JP2021062930A - Work vehicle loading work assistance system - Google Patents

Abstract

To provide a work vehicle loading work assistance system capable of effectively suppressing excessive loading of a cargo, etc.SOLUTION: The work vehicle loading work assistance system comprises: load detection means (distortion sensor SN1, etc.) for a cargo placed on a cargo loading part (fork part 103) of a work vehicle (forklift F); cargo position detection means (on-vehicle camera CAM) for detecting a position of the cargo on the cargo loading part; determination means 302 for determining whether it is necessary to correct at least one of a cargo position and a cargo amount on the basis of load information detected by the load detection means and cargo position information detected by the cargo position detection means; and notification means (speaker 404, display 405) for notifying the determination content of the determination means.SELECTED DRAWING: Figure 3

Description

The present invention relates to a cargo handling work support system for a work vehicle such as a forklift.

In a forklift, which is a type of work vehicle, the limit load of luggage that can be loaded is determined by the front-rear position of the fork portion (also called a claw or luggage loading portion).
This limit load can be confirmed on the name plate or the like attached to the vehicle.

However, in the actual cargo handling work of a forklift, it is difficult to determine the weight of the cargo to be loaded. Therefore, the actual situation is that the determination of whether or not the weight of the luggage is within the limit load depends on the sense of the operator.

Therefore, when the load is overloaded, there is a risk that the load will collapse and the load will be damaged. In addition, there was a risk that the forklift itself would tip over due to the imbalance of the entire vehicle due to overloading.
Here, a technique for automatically determining the type of cargo handling work has been proposed (see, for example, Patent Document 1).

Japanese Unexamined Patent Publication No. 2003-34495

According to the prior art, the type of cargo handling work is determined based on the signal of the load detecting means, and the cargo handling work is used according to the determined type of cargo handling work without asking the driver to determine the type of cargo handling work. Was able to perform the operation or processing of.

However, even if the type of cargo handling work can be automatically determined, there is a problem that overloading in a forklift or the like cannot be sufficiently suppressed. That is, with the prior art, it has been difficult to prevent overloading at the front and rear positions of the fork portion of the forklift.

The present invention has been made in view of the above problems, and an object of the present invention is to provide a cargo handling work support system for a work vehicle capable of effectively suppressing overloading of luggage and the like.

The cargo handling work support system for a work vehicle according to an aspect of the present invention includes a load detecting means for a load placed on a load loading portion of a work vehicle, a luggage position detecting means for detecting the position of the load on the luggage loading section, and a luggage position detecting means. Based on the load information detected by the load detecting means and the luggage position information detected by the luggage position detecting means, the determination means for determining whether or not at least one of the luggage position and the luggage amount needs to be corrected, and the determination means. It is provided with a notification means for notifying the determination content.

The luggage position detecting means includes a photographing means capable of acquiring an image of the luggage placed on the luggage loading portion of the work vehicle, and the determination means determines the luggage position and the luggage position based on the load information and the image of the luggage. It is preferable to determine the necessity of modifying at least one of the baggage amounts.
The load detecting means is preferably composed of a strain sensor provided in the vicinity of the luggage loading portion or the axle of the work vehicle.

According to the present invention, it is possible to provide a cargo handling work support system for a work vehicle that can effectively suppress overloading of luggage and the like.

It is a side view which shows the forklift to which the cargo handling work support system of the work vehicle which concerns on embodiment is applied. It is a perspective view which shows the main part of the forklift to which the cargo handling work support system of the work vehicle which concerns on embodiment is applied. It is a functional block diagram which shows the functional structure of the cargo handling work support system of the work vehicle which concerns on embodiment. It is a graph which shows the relationship between the maximum load / allowable load and the load center in a forklift. It is a table which shows the rated load and the reference load center specified in JIS D6001 (1999). It is a screen view which shows the example of the state without luggage by the on-board camera of the forklift to which the cargo handling work support system of the work vehicle which concerns on embodiment is applied. It is a screen view which shows the example of the state which there is a load on the front side by the on-board camera of the forklift to which the cargo handling work support system of the work vehicle which concerns on embodiment is applied. It is a screen view which shows the example of the state which there is a load on the back side by the on-board camera of the forklift to which the cargo handling work support system of the work vehicle which concerns on embodiment is applied. It is a block diagram which shows the structural example of the digital tachograph applied to the cargo handling work support system of the work vehicle which concerns on embodiment. It is explanatory drawing which shows the display example in the digital tachograph applied to the driving support system of the work vehicle which concerns on embodiment. It is a flowchart which shows the continuation of the processing procedure of the cargo handling support processing executed by the cargo handling work support system of the work vehicle which concerns on embodiment.

The cargo handling work support system S1 of the work vehicle according to the embodiment of the present invention will be described with reference to FIGS. 1 to 11.

(Example of work vehicle configuration)
With reference to FIGS. 1 and 2, a forklift F as a configuration example of a work vehicle to which the cargo handling work support system S1 of the work vehicle according to the present embodiment can be applied will be described.

The forklift F as a work vehicle includes a fork portion (loading portion) 103 for raising and lowering, a drive wheel (rear wheel) 104, a traveling wheel (front wheel) 105, an instrument panel 116, a steering 110, a speed change lever 111, and the like. ing.

The forklift F may be a so-called engine vehicle using an internal combustion engine such as a gasoline engine as a drive source 102, or may be an electric motor driven by electric power supplied from a secondary battery (battery) or the like that can be charged from a generator or the like. It may be a so-called battery vehicle using a motor as a drive source 102.

Above the mast portion 115 that supports the fork portion 103, an in-vehicle camera (photographing) constituting the luggage position detecting means 101 capable of acquiring an image of the luggage (for example, pallet) P1 (P2) and a background image of the luggage P1 (P2). Means) A CAM is provided. The shooting range 500 of the in-vehicle camera CAM is set to a range in which the fork portion 103, the luggage P1 (P2), and the like can be shot. Further, the place where the in-vehicle camera CAM is provided is not limited to the mast portion 115 as long as the image of the fork portion 103 can be acquired.

Inside the instrument panel 116, a digital tachograph DT1 or the like as an on-board unit constituting a part of the driving support system S1 is provided. The details of the digital tachograph DT1 and the like will be described later.

Further, the vehicle body of the forklift F is provided with the load detecting means 201 of the load mounted on the fork portion 103. More specifically, the load detecting means 201 is composed of strain sensors SN1 (SN2, SN3) arranged on the lower side of the fork portion 103, the side surface of the fork portion 103, the axle of the traveling wheel (front wheel) 105, or the like. be able to.
An acceleration sensor (G sensor) that detects acceleration during movement (front-rear G, left-right G, and up-down G) is attached to the vehicle body of the forklift F.

Then, the operator (driver) of the forklift F operates the steering 110, the shift lever 111, and pedals such as the accelerator pedal and the brake pedal (not shown) to raise and lower the forklift 103, move the forklift F forward, backward, and turn right. Carry out cargo handling work by making an operation such as turning left.

At this time, the cargo handling work support system S1 of the work vehicle according to the present embodiment uses the load information detected by the load detecting means 201 and the luggage position information of the luggage P1 (P2) detected by the luggage position detecting means 101. Based on this, it is determined whether or not at least one of the baggage position and the baggage amount needs to be corrected.
In addition, when it is necessary to correct at least one of the baggage position and the baggage amount, the operator is notified by display or voice to that effect.

Based on this notification, the operator corrects the position of the luggage placed on the fork portion 103, etc., so that overloading of the luggage can be effectively suppressed, and safety and convenience can be improved. Can be improved.
It is desirable that the luggage position and overload correction be performed in accordance with a load standard such as JIS D6001 (1999).

Further, the work vehicle is not limited to the forklift F and may be a transport vehicle or the like as long as it is a vehicle for loading and unloading and transporting luggage, products and the like in the premises of a factory, a warehouse or the like.

(Functional configuration of cargo handling work support system for work vehicles)
With reference to FIGS. 3 to 5, the functional configuration and the like of the cargo handling work support system S1 of the work vehicle according to the present embodiment will be described.
Here, FIG. 3 is a functional block diagram showing the functional configuration of the cargo handling work support system S1 of the work vehicle according to the embodiment, and FIG. 4 is a graph showing the relationship between the maximum load / allowable load and the load center in the forklift F. , FIG. 5 is a table showing the rated load and the reference load center specified in JIS D6001 (1999).

First, as shown in FIG. 3, the cargo handling work support system S1 of the work vehicle is composed of an in-vehicle camera or the like capable of acquiring an image of the load P1 (P2) loaded on the fork portion 103 of the forklift F as the work vehicle. The photographing means 101 and the strain sensors SN1 (SN2, SN3) constituting the load detecting means 201 of the load mounted on the fork portion 103 are provided. Further, the storage means 301 composed of a flash memory or the like for storing the image data of the luggage P1 (P2), the position data of the luggage P1 (P2) in the fork portion 103 derived from the image data of the luggage P1 (P2), and the position data of the luggage P1 (P2). A determination means 302 composed of a CPU or the like that determines whether or not at least one of the load position and the load amount needs to be corrected based on the load data, and a notification means that notifies the operator (operator) of the forklift F of the determination contents. It includes a speaker 404 and a display 405).
Further, the driving support system S1 includes a time measuring means 303 composed of a timer and the like, and an acceleration sensor (G sensor) for detecting the acceleration of the forklift F.

The storage means 301 stores data in which a graph showing the relationship between the maximum load / allowable load and the load center in the forklift F as shown in FIG. 4 is tabulated. In the example shown in FIG. 4, the maximum load / allowable load is in the range of 800 kg to 2500 kg, and the load center is set to about 0 mm to 1200 mm from the driver's seat side of the fork portion 103.

Further, as shown in FIG. 4, load data corresponding to the heights M1 to M3 of the mast portion 115 of the forklift F are plotted. The heights M1 to M3 of the mast portion 115 can be, for example, about 4000 mm to 5000 mm. The height of the mast portion 115 is not limited to three, and can be increased or decreased depending on the model of the forklift F and the like. Further, the range of maximum load / allowable load and the center of load can be changed according to the model of the forklift F and the like.

Further, the storage means 301 stores data in which a table showing the rated load (kg) and the reference load center (mm) defined in JIS D6001 (1999) is tabulated.

Further, the storage means 301 stores in advance data such as a limit load of the load that can be loaded depending on the front-rear position of the fork portion 103 described on the name plate of the forklift F.

Then, the determination means 302 uses the position data and the load data of the load P1 (P2) in the fork portion 103, the data showing the relationship between the maximum load / allowable load and the load center stored in the storage means 301, and JIS D6001 ( Based on the data of the rated load (kg) and the reference load center (mm) specified in 1999), it is determined whether or not at least one of the load position and the load amount in the fork portion 103 needs to be corrected. An example of a specific processing procedure will be described later.

(Example of determining luggage position)
Here, an example of detecting the luggage position in the fork portion 103 by the luggage position detecting means 101 will be described with reference to the image diagrams of FIGS. 6 to 8.
FIG. 6 is a screen view showing an example of a state without luggage by the in-vehicle camera CAM of the forklift F to which the cargo handling work support system S1 of the work vehicle according to the embodiment is applied, and FIG. 7 is a state in which luggage P1 is on the front side. FIG. 8 is a screen view showing an example of a state in which the luggage P2 is on the back side.
In FIG. 6 and the like, the rectangular travel detection frames c1 and c2 arranged on the left and right sides of the screen G1 are frames for detecting the moving direction and the turning direction of the forklift F.

Further, in FIG. 6 and the like, three rectangular baggage detection frames a1, a2, and a3 are provided from the front side to the back side of the driver's seat so as to overlap the image of the fork portion 103.
Then, in the example shown in FIG. 6, since no luggage is detected in any of the luggage detection frames a1, a2, and a3, it is determined that "there is no luggage in the fork portion 103".

On the other hand, in the example shown in FIG. 7, since the luggage P1 is detected in the luggage detection frames a1 and a2, it is determined that "the luggage is on the front side of the fork portion 103". The distance d1 from the end of the driver's seat to the front end of the luggage P1 can be measured based on the image of the luggage P1.

Further, in parallel with the position detection of the luggage P1 by the luggage position detecting means 101, the load detecting means 201 (strain sensors SN1, SN2, SN3) detects the load change due to the luggage P1.

Further, in the example shown in FIG. 8, since the luggage P2 is detected in the luggage detection frames a2 and a3, it is determined that "the luggage is behind the fork portion 103". The distance d2 from the end of the driver's seat to the front end of the luggage P2 can be measured based on the image of the luggage P2.

Further, in parallel with the position detection of the luggage P1 by the luggage position detecting means 101, the load detecting means 201 (strain sensors SN1, SN2, SN3) detects the load change due to the luggage P2.
In this way, the position of the baggage can be detected by determining which range of the baggage detection frames a1, a2, and a3 the baggage is located.
The number of baggage detection frames is not limited to three, and four or more may be provided. In this case, the position of the luggage can be detected more accurately.

Then, based on the load information detected by the load detecting means 201 and the luggage position information of the luggage P1 (P2) detected by the luggage position detecting means 101, it is determined whether or not at least one of the luggage position and the luggage amount needs to be corrected. can do.
In addition, when it is necessary to correct at least one of the baggage position and the baggage amount, the operator can be notified by display or voice.

Based on such notification, the operator can perform work such as correcting the position of the luggage P1 (P2) placed on the fork portion 103, so that overloading of the luggage can be effectively suppressed. Safety and convenience can be improved.

(Example of digital tachograph configuration)
The configuration of the digital tachograph DT1 and the like will be described with reference to FIGS. 9 and 10.
Here, FIG. 9 is a block diagram showing a configuration example of a digital tachograph DT1 as an on-board unit applied to the cargo handling work support system S1 of the work vehicle, and FIG. 10 is applied to the cargo handling work support system S1 of the work vehicle. It is explanatory drawing which shows the display example in the digital tachograph DT.

The digital tachograph DT1 as an on-board unit shown in FIG. 9 is mounted on a forklift (working vehicle) F, and performs operation data including operation data representing operating conditions such as engine speed over, sudden start, sudden acceleration, and sudden deceleration. It is recorded every time.

The digital tachograph DT1 includes a CPU 11, speed / engine rotation speed I / F12, external input I / F13, sensor input I / F14, GPS receiver 202, CAN_I / F16, recording means (storage means) 301, card I / F18, and so on. Voice I / F19, speaker 404, RTC (clock IC) 21, warehousing / warehousing button SW input unit 22, display controller 23, communication unit 24, power supply unit 25, memory 26, LED display unit 403, land transportation ON / OFF button SW It has an input unit 31.

The CPU 11 is a control unit composed of a microcomputer, and controls the entire digital tachograph DT1 according to a program. Data such as a program executed by the CPU 11 and constants required for control are stored in the memory 26. The memory 26 is non-volatile and can read and write predetermined programs and data.
Two threshold values tables 26a and 26b and an area information table 26c are stored in the memory 26 as constant data.

Further, in the present embodiment, the memory 26 stores data in which a graph showing the relationship between the maximum load / allowable load and the load center in the forklift F as shown in FIG. 4 described above is tabulated. Further, the memory 26 can store data in which a table showing the rated load (kg) and the reference load center (mm) specified in JIS D6001 (1999) is tabulated.
The recording means 301 is a non-volatile memory capable of reading and writing data, and is used for recording and holding operating data.

The card I / F (interface) 18 is an interface for connecting a memory card conforming to a predetermined standard to the CPU 11, and includes a card slot for detachably holding the memory card. A predetermined memory card 55 possessed by each operator (operator) who drives the forklift (working vehicle) F is mounted on the card I / F18. The memory card 55 has a built-in non-volatile memory, and is used in a state in which a number for identifying each operator or the like is registered.

The voice I / F 19 is an interface for synthesizing and outputting pseudo voice signals, and can output voice signals corresponding to various messages under the control of the CPU 11. A speaker 404 as a notification means is connected to the output of the voice I / F19.

The RTC (real-time clock) 21 grasps the information of the current time by constantly counting a predetermined clock pulse. The RTC 21 also serves as a timer (timekeeping means) 303. By controlling the RTC 21, the CPU 11 can acquire information on the current time and use the timer (timekeeping means) 303.

The ON / OFF signal of the warehousing / warehousing button is input to the warehousing / warehousing button SW input unit 22. Therefore, the CPU 11 monitors the ON / OFF state of the warehousing / warehousing button via the warehousing / warehousing button SW input unit 22, and can grasp which state the own vehicle is in the warehousing / warehousing state. ) The working time of F can be obtained.

The display controller 23 controls the display content of the display 405. The display 405 is composed of, for example, a liquid crystal display device, an organic EL display device, or the like, and can display various information mixed with a graphic display.

The LED display unit 403 incorporates a plurality of LEDs (light emitting diodes), and can turn on, off, or blink each LED under the control of the CPU 11 to display a communication or operation status.
The land transportation ON / OFF button SW input unit 31 is operated by an operator or the like and is used for manually operating the on / off switching of the land transportation mode.

Speed pulses and rotation pulses are input to the speed / engine rotation I / F12 from the vehicle speed sensor and the engine rotation speed sensor, respectively. The speed / engine speed I / F12 converts the input signal into a signal suitable for processing by the CPU 11.
The external input I / F 13 is an interface for connecting an external device to the CPU 11, and is connected to an in-vehicle camera (shooting means) CAM or the like.
The sensor input I / F14 is an interface for connecting various sensors to the CPU 11.

Sensor input I / F14 inputs include signals such as a temperature sensor that detects the engine temperature, a fuel sensor that detects the amount of fuel, a G sensor that detects the acceleration (G value) of the vehicle, and strain sensors SN1 (SN2, SN3). Is entered.

The GPS receiving unit (GPS sensor) 202 receives radio waves from a plurality of GPS (Global Positioning System) satellites with the GPS antenna 202a, performs predetermined calculation processing, and obtains the current position of the forklift (working vehicle) F from the received signal. Get the information of the indicated latitude and longitude. As a result, the position information of the forklift (working vehicle) F can be acquired.

The CAN_I / F16 is an interface for connecting to a communication network of the CAN (Controller Area Network) standard. The CPU 11 can communicate with various devices connected to the communication network on the vehicle via CAN_I / F16. In reality, various data such as speed, engine speed, and fuel amount are communicated.
The communication unit 24 has a built-in predetermined wireless communication interface, and can perform data communication such as operation data with the outside of the vehicle by using a wireless communication line.

The power supply unit 25 generates a stable voltage (for example, +5 [V]) required for the CPU 11 or the like to operate based on the electric power supplied from the vehicle battery or the like, and when the ignition switch is on, the digital tachograph DT1 It is designed to supply power to each circuit.

Then, the determination means 302 composed of the CPU 11 and the like receives the load information detected by the strain sensors SN1 (SN2, SN3) as the load detection means 201 and the luggage P1 detected by the vehicle-mounted camera CAM as the luggage position detection means 101. Based on the baggage position information in (P2), it is determined whether or not at least one of the baggage position and the baggage amount needs to be corrected.

Further, when it is necessary to correct at least one of the baggage position and the baggage amount, the operator is notified to that effect by the display by the display 405 or the voice from the speaker 404.

That is, for example, as shown in FIG. 10, a display such as "Please correct the position of the load so as not to cause the load to collapse" is displayed on the display 405, and a voice notification is performed from the speaker 404.

Then, based on these notifications, the operator can correct the position of the luggage placed on the fork portion 103 or perform work such as unloading the luggage, thereby effectively suppressing the overloading of the luggage. It can improve safety and convenience.

(About cargo handling support processing)
Next, the processing procedure of the cargo handling support process executed by the cargo handling work support system S1 of the work vehicle will be described with reference to the flowchart of FIG.
When this process is started, first, in step S10, it is determined whether or not the images of the travel detection frames c1 and c2 (see FIG. 6 and the like) have moved. Then, when the determination result is "No", the process waits, and when the determination result is "Yes", the process proceeds to step S11.

In step S11, it is determined whether or not the images of the baggage detection frames a1 to a3 (see FIG. 6 and the like) have moved. Then, when the determination result is "No", the process returns to step S10, and when the determination result is "Yes", the process proceeds to step S12 to determine whether or not there is a load.
Next, in step S13, the front-rear position of the load on the fork portion 103 is measured, and the process proceeds to step S14.
In step S14, the weight of the luggage is measured based on the detection result of the strain sensors SN1 (SN2, SN3), and the process proceeds to step S15.

In step S15, the process proceeds to step S16 with reference to the table data of the relationship between the maximum load / allowable load and the load center in the forklift F stored in the storage means 301.

In step S16, the measurement result of the front-rear position of the cargo in step S13 and the measurement result of the cargo weight in step S14 are compared with the reference value of the table data of the relationship between the maximum load / allowable load and the load center. Then, if it is determined that the reference value is not exceeded, the process returns to step S10. On the other hand, if it is determined that the reference value is exceeded, the process proceeds to step S17.

In step S17, a warning for correcting the baggage position is issued. Specifically, as described above, the display 405 is displayed with a message such as "Please correct the position of the load so as not to cause the load to collapse", and the speaker 404 gives a voice notification.

Next, in step S18, it is determined whether or not the luggage position has been corrected. Specifically, it is determined based on whether the image of the luggage in the luggage detection frames a1 to a3 has been moved, or whether the detection result by the strain sensors SN1 (SN2, SN3) has changed.
Then, if the determination result is "Yes", the process returns to step S10, and if the determination result is "No", the process proceeds to step S19.
In step S19, it is determined that the regulation is violated, and the process proceeds to step S20.
In step S20, an alarm is given to the effect that the regulation is violated, a notification is given to the operation manager, and then the process returns to step S10.

In this way, by executing the cargo handling support process as described above, it is possible to effectively suppress the overloading of luggage, etc., and prevent the occurrence of load collapse, vehicle body tipping, etc. for safety and convenience. The sex can be improved.

Although the cargo handling work support system for the work vehicle of the present invention has been described above based on the illustrated embodiment, the present invention is not limited to this, and the configuration of each part is of any configuration having the same function. Can be replaced with one.

S1 Cargo handling work support system for work vehicles F Forklift (work vehicle)
DT1 Digital Tachograph (on-board unit)
P1 (P2) Luggage 101 Luggage position detection means CAM In-vehicle camera (shooting means)
102 Drive means 103 Fork part (Luggage loading part)
201 Load detection means SN1 (SN2, SN3) Strain sensor 301 Storage means (recording means)
302 Judgment means 404 Speaker (notification means)
405 Display (notification means)
a1 to a3 Luggage detection frame c1, c2 Travel detection frame

Claims (3)

The load detecting means of the luggage placed on the luggage loading part of the work vehicle, and
A luggage position detecting means for detecting the position of a luggage in the luggage loading unit, and
A determining means for determining whether or not at least one of the luggage position and the luggage amount needs to be corrected based on the load information detected by the load detecting means and the luggage position information detected by the luggage position detecting means.
A notification means for notifying the determination content by the determination means, and
Cargo handling work support system for work vehicles equipped with. The luggage position detecting means includes a photographing means capable of acquiring an image of the luggage placed on the luggage loading portion of the work vehicle.
The cargo handling work support system for a work vehicle according to claim 1, wherein the determination means determines whether or not at least one of the luggage position and the luggage amount needs to be corrected based on the load information and the image of the luggage. The cargo handling work support system for a work vehicle according to claim 1 or 2, wherein the load detecting means is composed of a strain sensor provided in the vicinity of the luggage loading portion or the vicinity of the axle of the work vehicle.

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