JP3690642B2 - Vehicle positioning device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a vehicle positioning apparatus suitably applied to a vehicle, for example, a forklift, having a laser pointer that emits laser light.
[0002]
[Prior art]
When transporting a load with a forklift, the forward view will not be blocked if it is a small load, but when transporting a large load, the forward view will be very bad, and driving will be necessary when storing the load in a rack, etc. At present, the rack is hardly visible from the seat. In such a case, the intuition of the operator relied on the distance between the load loaded on the fork and the front rack.
[0003]
[Problems to be solved by the invention]
When a large load that deteriorates the forward visibility or a large attachment is attached to the lift bracket, the forklift is operated by the operator's intuition as described above for the forward distance. In addition, when the operator is a beginner, the operator may get off the forklift and directly observe it, which is very inconvenient and dangerous. Further, when the forward visibility is poor, there is a problem that the vehicle is poorly positioned even if it is operated by the operator's intuition, and the load may hit the rack or wall, causing damage to the wall or load.
[0004]
The present invention has been provided in view of the above-described points, and can accurately position a vehicle even when the forward visibility is poor, improve workability, and prevent damage to walls and loads. An object of the present invention is to provide a vehicle positioning apparatus.
[0005]
[Means for Solving the Problems]
Therefore, in the vehicle positioning apparatus according to claim 1 of the present invention, the first and second laser pointers that irradiate the linear laser beam ahead are arranged in the vehicle, and the laser beam from the first laser pointer is emitted. By setting the laser beam from the second laser pointer in the horizontal direction in a direction that intersects the laser beam from the first laser pointer at an angle of 45 degrees, the irradiated object is irradiated with both laser beams. It is characterized in that the distance from the crossing position of both laser beams to the irradiated object is confirmed based on the upper line-to-line distance.
[0006]
With this configuration, the distance between the two light beams irradiated to the irradiated object corresponds to the distance between the vehicle and the irradiated object, and thereby the positioning between the vehicle and the irradiated object can be accurately performed. it can.
[0007]
The vehicle positioning apparatus according to claim 2 is characterized in that the laser beams from the first and second laser pointers are set in different colors.
[0008]
Thereby, by using the laser beam of one color as a reference, the front and back of the position of the irradiated object can be confirmed at a glance by the vertical position of the laser beam of the other color.
[0009]
DETAILED DESCRIPTION OF THE INVENTION
(First Embodiment) The first embodiment of the present invention will be described below in detail with reference to the drawings. The vehicle shown in FIG. 1A shows a reach-type forklift 1, and the forklift 1 includes a vehicle body 2 and a cargo handling device 3 provided in front of the vehicle body 2. A driver's seat 4 is provided at the rear portion of the vehicle body 2, and a head guard 5 is provided above the driver's seat 4 to protect the vehicle body 2 and the operator from falling objects such as goods.
[0010]
The cargo handling device 3 is disposed between the left and right straddle legs 6, a pair of left and right masts 7 driven in the front-rear direction by a reach cylinder (not shown), a lift bracket 8 attached to the mast 7, and the lift bracket 8 comprises a pair of left and right forks 9 tilted forward and backward. Although not shown, the mast 7 includes an inner mast and an outer mast as is well known. Further, the lift bracket 8 is driven up and down by a lift cylinder (not shown), and the fork 9 is driven forward and backward by a tilt cylinder.
[0011]
Here, a first laser pointer 11 for irradiating a laser beam is attached to the outer mast side of the mast 7, and the laser beam 12 from the first laser pointer 11 irradiates horizontally and forwards. The laser beam 12 is linear. Further, a second laser pointer 21 is attached to the outer mast above the first laser pointer 11 installed on the mast 7, and a horizontal linear laser beam 22 is irradiated in the same manner as the first laser pointer 11. I am doing so.
[0012]
The laser beam 12 of the first laser pointer 11 is irradiated in parallel with the ground. The laser beam 22 of the second laser pointer 21 is irradiated obliquely downward and forward, and the first laser pointer. 11 laser beams 12 are crossed. The crossing angle between the laser beam 12 and the laser beam 22 is 45 degrees. Further, the intersection of the laser beam 12 and the laser beam 22 is a position slightly ahead of the tip of the fork 9. As indicated by a broken line in FIG. 1A, a surface perpendicular to the location where the laser beams 12 and 22 intersect is used as a reference surface 15.
[0013]
Both the laser beams 12 and 22 from the first and second laser pointers 11 and 21 are shifted slightly laterally from a position that is easily visible from the driver's seat 4, for example, the position of the forklift 1, as shown in FIG. The front part of the column 31 is irradiated. The rack 30 includes a plurality of shelves 32, and a pallet 34 loaded with a load 33 on each shelf 32 is transported by the forklift 1. Further, the pallet 34 is provided with insertion holes 35 into which the fork 9 of the forklift 1 is inserted on the left and right sides. The fork 9 is inserted into the insertion port 35 and the pallet 34 is conveyed.
[0014]
Now, assuming that the forklift 1 moves forward to the rack 30 side and reaches the position of FIG. 1A, the upper and lower first laser pointers 11 and second laser pointers 21 attached to the mast 7 are respectively laser beams. 12 and 22 are irradiated, and the laser beams 12 and 22 are irradiated on the front surface of the support column 31 in a horizontal line shape. Since the laser beam 12 from the first laser pointer 11 is parallel to the ground, as shown in FIG. 1B, the column 31 is irradiated to the position of the column 31 having substantially the same height as the position of the first laser pointer 11. And the laser beam 22 of the 2nd laser pointer 21 is irradiated to the location lower than the irradiation position of the laser beam 12. FIG.
[0015]
Here, since the laser beam 12 and the laser beam 22 intersect at an angle of 45 degrees, the lengths of the sides corresponding to the 45-degree angles on both sides are in a one-to-one correspondence. The dimension L of the irradiation position of the laser beam 12 and the laser beam 22 shown in b) indicates that it is equal to the distance between the reference surface 15 and the front surface of the support column 31, and as a result, the dimension L is the distance between the rack 30 and the load. It shows that there is a minute. That is, the dimension L between the two irradiated laser beams 12 and 22 is the distance in front of the rack 30. Then, when the forklift 1 is further advanced, the irradiation position of the laser beam 22 from the second laser pointer 21 rises in accordance with the advancement, and the two laser beams 12 and 22 are overlapped, The reference surface 15 is located on the front surface of the column 31. That is, the tip of the fork 9 is located in the vicinity of the rack 30, and the position of the forklift 1 in the front-rear direction with respect to the rack 30 is optimally determined.
[0016]
Therefore, even when the load to be mounted on the lift bracket 8 is large or when a large attachment is attached and the front view is deteriorated, the lift bracket 8 is moved forward while looking at the two laser beams 12 and 22 irradiated to the column 31. Thus, the reference surface 15 can be accurately positioned with respect to the rack 30, and workability can be improved. For this reason, it is also possible to prevent the tip of the forklift 1 from hitting the wall, the rack 30 or the like, and to prevent damage to the wall or load.
[0017]
(Second Embodiment) Next, a second embodiment will be described with reference to FIG. In this embodiment, three laser pointers are used to inform the operator of the three-dimensional positions of the front, top, bottom, left and right. The three laser pointers are arranged on the lift bracket 8. As in the previous embodiment, the first laser pointer 11 and the second laser pointer 21 are arranged on the side of the lift bracket 8 so as to inform the operator of the distance between the reference surface 15 and the rack 30, and at the same time, The lift pointer 8, that is, the upper and lower positions of the fork 9 is also notified by the laser pointer 11.
[0018]
First, the first laser pointer 11 is disposed at substantially the same height as the fork 9, and the laser beam 12 from the first laser pointer 11 is moved to the front end surface of the upper plate 36 of the pallet 34 as the lift bracket 8 moves up and down. Fork 9 and insertion port 35 of pallet 34 are positioned at the same height position. Further, the laser beam 22 from the second laser pointer 21 is irradiated obliquely downward as in the previous embodiment, and its crossing angle is 45 degrees. The laser beam 22 is applied to the front surface of the column 31 below the laser beam 12.
[0019]
A third laser pointer (not shown) is disposed on the lift bracket 8 at a position corresponding to the center in the left-right direction of the pair of forks 9, and the laser beam 25 is a linear laser beam in the vertical direction. The position at which the laser beam 25 from the third laser pointer is irradiated to the front end face of the central beam 37 of the pallet 34 is optimal in the horizontal direction between the left and right forks 9 and the left and right insertion ports 35 of the pallet 34. It is positioned at the correct position.
[0020]
First, the laser beam 25 is irradiated by the third laser pointer, and the forklift 1 is advanced so that the laser beam 25 is irradiated to the central beam 37 of the pallet 34. Thereby, the forklift 1 and the pallet 34 can be positioned in the left-right direction. Next, the lift bracket 8 is moved up and down to irradiate the laser beam 12 from the first laser pointer 11 onto the front surface of the support 31 and the pallet 34, and this laser beam 12 irradiates the front end surface of the upper plate 36 of the pallet 34. As shown, the lift bracket 8 is moved up and down. As a result, the vertical positioning of the fork 9 and the insertion port 35 of the pallet 34 can be performed.
[0021]
Next, when the forklift 1 is moved forward as it is, the laser beam 22 from the second laser pointer 21 irradiated to the column 31 rises and the two laser beams 12 as in the previous embodiment. , 22 can be positioned in the front-rear direction between the forklift 1 and the rack 30. In addition, after the fork 9 is positioned in the vertical direction, the fork 9 may be positioned in the left-right direction, which is arbitrary by the operator.
[0022]
In the above description, the upper and lower positions are detected by irradiating the upper plate 36 of the pallet 34 with the laser beam 12. However, by irradiating the irradiation position of the laser beam 12 on the beam 37 and the lower plate 38, the upper and lower positions are detected. You may make it perform the position detection of a direction.
[0023]
As described above, in this embodiment, the positional relationship between the forklift 1 (fork 9) and the rack 30 (pallet 34) can be recognized in three dimensions of the front, top, bottom, left and right by using three laser pointers. By informing the operator, it is possible to accurately position and improve workability and safety.
[0024]
(Third Embodiment) A third embodiment will be described with reference to FIGS. In this embodiment, two laser pointers are arranged on the outer mast side of the mast 7 as in the first embodiment. However, the distance of the laser beam in the front-rear direction with respect to the reference plane 15 is different. Can be confirmed. The laser light includes red, blue, green, and the like, but these different colors of laser light are emitted from the first laser pointer 11 and the second laser pointer 21. Further, the crossing angle of the two laser beams 12 and 22 is 45 degrees as in the previous embodiment.
[0025]
For example, the laser beam from the first laser pointer 11 is red, and the laser beam from the second laser pointer 21 is green. Now, assuming that the forklift 1 is positioned with respect to the left column 31 shown by the one-dot chain line in FIG. 3, the second laser pointer with respect to the irradiation position of the red laser beam 12 from the first laser pointer 11. The irradiation position of the green laser beam 22 from 21 is located on the upper side. The irradiation positions of the red laser light 12 and the green laser light 22 are shown in FIG. That is, if the irradiation line of the green laser light 22 is above the irradiation line of the red laser light 12, it can be seen that the front surface of the rack 30 or the like is positioned in front of the reference plane 15.
[0026]
Also, assuming that the forklift 1 is located with respect to the right column 31 shown by the one-dot chain line in FIG. 3, the second laser pointer with respect to the irradiation position of the red laser beam 12 from the first laser pointer 11. The irradiation position of the green laser light 22 from 21 is located on the lower side. The irradiation positions of the red laser light 12 and the green laser light 22 are shown in FIG. That is, if the irradiation line of the green laser light 22 is below the irradiation line of the red laser light 12, it can be seen that the front surface of the rack 30 or the like is located behind (front) from the reference surface 15.
[0027]
As described above, in the present embodiment, the colors of the two laser beams 12 and 22 are different from each other, and one laser beam 12 is used as a reference, and the laser beam 12 is set on the upper side or the lower side. The distance in the front-rear direction can be confirmed with respect to the reference surface 15 that is known in advance by looking at the laser beam 22 that is present.
[0028]
FIG. 5 shows another example of the present embodiment. Corresponding to the case of FIG. 4, the lateral line length of one laser beam 22 is made shorter than the line length of the laser beam 12, and the two are visually distinguished. Is made easier. Conversely, the line length of the laser beam 12 may be shortened. Further, one of the laser beams 12 (or 22) may be a point light beam.
[0029]
Note that the second laser pointer 21 may be disposed below the first laser pointer 11 so that the laser beam 22 of the second laser pointer 21 is irradiated obliquely upward.
[0030]
In addition, the present invention can be applied not only to reach type forklifts but also to counter type forklifts, and not only to forklifts, but also to electric vehicles, gasoline, diesel vehicles, etc. This is a preferred example.
[0031]
【The invention's effect】
According to the vehicle positioning apparatus of the first aspect of the present invention, the distance between the two light beams irradiated to the irradiated object corresponds to the distance between the vehicle and the irradiated object, and thereby the vehicle and the irradiated object Positioning between objects can be performed accurately.
[0032]
According to the vehicle positioning device of the second aspect, since the two laser beams have different colors, the upper and lower positions of the laser beam of the other different color can be obtained by using the laser beam of one color as a reference. Thus, it is possible to confirm at a glance before and after the position of the irradiated object.
[Brief description of the drawings]
FIG. 1A is a side view showing a case where two laser pointers according to a first embodiment of the present invention are attached to a mast. (B) is explanatory drawing in case distance is shown with two laser beams of the 1st Embodiment of this invention.
FIG. 2A is a side view when three laser pointers according to a second embodiment of the present invention are attached to a lift bracket. (B) is explanatory drawing in case distance is shown with the three laser beams of the 2nd Embodiment of this invention.
FIG. 3 is a side view showing a case where laser beams of different colors are used according to the third embodiment of the present invention.
FIG. 4 is an explanatory diagram illustrating distance confirmation according to a third embodiment of this invention.
FIG. 5 is an explanatory diagram illustrating another example in which the line lengths of the third exemplary embodiment of the present invention are varied.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Forklift 7 Mast 8 Lift bracket 9 Fork 11 1st laser pointer 12 Laser beam 21 of 1st laser pointer 2nd laser pointer 22 Laser beam 25 of 2nd laser pointer 25 Laser beam 31 of 3rd laser pointer 31 34 palettes

Claims (2)

First and second laser pointers that irradiate a linear laser beam forward are arranged on the vehicle, the laser beam from the first laser pointer is horizontally oriented, and the laser beam from the second laser pointer is By setting each of the laser beams from one laser pointer in a direction that intersects at an angle of 45 degrees, the distance from the intersecting position of both laser beams is determined based on the distance between the lines on the irradiated object irradiated by both laser beams. A vehicle positioning apparatus for confirming a distance to an irradiated object. 2. The vehicle positioning device according to claim 1, wherein the laser beams from the first and second laser pointers are set in different colors.

Images