening of the pallet are aligned, the image signal processing unit paints the insertion opening in the captured image with a prominent color, and highlights the insertion opening. Not limited to this. The highlighting of the insertion slot may be in a more prominent state compared to the insertion slot when the insertion direction of the fork and the insertion slot of the pallet do not match, such as blinking the drawn insertion slot.
In the above-described embodiment (including modified examples), in order to make it easy to understand whether or not the image recognition is correct, the image-recognized insertion port is displayed superimposed on the captured image, but this is not the only option. The image-recognized insertion port does not necessarily have to be displayed so as to be superimposed on the captured image.
In the above-described embodiment, the image signal processing unit functions as the image recognition unit and the image processing unit, but the image recognition unit and the image processing unit may function independently of each other.
In the above embodiment, the reach type forklift is explained as the forklift, but the forklift is not limited to the reach type forklift. The forklift may be, for example, a counterweight type forklift.

10 Forklift Remote Control System 11 Forklift 12 Remote Control Device 13 Loading Rack 18 Pallet 19 Insert 20 Vehicle Body 24 Cargo Handling Device 28 Lift Bracket 29 Fork 30 Backrest 43 First Camera 44 Second Camera 48 Display 49 Image Signal Processing Unit L1, L2 Guideline P1, P2 Photographed image W Load

Claims (3)

A forklift equipped with a cargo handling device on the vehicle body,
A remote control device for remotely controlling traveling of the forklift and cargo handling by the cargo handling device;
A front camera that is provided on the forklift and shoots the front of the fork;
A remote control system for a forklift truck, comprising: a display unit, which is provided in the remote control device and displays a captured image captured by the front camera,
An image recognition unit that recognizes an image of a palette based on a captured image captured by the front camera,
An image processing unit that draws a guide line that extends forward in the longitudinal direction from the tip of the fork based on the image recognition of the pallet by the image recognition unit, and that draws the guide line on the captured image.
The remote control system for a forklift, wherein the image processing unit changes a display mode of the guideline on the display unit according to whether or not the guideline is aligned with an insertion port of the pallet.   The forklift according to claim 1, wherein the image processing unit erases at least a part of the guideline displayed on the display unit when the guideline is aligned with the insertion port. Remote control system.   The remote control system for a forklift according to claim 1 or 2, wherein the image processing unit highlights the insertion port when the guideline matches the insertion port.

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