JP2020128270A - Cargo handling support system - Google Patents

Abstract

To provide a cargo handling support system in which an operator can grasp a load mounting surface for cargo handling accurately, and a separated situation between a bottom surface of a pallet inserted by a fork and the load mounting surface can be checked.SOLUTION: A cargo handling support system comprises a forklift having a cargo handling device equipped with a fork, and a lifting height sensor which detects the lifting height of the fork, and supports cargo handling operation of the forklift with respect to cargo shelves having a load mounting surface. The cargo handling support system comprises: a controller which finds the height of the bottom surface of a pallet based on the lifting height of the fork detected by the lifting height sensor and the size of the pallet supported by the fork, and finds the height of the load mounting surface by a preset value; and a display unit 48 which draws and displays the height of the load mounting surface and the height of the bottom surface of the pallet as crossbars L1, L2, L3.SELECTED DRAWING: Figure 7

Description

The present invention relates to a cargo handling support system that supports cargo handling of a forklift.

Conventionally, a forklift truck that allows a driver to easily recognize the height relationship between the forks and the shelves in the three-dimensional warehouse during the work of a forklift truck in a three-dimensional warehouse and enables reliable and quick loading and unloading of loads has been known. (For example, refer to Patent Document 1).

The forklift disclosed in Patent Document 1 includes a receiver that receives the height information of each shelf of the three-dimensional warehouse transmitted from the transmitter of the three-dimensional warehouse, and a lift detector that detects the height of the fork. ing. This forklift also calculates the fork insertion point height of each shelf based on the received signal from the receiver, and calculates the fork insertion point height calculated closest to the detection value of the lifting height detector and the lifting height. A control device for comparing the detection values of the detectors is provided. Based on this comparison value, the control device turns on three types of lamps in accordance with the lower position of the fork within the certain range, the higher position within the certain range, and the same height position than the fork insertion port height.

JP-A-11-106198

However, in Patent Document 1, the fork lights three types of lamps depending on the lower position within a certain range, the higher position within a certain range, and the same height position than the fork insertion port height. For this reason, there is a problem that it is difficult to intuitively understand how much distance actually exists between the pallet bottom surface and the shelf mounting surface.

The present invention has been made in view of the above problems, and an object of the present invention is to allow an operator to reliably grasp a loading surface intended for cargo handling, and a bottom surface and a loading surface of a pallet inserted into a fork. The purpose of the present invention is to provide a cargo handling support system capable of confirming a separation state between the cargo handling spaces.

In order to solve the above problems, the present invention includes a forklift including a cargo handling device including a fork, and a lift sensor that detects a lift of the fork, and the forklift with respect to a rack having a loading surface. In the cargo handling support system for supporting the cargo handling work, the height of the fork detected by the lift sensor and the height of the bottom surface of the pallet are determined based on the size of the pallet supported by the fork, and are preset. And a display device that draws and displays the height of the loading surface and the height of the bottom surface of the pallet as a horizontal bar. And

In the present invention, the control device determines the height of the bottom surface of the pallet based on the lift of the fork detected by the lift sensor and the size of the pallet preset in the control device. The height of the loading surface of the luggage rack is determined by a preset value or an operator's input. The display device draws and displays the height of the loading surface and the height of the bottom surface of the pallet as horizontal bars. Therefore, the operator can surely grasp the loading surface intended for cargo handling by checking the display device, and check the separation distance between the bottom surface of the pallet inserted into the fork and the loading surface. You can

Further, in the above cargo handling support system, the height of the load supported by the pallet is preset in the control device, and the display device draws and displays the load together with the bottom surface of the pallet and the load mounting surface. May be
In this case, the load supported by the fork is drawn and displayed on the display device together with the bottom surface and the load mounting surface of the pallet. Therefore, the operator can confirm whether or not there is interference between the load supported by the pallet and the load mounting surface above the load.

Further, in the above cargo handling support system, the display device may be configured to numerically display a separation distance between the load mounting surface and the bottom surface of the pallet.
In this case, the distance between the loading surface and the bottom surface of the pallet is displayed, so that the operator can know how far the loading surface is from the bottom surface of the pallet.

Further, in the above cargo handling support system, the control device may be configured to draw and display the pallet on the display device when the pallet is placed on the load placement surface.
In this case, when the pallet is placed on the loading surface, since the pallet placed on the loading surface is displayed, the bottom of the pallet supported by the fork and the pallet placed on the loading surface are displayed. The presence or absence of interference can be confirmed.

Further, in the above cargo handling support system, the cargo rack has a plurality of load carrying surfaces in a vertical direction, and the display device displays a height of the plurality of load carrying surfaces and a height of a bottom surface of the pallet horizontally. It may be configured to draw and display as a bar.
In this case, the display device draws and displays the plurality of loading surfaces and the bottom surfaces of the pallets as horizontal bars based on the height of each loading surface and the height of the bottom surface of the pallet. Therefore, by checking the display device, the operator can surely grasp the loading surface targeted for cargo handling without needing a camera image, and the bottom surface of the pallet inserted into the fork and the loading surface can be confirmed. The distance between them can be confirmed.

Further, the above cargo handling support system may include a remote control device for remotely controlling traveling of the forklift and cargo handling by the cargo handling device, and the remote control device may include the display device.
In this case, since the remote control device includes the display device, it is possible to effectively support the cargo handling of the forklift that is remotely controlled.

According to the present invention, there is provided a cargo handling support system capable of reliably grasping a loading surface intended for cargo handling, and confirming a separation state between the bottom surface of the pallet inserted into the fork and the loading surface. Can be provided.

It is a block diagram which shows the electric constitution of the cargo handling support system which concerns on 1st Embodiment. It is a perspective view of the luggage rack which concerns on 1st Embodiment. It is a side view of the reach type forklift according to the first embodiment. It is a perspective view of the reach type forklift according to the first embodiment. It is explanatory drawing explaining the cargo handling by the remote control system of a reach type forklift. It is a side view which shows a reach rack and a reach forklift before loading. It is a flowchart figure in a cargo handling support system. (A) is a display example in the display part which makes the lower shelf a load carrying surface of a loading target, and (b) shows a display example in a display part which makes a floor surface a load carrying surface of a loading target. Is. It is explanatory drawing explaining the cargo handling by the cargo handling assistance system which concerns on 2nd Embodiment. It is a figure which shows the example of a display of the display part which concerns on another example.

(First embodiment)
Hereinafter, the cargo handling support system according to the first embodiment will be described with reference to the drawings. The cargo handling support system according to the present embodiment is an example applied to a remote operation system for a reach type forklift.

As shown in FIG. 1, the cargo handling support system 10 includes a reach type forklift 11 and a remote control device 12 used for remotely controlling the reach type forklift 11. In the present 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 work space E from the operation room R 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 plurality of shelf plates 17 that are horizontally provided on the columns 14. In the luggage rack 13 of the present embodiment, the load placement portion on which the load W can be placed is not only the upper and lower two-tier shelves 17 but also the upper and lower three-tiers including the floor 18 below the lower shelves 17. There is. Therefore, the shelf plate 17 and the floor 18 below the shelf plate 17 correspond to the load placement portion, and the upper surface 17A and the floor surface 18A of the shelf plate 17 correspond to the load placement surface. The floor surface 18A and the top surface 17A of the shelf board 17 are horizontal. In the luggage rack 13, the cargo W is placed on the shelf board 17 and the floor surface 18A below the shelf board 17.

All the loads W are placed on the pallet 20. The load W is placed on the upper surface 20A of the pallet 20, and the bottom surface 20B contacts the shelf plate 17 or the floor 18. The pallet 20 is provided with an insertion port 21 into which the fork 34 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 25 of the reach type forklift 11 is provided with a pair of left and right reach legs 26. The pair of left and right reach legs 26 extend forward from the front portion of the vehicle body 25. Front wheels 27 are provided at the front portions of the pair of left and right reach legs 26, respectively. Rear wheels 28 and caster wheels (not shown) are provided at the rear of the vehicle body 25. The rear wheels 28 are steerable drive wheels.

The reach type forklift 11 includes a cargo handling device 29. The cargo handling device 29 is located between a pair of left and right reach legs 26 in the front part of the vehicle body 25. The cargo handling device 29 includes a pair of left and right outer masts 30 and an inner mast 31 that moves up and down with respect to the outer masts 30. Further, the cargo handling device 29 includes a lift cylinder 32 connected to the inner mast 31. The inner mast 31 moves up and down as the hydraulic oil is supplied to and discharged from the lift cylinder 32. A lift bracket 33 that can move up and down with respect to the inner mast 31 is provided. The lift bracket 33 is provided with a pair of left and right forks 34. The pair of left and right forks 34 can be tilted back and forth by a tilt cylinder (not shown). The fork 34 has a mounting portion 34A extending in the front-rear direction and a rising portion 34B that stands up from the base (rear portion) of the mounting portion 34A. The cargo handling device 29 also includes a lift sensor 36 that detects the lift of the fork 34.

As shown in FIG. 4, a backrest 37 is attached to the lift bracket 33 so as to be located above the fork 34. The backrest 37 supports the rear surface of the load W when the load W is placed on the fork 34. The length of the backrest 37 in the left-right direction is set to a length smaller than the width of the vehicle body 25 but protruding to the outside of the outer mast 30.

The vehicle body 25 is provided with a reach cylinder 38 connected to the cargo handling device 29 (see FIG. 3 ). The rod of the reach cylinder 38 advances and retracts in the front-rear direction by supplying and discharging hydraulic oil. Due to the operation of the reach cylinder 38, the cargo handling device 29 moves back and forth along the reach leg 26. The reach type forklift 11 includes a traveling motor 39 that drives the rear wheels 28 and a steering motor (not shown) that steers the rear wheels 28.

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, and traveling cameras 43 and 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 lift sensor 36 and the wireless unit 40. The traveling camera 43 photographs the tip of the fork 34 and the front of the fork 34 necessary for traveling. The traveling camera 44 photographs the rear of the vehicle body 25. The image signal processing unit 42 processes the captured images captured by the running cameras 43 and 44 so that they can communicate with each other. Although not shown, the reach-type forklift 11 is provided with a plurality of sensors for detecting obstacles.

Next, the remote control device 12 will be described. The remote control device 12 includes a wireless unit 45, a control unit 46, an operation unit 47, a display unit 48 as a display device, an image signal processing unit 49, and an input unit 50. The wireless unit 45 can wirelessly communicate with the wireless unit 40 of the reach type forklift 11. The control unit 46 corresponds to a control device, and is connected to the wireless unit 45, the operation unit 47, the display unit 48, and the image signal processing unit 49. The control unit 46 has a function of commanding the operation output of the operation unit 47 to the reach type forklift 11, and also sets and stores the size of the pallet 20 and the height of each part of the luggage rack 13. Further, the control unit 46 has a function of calculating the separation distance between the bottom surface 20B of the pallet 20 and the load mounting surface from the set size of the pallet 20 and the height of each part of the load rack 13.

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 having a screen 48A. For example, in addition to drawing and displaying various figures on the screen 48A, the display unit 48 displays a captured image received through the wireless unit 45 on the screen 48A and is required for remote operation. Display various kinds of information. 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 running cameras 43 and 44, rearranges captured images displayed on the display unit 48, and the like. Edit and process. The input unit 50 is capable of inputting data and the like, and is specifically a keyboard, a numeric keypad, or the like.

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 operation content from the remote operation device 12 is received by the wireless unit 40, and the vehicle control unit 41 controls each part 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 39, the steering motor, etc.) and the cargo handling system devices (the lift cylinder 32, the reach cylinder 38, the tilt cylinder, etc.) are driven based on a command from the vehicle control unit 41. .. As described above, the remote control device 12 can remotely control traveling of the reach type forklift 11 and cargo handling by the cargo handling device 29.

By the way, in the present embodiment, a height H1 from the floor surface 18A of the upper surface 17A of the lower shelf board 17 shown in FIG. 5, and a height H2 from the floor surface 18A of the upper surface 17A of the upper shelf board 17, Are preset and stored in the control unit 46. The heights H1 and H2 are set in the control unit 46 by an operator operating the input unit 50. In addition, the operator operates the input unit 50 to set and store the dimensions of the pallet 20 in the control unit 46.

When the pallet 20 is inserted into the fork 34, the height H4 of the bottom surface 20B of the pallet 20 is set in the controller 46 by the height (lift) H3 of the fork 34 detected by the lift sensor 36. It is calculated by the control unit 46 based on the size of the pallet 20 and the size of the pallet 20. Therefore, by the heights H1 and H2 from the floor surface 18A and the height H4 of the bottom surface 20B of the pallet 20, the control unit 46 causes the separation distance between the bottom surface 20B of the pallet 20 and the floor surface 18A and the bottom surface 20B and the shelf board 17 to be different. It is possible to calculate the separation distance from the upper surface 17A. The separation distance ΔH between the bottom surface 20B of the pallet 20 and the loading surface which is the loading destination is the height H4 or the height H1 minus the height H4 when the upper surface 17A of the shelf 17 is used as the loading surface. The height H4 is the separation distance when the floor surface 18A is the loading surface.

When the dimension of the cargo W to be handled is known in advance, the dimension of the cargo W is set and stored in the control unit 46. The height H5 of the upper surface of the load W from the floor surface 18A in the state of being supported by the forks 34 can be calculated by the control unit 46 by setting the size of the load W in the control unit 46 and by setting the size of the pallet 20 together. Becomes Further, the uppermost horizontal member 15 of the luggage rack 13 may interfere with the fork 34 and the load W when the upper shelf plate 17 is loaded, so The height H6 is set in the control unit 46 and stored.

In the present embodiment, when the reach type forklift 11 approaches and faces the luggage rack 13, the control unit 46 causes the display unit 48 to display the bottom surface 20B of the pallet 20 and the loading surface (shelf plate 17) according to the flow shown in FIG. The upper surface 17A or the floor surface 18A) is drawn and displayed. First, the control unit 46 detects the height H3 of the fork 34 from the detection signal from the lift sensor 36 (see step S01). Next, the height H4 of the bottom surface 20B of the pallet 20 supported by the fork 34 is calculated from the detected height H3 of the fork 34 (see step S02). Next, the control unit 46 displays the bottom surface 20B of the pallet 20 and the mounting surface so that the separation state between the bottom surface 20B of the pallet 20 and the loading surface (the upper surface 17A of the shelf 17 or the floor surface 18A) can be known. Is drawn and displayed (see step S03). Specifically, the control unit 46 sets the loading surface lower than the bottom surface 20B of the pallet 20 (the upper surface 17A or the floor surface 18A of the shelf 17) and the loading surface higher than the fork 34 (the upper surface 17A of the shelf 17). It is drawn and displayed on the display unit 48. Then, a series of steps S01 to S03 is repeated. When the reach type forklift 11 is separated from the luggage rack 13 and does not face each other, the series of steps S01 to S03 ends.

In the display unit 48, the bottom surface 20B of the pallet 20, the loading surface lower than the fork 34 (the upper surface 17A or the floor surface 18A of the shelf plate 17) and the loading surface higher than the fork 34 (the upper surface 17A of the shelf plate 17) are, for example, It is drawn and displayed as shown in FIGS. 7(a) and 7(b). The lower loading surface is drawn by the horizontal bar L1, and the upper loading surface is drawn by the horizontal bar L2. A graphic F1 showing the fork 34, a graphic F2 showing the lift bracket 33, and a graphic F3 showing the load W are drawn. Further, the bottom surface 20B of the pallet 20 is drawn by the horizontal bar L3. The horizontal bars L1 to L3 and the figures F1 to F3 are drawn at positions corresponding to the heights H1, H2, and H4. Further, to the left of the horizontal bars L1 and L2, the respective heights H1 and H2 corresponding to the horizontal bars L1 and L3 are numerically displayed. The height H4 is displayed numerically on the right side of the horizontal bar L3. To the right of the horizontal bars L1 and L2, the number of steps counting the floor surface 18A, which is the loading surface, as the first step is displayed. When the load W supported by the fork 34 exists, the height H5 of the upper surface of the load W is displayed numerically.

For example, in FIG. 7A, the horizontal bar L1 indicates the upper surface 17A of the lower shelf board 17, and the horizontal bar L2 indicates the upper surface 17A of the upper shelf board 17. As shown in FIG. 7A, “2”, which is the number of stages of the lower shelf board 17, is displayed on the right side of the horizontal bar L1 and that of the upper shelf board 17 is displayed on the right side of the horizontal bar L2. “3”, which is the number of steps, is displayed. The height H1 of the upper surface 17A of the lower shelf board 17 from the floor surface 18A is numerically displayed on the left side of the horizontal bar L1. The height H2 of the upper surface 17A of the upper shelf board 17 from the floor surface 18A is numerically displayed to the left of the horizontal bar L2. The height H4 of the bottom surface 20B of the pallet 20 from the floor surface 18A is displayed numerically on the right side of the horizontal bar L3.

Further, in FIG. 7B, the horizontal bar L1 indicates the floor surface 18A, and the horizontal bar L2 indicates the upper surface 17A of the lower shelf board 17. As shown in FIG. 7B, "1", which is the number of steps of the floor surface 18A, is displayed to the right of the horizontal bar L1, and the number of steps of the lower shelf board 17 is displayed to the right of the horizontal bar L2. A certain "2" is displayed. Since the floor surface 18A is the height reference, 0 is displayed numerically on the left side of the horizontal bar L1. The height H1 of the upper surface 17A of the lower shelf board 17 from the floor surface 18A is numerically displayed on the left side of the horizontal bar L2. The height H4 of the bottom surface 20B of the pallet 20 from the floor surface 18A is displayed numerically on the right side of the horizontal bar L3.

In this embodiment, when the bottom surface 20B of the pallet 20 is higher than the upper surface 17A of the lower shelf board 17 and lower than the upper surface 17A of the upper shelf board 17, the control unit 46 sets the horizontal bar L1 to the lower shelf. The plate 17 is used, and the horizontal bar L2 is determined to be the upper shelf plate 17. When the height H4 of the bottom surface 20B of the pallet 20 is higher than the floor surface 18A and lower than the upper surface 17A of the lower shelf board 17, the control unit 46 sets the horizontal bar L1 to the floor surface 18A, and the horizontal bar L1. L2 is determined as the lower shelf board 17. That is, the load carrying surfaces that are the targets of the horizontal bars L1 and L2 are determined based on the heights of the upper and lower load carrying surfaces of the fork 34.

Next, the operation of the cargo handling support system 10 of the present embodiment will be described. The reach-type forklift 11 of the present embodiment travels by remote control by an operator and performs cargo handling work. The reach-type forklift 11 supports a load W placed on the pallet 20 with a fork 34. As shown in FIG. 5, the reach type forklift 11 faces the luggage rack 13 by remote control of the operator.

For example, when the operator wants to place the load W on the lower shelf 17 which is the second-stage loading surface, as shown in FIG. 7A, the fork 34 is placed on the lower shelf 17 and the upper shelf 17. Between the shelves 17 of the. At this time, the control unit 46 executes a series of steps S01 to S03, and draws and displays the bottom surface 20B of the pallet 20 and the plurality of loading surfaces (the upper surfaces 17A of the upper and lower shelf boards 17) on the display unit 48. The operator may check the horizontal bars L1 to L3, the figures F1 to F3, and the heights H1, H2, H4, and H5 drawn on the display unit 48. While confirming the presence or absence of interference between the fork 34 and the load rack 13 on the screen 48A, the operator remotely operates the reach type forklift 11 to place the load W on the lower shelf 17 together with the pallet 20.

On the other hand, when the operator wants to place the load W on the floor surface 18A, which is the first-stage load mounting surface, as shown in FIG. It is located between the plates 17. At this time, the control unit 46 executes a series of steps S01 to S03, and draws and displays the bottom surface 20B of the pallet 20 and the plurality of loading surfaces (the floor surface 18A and the upper surface 17A of the lower shelf board 17) on the display unit 48. To do. The operator may check the horizontal bars L1 to L3, the figures F1 to F3, and the heights H1, H2, H4, and H5 drawn on the display unit 48. The operator remotely controls the reach type forklift 11 and places the load W together with the pallet 20 on the floor surface 18A while confirming the presence or absence of interference between the fork 34 and the load rack 13 on the screen 48A.

Although not shown, for example, when the operator wants to place the load W on the upper shelf 17 which is the third-stage loading surface, the fork 34 is placed on the upper shelf 17 and the horizontal member 15. Located between. At this time, the control unit 46 executes a series of steps S01 to S03, and draws the bottom surface 20B of the pallet 20 and the plurality of loading surfaces (the upper surface 17A of the upper shelf board 17 and the horizontal member 15) on the display unit 48. indicate. In this case, the control unit 46 regards the horizontal member 15 as the loading surface and draws and displays it. The operator may check the horizontal bars L1 to L3, the figures F1 to F3, and the heights H1, H2, H4, and H5 drawn on the display unit 48. The operator remotely controls the reach type forklift 11 and places the load W on the upper shelf board 17 together with the pallet 20 while confirming the presence or absence of interference between the fork 34 and the load shelf 13.

The horizontal bars L1 to L3 and the figures F1 to F3 are drawn and displayed on the display unit 48 so that the relationships among the heights H1, H2, H4, and H5 can be understood. Therefore, the operator can intuitively recognize the separation state between the bottom surface 20B of the pallet 20 and the shelf plate 17 and the separation state between the upper surface of the load W and the upper shelf plate 17. Since the heights H1, H2, H4, and H5 are numerically displayed, the distance ΔH between the bottom surface 20B of the pallet 20 and the shelf plate 17 and the distance between the upper surface of the load W and the upper shelf plate 17 can be grasped. .. That is, the operator can certainly grasp the loading surface targeted for cargo handling without the need for a camera image, and the state of separation between the bottom surface 20B of the pallet 20 inserted into the fork 34 and the loading surface and The separation distance can be confirmed. In addition, no matter where the bottom surface 20B of the pallet 20 is located in the vertical direction, there is no possibility of making a mistake in the loading surface that is the loading destination.

The cargo handling support system 10 of the present embodiment has the following effects.
(1) The control unit 46 obtains the height H4 of the bottom surface 20B of the pallet 20 based on the lift H3 of the fork 34 detected by the lift sensor 36 and the dimension of the pallet 20 preset in the control unit 46. The heights of the plurality of loading surfaces (the floor surface 18A and the top surface 17A of the shelf board 17) included in the luggage rack 13 are set and stored in the control unit 46 in advance. The display unit 48 draws and displays the height of each loading surface and the height of the bottom surface 20B of the pallet 20 as horizontal bars. Therefore, the operator can confirm the display unit 48 to reliably grasp the loading surface targeted for cargo handling without the need for a camera image, and the bottom surface 20B of the pallet 20 inserted into the fork 34 and the cargo loading surface. It is possible to confirm the separation distance from the loading surface of the loading destination.

(2) The load W supported by the fork 34 is drawn and displayed on the display unit 48 together with the bottom surface 20B of the pallet 20 and the loading surface (the floor surface 18A or the top surface 17A of the shelf board 17). Therefore, the operator can confirm the presence or absence of interference between the load W supported by the pallet 20 and the load mounting surface above the load W.

(3) By displaying the separation distance ΔH between the loading surface (the floor surface 18A or the top surface 17A of the shelf plate 17) and the bottom surface 20B of the pallet 20 in the up-down direction, the operator can move the loading surface and the pallet 20 together. It is possible to understand how far the bottom surface 20B is from the bottom surface 20B.

(4) The cargo handling support system 10 includes the remote control device 12 that remotely controls the traveling of the reach type forklift 11 and the cargo handling by the cargo handling device 29, and the remote control device 12 includes the display unit 48. Therefore, it is possible to effectively support the cargo handling by the remote operation of the reach type forklift 11 which is remotely operated. In particular, when the reach type forklift 11 that is remotely operated does not include a cargo handling camera, the cargo handling support system 10 is indispensable.

(Second embodiment)
Next, a cargo handling support system according to the second embodiment will be described. The cargo handling support system of the present embodiment differs from that of the first embodiment in that the pallet is drawn and displayed on the display unit when the pallet is placed on the loading surface. Since the reach type forklift and the remote control device of the present embodiment are the same as those of the first embodiment, the description of the first embodiment is cited and common reference numerals are used.

As shown in FIG. 8A, there are cases where only a large number of pallets 20 are placed on the floor surface 18A which is the loading surface or the upper surface 17A of the shelf plate 17. As shown in FIG. 8B, the display unit 48 has a function of drawing and displaying one or more pallets 20 placed on the loading surface by a graphic F4. That is, the screen 48A of the display unit 48 is set so that one or more palettes 20 can be drawn. When the operator confirms the number of pallets 20 placed and inputs the number of pallets 20 into the input section 50, the number of figures F4 corresponding to the number of pallets 20 is drawn and displayed. In addition, in this embodiment, five pallets 20 are used as the loading surface on which the pallets can be placed.

The control unit 46 recognizes the upper surface of the uppermost figure F4 as the loading surface, and draws and displays the horizontal bar L2 indicating the bottom surface 20B of the pallet 20 in association with the upper surface of the uppermost figure F4. Since the size of the pallet 20 is preset and stored in the control unit 46, the control unit 46 can calculate the height of the uppermost figure F4 from the floor surface 18A.

According to this embodiment, the same operational effects as those of the first embodiment are exhibited. Further, according to the present embodiment, the display unit 48 can draw and display the figure F4 on the screen 48A even when only a large number of pallets 20 are placed on the loading surface. Further, the control unit 46 can recognize the upper surface of the uppermost figure F4 as a loading surface, and draw and display the horizontal bar L2 indicating the bottom surface 20B of the pallet 20 in association with the upper surface of the uppermost figure F4. .. Therefore, it becomes easy to load and unload the pallet 20 on and from the pallet 20 placed on the loading surface, and to take out the pallet 20 placed on the loading surface.

(Modification)
Next, a display example on the display unit according to the modification will be described. In the first and second embodiments, the horizontal bar and the graphic display on the screen of the display unit are mainly side views of the fork and the loading surface. In this modification, the fork and the loading surface are mainly viewed from the rear (front).

For example, as shown in FIG. 5, when the fork 34 supports the pallet 20 and the load W and is located between the upper and lower shelves 17, for example, the display unit 48 draws and displays on the screen 48A as shown in FIG. To do. In FIG. 9, a figure F5 showing a pair of left and right forks 34, a figure F6 showing a load W, a horizontal bar L5 showing an upper surface 17A of the lower shelf board 17, and a horizontal bar showing an upper surface 17A of the upper shelf board 17. L6 and a horizontal bar L7 indicating the bottom surface 20B of the pallet 20 are drawn and displayed on the screen 48A of the display unit 48. Similarly to the horizontal bars L1 and L2, the horizontal bars L5 and L6 correspond to the number of steps and heights H1 and H2 of the loading surface, the height H4 of the bottom surface 20B of the pallet 20, and the height of the upper surface of the load W. H5 is displayed numerically.

According to this modification, the horizontal bars L5 and L6 and the figures F5 and F6 are drawn and displayed on the display unit 48 as if the fork 34 and the loading surface were viewed from the rear (front). Therefore, the direction is the same as the view from the driver's seat of the reach type forklift 11. As a result, as compared with drawing and displaying the horizontal bar and the graphic on the display unit 48 as if the fork 34 and the loading surface are viewed from the side, the operator can more intuitively understand the separation state between the loading surface and the bottom surface 20B of the pallet 20. It becomes easier to understand.

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 invention. For example, the following modifications may be made.

In the first embodiment (including the modification), the load is drawn and displayed on the display device, but the present invention is not limited to this. The graphic display of the load is not essential, and the graphic display of the load may be omitted on the display device.
In the above embodiment, the control device determines the height of the bottom surface of the pallet based on the lift of the fork and the size of the pallet supported by the fork, and also determines the height of the loading surface based on a preset value. However, this does not apply. For example, the control device may determine the height of the bottom surface of the pallet based on the lift of the fork and the size of the pallet supported by the fork, and may also determine the height of the loading surface by operator input. More specifically, the operator may input the numerical value of the height of the loading surface with an appropriate input device.
In the above embodiment, various heights are numerically displayed on the screen of the display device, but the present invention is not limited to this. It is not necessary to display various heights on the screen of the display device. Further, for example, only the distance between the bottom surface of the pallet and the loading surface that is the loading destination may be displayed numerically on the screen.
In the second embodiment, the figure showing a plurality of pallets placed on the loading surface is drawn and displayed on the screen of the display device, but the present invention is not limited to this. It is not necessary to draw and display a figure showing a plurality of pallets placed on the loading surface.
In the above embodiment, an example in which the remote type forklift remote control system is applied has been described, but the present invention is not limited to this. INDUSTRIAL APPLICABILITY The present invention can be applied to a manned forklift operated by an operator. In this case, the controller mounted on the forklift truck corresponds to the control unit, and the display device is provided in the driver's seat of the forklift truck.
In the above-described embodiment, a three-stage type rack that can store loads vertically is exemplified as the rack, but the rack is not limited to this. It may be a luggage rack having two or more (n+1) shelves. Further, the luggage rack may be a luggage rack of a vehicle such as a large truck.
In the above-described embodiment, only the graphic and the horizontal bar are drawn on the display device. However, for example, the screen of the display device is divided, and only the graphic and the horizontal bar are drawn and displayed on one side, and the running camera on the other side is displayed. You may display a picked-up image.
In the above embodiment, the reach type forklift has been described as the forklift, but the forklift is not limited to the reach type forklift. The forklift may be, for example, a counterweight type forklift, and the type and type of the forklift are not limited.
In the above embodiment, the cargo handling camera is not mounted, but a cargo handling camera may be mounted. For example, a cargo handling camera may be provided on a backrest or a fork, and the drawing display on the display device and the captured image of the cargo handling camera may be used together depending on the situation of the cargo handling work place, or the cargo handling work may be performed only by the drawing display on the display device. You may go.

10 Cargo Handling Support System 11 Reach Type Forklift 12 Remote Control Device 13 Load Shelf 17 Shelf Board 17A Top of Shelf Board (Loading Surface)
18 floor 18A floor (loading surface)
20 Pallet 20A Top face 20B Bottom face 25 Car body 26 Reach leg 27 Front wheel 28 Rear wheel 29 Cargo handling device 34 Fork 36 Lifting height sensor 39 Traveling motor 41 Vehicle control unit 46 Control unit (control device)
47 Operation unit 48 Display unit (display device)
50 Input section E Workplaces F1, F2, F3, F4, F5, F6 Figures H1, H2, H3, H4, H5, H6 Heights L1, L2, L3, L5, L6, L7 Horizontal bars R Operating rooms S01, S02, S03 Step W load

Claims (6)

A forklift having a cargo handling device including a fork, and a lift sensor for detecting a lift of the fork,
In a cargo handling support system for supporting cargo handling work of the forklift truck for a cargo rack having a loading surface,
While determining the height of the bottom surface of the pallet based on the lift height of the fork detected by the lift sensor and the size of the pallet supported by the fork, a preset value or an operator's input allows the loading surface to A control device for determining the height,
A cargo handling support system, comprising: a display device that draws and displays the height of the loading surface and the height of the bottom surface of the pallet as horizontal bars. The height of the load supported by the pallet is preset in the control device,
The cargo handling support system according to claim 1, wherein the display device draws and displays the cargo together with the bottom surface of the pallet and the cargo mounting surface. The cargo handling support system according to claim 1 or 2, wherein the display device numerically displays a separation distance between the loading surface and the bottom surface of the pallet. The cargo handling support system according to claim 1, wherein the control device draws and displays the pallet on the display device when the pallet is placed on the load placement surface. .. The luggage rack has a plurality of the loading surfaces in the vertical direction,
The cargo handling support system according to claim 1, wherein the display device draws and displays the heights of the plurality of loading surfaces and the bottom surface of the pallet as horizontal bars. A remote control device for remotely controlling traveling of the forklift and cargo handling by the cargo handling device;
The cargo handling support system according to claim 1, wherein the remote operation device includes the display device.

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